Collaborative operation control method, self-moving device and storage medium
Through the collaborative job control method, the mobile device determines the collaborative job mode based on the work environment information, avoids repeated path operations, improves work efficiency and protects the neatness and aesthetics of the work area.
Patent Information
- Application Number
- CN202411217073.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-31
- Publication Date
- 2024-12-27
AI Technical Summary
The repeated operation of the mobile device along the work path in the work area will increase the working time, reduce efficiency, and cause repeated rolling of the area, affecting the cleanliness and aesthetics.
By obtaining the job information in the job area, detecting the environment information, determining the collaborative work mode, and sending collaborative work instructions, multiple self-mobile devices can work together in the job area to avoid repeated path operations. Specifically, based on the width of the job path and the obstacle conditions, the coordinated work mode of the equipment is determined to be a follow mode or a side-by-side mode, and the job path coverage is optimized.
Improves work efficiency, avoids repeated crushing of the work area, and ensures the cleanliness and aesthetics of the area.
Smart Images
Figure CN119200587A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of self-moving equipment control, and in particular to a collaborative operation control method, a self-moving equipment and a storage medium. Background Art
[0002] With the continuous advancement of science and technology and the rapid development of artificial intelligence, the use of self-moving equipment (for example, mowing robots, cleaning robots, food delivery robots, etc.) to replace manual work can greatly improve work efficiency.
[0003] In order to facilitate the self-moving device to work in the work area, the work path needs to be planned so that the work path covers the work area. In addition, in the related art, in order to avoid missing work, the self-moving device usually needs to repeatedly work along the work path, which increases the working time of the self-moving device, reduces the working efficiency, and repeatedly rolls the work area, thereby affecting the cleanliness and aesthetics of the work area. Summary of the invention
[0004] In view of this, an embodiment of the present application provides a collaborative work control method, a self-moving device and a storage medium to solve the problem that the self-moving device repeatedly performs operations along the work path, which increases the operation time of the self-moving device, reduces the operation efficiency, and affects the cleanliness and aesthetics of the work area.
[0005] In a first aspect, an embodiment of the present application provides a collaborative operation control method, which is applied to a first self-moving device, and the method includes: acquiring operation information of an operation area, and sending the operation information to at least one second self-moving device; detecting operation environment information, and determining a collaborative operation mode of the at least one second self-moving device based on the operation environment information; sending a collaborative operation instruction to the at least one second self-moving device, and controlling the at least one second self-moving device to perform collaborative operation with the first self-moving device based on the operation information and the collaborative operation mode.
[0006] In a possible implementation, the collaborative operation mode includes a follow-up mode and a side-by-side mode.
[0007] In one possible implementation, the operation information includes an operation path, the operation environment information includes a width of the operation path, and determining the collaborative operation mode of the at least one second self-moving device based on the operation environment information includes: detecting the width of the operation path; if the width of the operation path is greater than or equal to a preset value, determining that the collaborative operation mode of the at least one second self-moving device is the side-by-side mode; if the width of the operation path is less than the preset value, determining that the collaborative operation mode of the at least one second self-moving device is the following mode.
[0008] In one possible implementation, the operation information includes an operation path, the operation environment information includes obstacle information on the operation path, and determining the collaborative operation mode of the at least one second self-moving device based on the operation environment information includes: if there is no obstacle on the operation path, determining the collaborative operation mode of the at least one second self-moving device to be the side-by-side mode; if there is an obstacle on the operation path, determining the collaborative operation mode of the at least one second self-moving device to be the following mode.
[0009] In a second aspect, an embodiment of the present application provides a collaborative work control method applied to a second self-mobile device, the method comprising: receiving work information sent by a first self-mobile device; receiving a collaborative work instruction sent by the first self-mobile device, and performing collaborative work with the first self-mobile device based on the collaborative work mode corresponding to the work information and the collaborative work instruction, the collaborative work mode being determined by the first self-mobile device based on detected work environment information.
[0010] In a possible implementation, the collaborative operation mode includes a follow-up mode and a side-by-side mode.
[0011] In a possible implementation, the operation information includes an operation path, a position and direction of the first self-moving device, and a preset following distance and a preset parallel distance between a plurality of self-moving devices.
[0012] In one possible implementation, the collaborative operation mode based on the operation information and the collaborative operation instruction performs collaborative operation with the first self-moving device, including: if the collaborative operation mode is the following mode, based on the position, direction and preset following distance between multiple self-moving devices of the first self-moving device, determining the target following position of the second self-moving device; the second self-moving device moves from the current position to the target following position, and performs following collaborative operation with the first self-moving device based on the operation path.
[0013] In one possible implementation, the collaborative operation mode based on the operation information and the collaborative operation instruction performs collaborative operation with the first self-moving device, including: if the collaborative operation mode is the side-by-side mode, based on the position, direction and preset side-by-side spacing between multiple self-moving devices of the first self-moving device, determining the target side-by-side position of the second self-moving device; the second self-moving device moves from the current position to the target side-by-side position, and performs side-by-side collaborative operation with the first self-moving device based on the operation path.
[0014] In a third aspect, an embodiment of the present application provides a self-moving device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the collaborative job control method as described above is implemented.
[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor in a self-mobile device, the self-mobile device implements the collaborative job control method as described above.
[0016] The collaborative operation control method, self-moving equipment and storage medium provided in the embodiments of the present application can synchronize operation information between multiple self-moving equipment, and determine the collaborative operation mode of multiple self-moving equipment based on the detected working environment information, so that multiple self-moving equipment can perform collaborative operations in the working area, effectively improving the working efficiency, while avoiding repeated crushing of the working area, and effectively ensuring the cleanliness and aesthetics of the working area. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.
[0018] Figure 1 It is a schematic diagram of the hardware structure of a mobile device provided in one embodiment of the present application.
[0019] Figure 2 It is a flowchart of a collaborative operation control method provided in one embodiment of the present application.
[0020] Figure 3 It is a schematic diagram of an operation path provided in an embodiment of the present application.
[0021] Figure 4 It is a flowchart of determining a collaborative operation mode of at least one second self-mobile device provided by an embodiment of the present application.
[0022] Figure 5 This is a schematic diagram of the position of a self-moving device and an operation path provided by an embodiment of the present application.
[0023] Figure 6 It is a flowchart of determining a collaborative operation mode of at least one second self-mobile device provided by another embodiment of the present application.
[0024] Figure 7It is a flowchart of a collaborative operation control method provided by another embodiment of the present application.
[0025] Figure 8 This is a flow chart of a second self-equipment device and a first self-equipment device performing collaborative operations according to an embodiment of the present application.
[0026] Fig. 9 It is a schematic diagram of the positions of the second self-moving device and the first self-moving device provided in one embodiment of the present application.
[0027] Fig.10 It is a schematic diagram of the positions of a second self-moving device and a first self-moving device provided in another embodiment of the present application.
[0028] Fig.11 This is a flow chart of a second self-equipment device and a first self-equipment device performing collaborative operations, provided by another embodiment of the present application.
[0029] Fig.12 It is a schematic diagram of the positions of a second self-moving device and a first self-moving device provided in another embodiment of the present application. DETAILED DESCRIPTION
[0030] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.
[0031] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.
[0032] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. The following embodiments and features in the embodiments may be combined with each other without conflict.
[0033] With the continuous advancement of science and technology and the rapid development of artificial intelligence, the use of self-moving equipment (for example, mowing robots, cleaning robots, food delivery robots, etc.) to replace manual work can greatly improve work efficiency.
[0034] In order to facilitate the self-moving equipment to work in the work area, the work path needs to be planned so that the work path covers the work area. In addition, in order to avoid missing work, the self-moving equipment usually repeats the work along the work path, which increases the working time of the self-moving equipment, reduces the working efficiency, and repeatedly rolls the work area, thereby affecting the cleanliness and aesthetics of the work area.
[0035] Taking the mowing robot as an example, the mowing robot integrates technologies such as motion control, multi-sensor fusion and path planning, and is widely used in the maintenance of home garden lawns and the trimming of large lawns. In order to control the mowing robot to achieve mowing operations, it is necessary to plan the mowing path of the mowing robot so that the mowing robot can completely cover the operating area to operate. In addition, methods such as repeated mowing back and forth and reducing the interval between mowing paths are often used to avoid missing mowing. However, these methods not only make mowing take a long time, but also repeatedly crush the lawn, affecting the growth of the lawn and even causing irreversible damage to the lawn.
[0036] See also Figure 1 The figure is a schematic diagram of the hardware structure of a self-equipment device provided in an embodiment of the present application. The collaborative operation control method in the embodiment of the present application is applied to Figure 1 In the self-moving device 1 shown, the self-moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, an operating mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18 and a bus 19 arranged on the body. The processor 12 is respectively coupled to the memory 11, the power supply 13, the sensor 14, the operating mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19. The self-moving device 1 is an electronic device with a self-moving function, such as a lawn mowing robot, a cleaning robot, a food delivery robot, etc.
[0037] The memory 11 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 12, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.
[0038] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 12. The non-volatile memory may include a disk storage device and a flash memory.
[0039] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the path planning method executed on the mobile device 1 can be implemented.
[0040] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1 .
[0041] The processor 12 may include one or more processing units, for example, the processor 12 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.
[0042] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the above-mentioned path planning method.
[0043] The power source 13 is used to power the self-moving device. In one embodiment of the present application, the power source 13 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.
[0044] The sensor 14 is used to obtain information for the mobile device 1, such as obtaining environmental information and movement information of the mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.
[0045] The operating mechanism 15 is used to perform corresponding operating tasks, such as mowing, cruising, sweeping, and spraying pesticides. In some embodiments of the present application, the operating mechanism 15 may include a motor, a transmission mechanism, and a cutter disc. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.
[0046] The communication module 16 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 16 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).
[0047] The positioning module 17 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 17 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.
[0048] The driving wheel 18 is used to realize the movement of the self-moving device. In some embodiments of the present application, the driving wheel 18 can realize the movement function of the self-moving device according to the control of the processor 12. In some embodiments of the present application, the driving wheel 18 may include a left driving wheel and a right driving wheel.
[0049] The bus 19 is at least used to provide a channel for mutual communication among the memory 11 , the processor 12 , the power supply 13 , the sensor 14 , the operating mechanism 15 , the communication module 16 , the positioning module 17 , and the driving wheel 18 in the mobile device 1 .
[0050] In other embodiments of the present application, the self-moving device 1 may further include an anti-collision part and a steering assembly, etc. The anti-collision part may be used to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to enable the driving wheel 18 to adjust the driving direction.
[0051] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.
[0052] See also Figure 2 FIG. 1 is a flowchart of a collaborative operation control method provided by an embodiment of the present application. The collaborative operation control method can be applied to a first self-moving device, which can be Figure 1 The self-moving device shown. The collaborative operation control method includes the following steps:
[0053] S101, obtaining operation information of an operation area, and sending the operation information to at least one second self-equipping device.
[0054] The collaborative operation control method provided in the embodiment of the present application is used to control multiple self-mobile devices to perform collaborative operations in an operation area, and the multiple self-mobile devices include a first self-mobile device and at least one second self-mobile device, wherein the first self-mobile device is a master device and the at least one second self-mobile device is a slave device. The first self-mobile device is communicatively connected to the electronic device via a wireless communication network, and the first self-mobile device is communicatively connected to the at least one second self-mobile device via a wireless communication network. For example, the electronic device is a server for remotely controlling multiple self-mobile devices to perform collaborative operations, and the wireless communication network between the first self-mobile device and the electronic device can be a cloud network, a local area network, a satellite network, a content distribution network, etc., and the wireless communication network between the first self-mobile device and the at least one second self-mobile device can be a 4G network, a 5G network, Bluetooth, etc.
[0055] In one embodiment of the present application, the electronic device sends operation information to a first self-mobile device via a wireless communication network. The first self-mobile device receives the operation information and sends the operation information to at least one second self-mobile device via the wireless communication network.
[0056] See also Figure 3 , which is a schematic diagram of an operation path provided by an embodiment of the present application. In an embodiment of the present application, the operation information at least includes an operation path, and the operation path is an arcuate path. In other embodiments of the present application, the operation path may also be a zigzag path. The shapes of the above operation paths are only used for illustration, and the embodiments of the present application do not limit the specific shapes of the operation paths. The operation path may be a straight path or a wavy path.
[0057] In one embodiment of the present application, the operation information also includes: the moving speed and the operation height of the self-moving device. The operation height is the height of the operation mechanism of the self-moving device from the ground during operation. For example, if the self-moving device is a lawn mowing robot, the operation height is the lawn mowing height.
[0058] S102, detecting operating environment information, and determining a collaborative operating mode of at least one second self-mobile device based on the operating environment information.
[0059] In one embodiment of the present application, the working environment information includes the width of the working path, and the collaborative working mode includes but is not limited to: a following mode and a side-by-side mode.
[0060] See also Figure 4 FIG. 1 is a flowchart of determining a collaborative operation mode of at least one second self-mobile device provided by an embodiment of the present application.
[0061] S201, detecting the width of the working path, and determining whether the width of the working path is greater than or equal to a preset value. If the width of the working path is greater than or equal to the preset value, the process proceeds to S202; if the width of the working path is less than the preset value, the process proceeds to S203.
[0062] In one embodiment of the present application, the first self-moving device is provided with sensors, such as infrared sensors, on both sides of the device body. The infrared sensors measure the distance between the infrared sensors and the boundary of the working path by emitting infrared rays and receiving reflected infrared rays. The width of the working path is determined based on the sum of the distances between the two infrared sensors and the corresponding boundaries of the working path and the width of the first self-moving device.
[0063] See also Figure 5 The figure shows a schematic diagram of the positions of the self-moving device and the working path provided by an embodiment of the present application. The first self-moving device is provided with infrared sensors A and B on both sides respectively, and the working path includes a first boundary L1 and a second boundary L2. The first boundary L1 is on the side close to the infrared sensor A, and the second boundary L2 is on the side close to the infrared sensor B. The infrared sensor A emits infrared rays in the direction of the first boundary L1 and receives infrared rays reflected by the first boundary L1. The distance W1 between the infrared sensor A and the first boundary L1 is calculated based on the time interval between the emission of infrared rays and the reception of reflected infrared rays and the propagation speed of infrared rays in the air. The distance W2 between the infrared sensor B and the second boundary L2 is calculated by the same method. If the width of the first self-moving device is W0, the width W of the working path is W=W0+W1+W2.
[0064] In one embodiment of the present application, the preset value is determined based on the number of self-moving devices working in collaboration and the spacing between multiple self-moving devices when they move side by side. For example, if the number of self-moving devices working in collaboration is 2, the preset value is greater than the sum of twice the width of the self-moving device and the spacing between two self-moving devices when they move side by side. For example, if the width of the self-moving device is 60 cm and the spacing between two self-moving devices when they move side by side is 20 cm, the preset value may be 150 cm.
[0065] S202: Determine that the collaborative operation mode of at least one second mobile device is a side-by-side mode.
[0066] In one embodiment of the present application, if the width of the operation path is greater than or equal to a preset value, indicating that the width of the operation path is relatively wide, then the collaborative operation mode of at least one second self-moving device is determined to be a side-by-side mode.
[0067] S203: Determine that the collaborative operation mode of at least one second self-mobile device is a following mode.
[0068] In an embodiment of the present application, if the width of the operation path is less than a preset value, indicating that the width of the operation path is narrow, the collaborative operation mode of at least one second self-moving device is determined to be a following mode.
[0069] In one embodiment of the present application, if the width of the operation path allows the first self-moving device and at least one second self-moving device to work together in a side-by-side mode, the operation environment information includes obstacle information of the operation path. Figure 6 FIG. 1 is a flowchart of determining a collaborative operation mode of at least one second self-mobile device provided by another embodiment of the present application.
[0070] S301, detecting whether there are obstacles on the working path. If there are no obstacles on the working path, the process proceeds to S302; if there are obstacles on the working path, the process proceeds to S303.
[0071] In one embodiment of the present application, the first self-moving device is provided with a camera device or a sensor, such as an infrared sensor, at the front end. The first self-moving device can use the camera device to capture images of the front environment in real time (i.e., at preset intervals), and identify whether the captured image contains obstacles. If the captured image contains obstacles, it is determined that there are obstacles on the working path; if the captured image does not contain obstacles, it is determined that there are no obstacles on the working path. The first self-moving device can also use the infrared sensor to emit infrared rays to the front in real time (i.e., at preset intervals), and determine whether the reflected infrared rays are received. If the reflected infrared rays are received, it is determined that there are obstacles on the working path; if the reflected infrared rays are not received, it is determined that there are no obstacles on the working path.
[0072] S302: Determine that the collaborative operation mode of at least one second mobile device is a side-by-side mode.
[0073] In one embodiment of the present application, if there are no obstacles on the operation path, it means that the first self-moving device and at least one second self-moving device can perform collaborative operation based on the side-by-side mode, then the collaborative operation mode of at least one second self-moving device is determined to be the side-by-side mode.
[0074] S303: Determine that the collaborative operation mode of at least one second mobile device is a following mode.
[0075] In one embodiment of the present application, if there is an obstacle on the operating path, it means that if the first self-moving device and at least one second self-moving device are still working collaboratively based on the side-by-side mode, they may collide with the obstacle, then the collaborative operation mode of at least one second self-moving device is determined to be the following mode.
[0076] S103, sending a collaborative operation instruction to at least one second self-moving device, and controlling at least one second self-moving device to perform collaborative operation with the first self-moving device based on the operation information and the collaborative operation mode.
[0077] In one embodiment of the present application, a first self-mobile device determines a collaborative operation mode of at least one second self-mobile device, generates a collaborative operation instruction, the collaborative operation instruction includes the collaborative operation mode, and sends the collaborative operation mode to at least one second self-mobile device. After receiving the collaborative operation instruction, at least one second self-mobile device responds to the collaborative operation instruction and performs collaborative operation with the first self-mobile device in the operation area based on the operation information and the collaborative operation mode. If the collaborative operation mode is a follow-up mode, at least one second self-mobile device follows the first self-mobile device to perform collaborative operation. If the collaborative operation mode is a side-by-side mode, at least one second self-mobile device performs side-by-side collaborative operation with the first self-mobile device. During the process of the collaborative operation between the at least one second self-mobile device and the first self-mobile device, the moving speed of the at least one second self-mobile device is the same as the moving speed of the first self-mobile device, and the operating height of the at least one second self-mobile device is the same as the operating height of the first self-mobile device.
[0078] Through the above-mentioned embodiments of the present application, operation information can be synchronized between multiple self-moving devices, and the collaborative operation mode of multiple self-moving devices can be determined based on the detected working environment information, so that multiple self-moving devices can perform collaborative operations in the working area, effectively improving the working efficiency, while avoiding repeated crushing of the working area, and effectively ensuring the cleanliness and aesthetics of the working area.
[0079] See also Figure 7 FIG. 1 is a flowchart of a collaborative operation control method provided by another embodiment of the present application. The collaborative operation control method can be applied to a second self-moving device, which can be Figure 1 The self-moving device shown. The collaborative operation control method includes the following steps:
[0080] S401, receiving operation information sent by a first mobile device.
[0081] In one embodiment of the present application, the second self-moving device receives the operation information sent by the first self-moving device through the wireless communication network. The operation information includes but is not limited to: the operation path, the moving speed, the operation height, the position and direction of the first self-moving device, and the preset following spacing and preset parallel spacing between multiple self-moving devices. Among them, the position of the first self-moving device can be a GPS coordinate, and the direction is the direction of the front of the first self-moving device, such as due north, southeast, etc.
[0082] S402, receiving a collaborative operation instruction sent by a first self-equipment, and performing a collaborative operation with the first self-equipment based on operation information and a collaborative operation mode corresponding to the collaborative operation instruction.
[0083] In one embodiment of the present application, the first self-mobile device detects the working environment information, determines the collaborative working mode, and then sends the collaborative working instruction including the collaborative working mode to the second self-mobile device. The second self-mobile device responds to the collaborative working instruction and performs collaborative working with the first self-mobile device based on the working information and the collaborative working mode corresponding to the collaborative working instruction.
[0084] See also Figure 8 As shown, it is a flow chart of the second self-equipment device and the first self-equipment device performing collaborative operations according to an embodiment of the present application.
[0085] S501: If the collaborative operation mode is a following mode, a target following position of a second self-moving device is determined based on the position and direction of a first self-moving device and a preset following distance between a plurality of self-moving devices.
[0086] See also Fig. 9 As shown, it is a schematic diagram of the positions of the second self-moving device and the first self-moving device provided by an embodiment of the present application. In one embodiment of the present application, the position of the first self-moving device is GPS coordinate information. In the following mode, the second self-moving device is located behind the first self-moving device and has the same moving trajectory as the first self-moving device. The second GPS coordinates of the second self-moving device are calculated based on the first GPS coordinates of the first self-moving device and the preset following distance. Among them, the distance between the second GPS coordinates of the second self-moving device and the first GPS coordinates of the first self-moving device is the preset following distance. The first self-moving device can detect the direction of the device head (such as the front of the vehicle) through the positioning module, and determine the direction of the device head as the direction of the first self-moving device. For example, if the direction of the device head of the self-moving device is due north, the direction of the first self-moving device is due north. After the second self-moving device receives the direction of the first self-moving device, it determines the direction of the first self-moving device as the direction of the second self-moving device. In this way, the second self-moving device determines the target following position based on the second GPS coordinates and the direction of the first self-moving device.
[0087] See also Fig.10FIG. 1 is a schematic diagram of the positions of the second self-moving device and the first self-moving device provided in another embodiment of the present application. In another embodiment of the present application, if the width of the working path is less than a preset value and greater than the width of the first self-moving device, in the following mode, the second self-moving device is located behind the first self-moving device, the first self-moving device moves along the first boundary of the working path, the second self-moving device moves along the second boundary of the working path, and the movement track of the second self-moving device and the movement track of the first self-moving device cover the working path.
[0088] In another embodiment of the present application, the second GPS coordinates of the second self-moving device are calculated based on the first GPS coordinates of the first self-moving device, the preset following distance, and the preset distance between the second self-moving device and the boundary of the working path. Fig.10 As shown, the working path extends in the vertical direction, and the distance s4 between the second GPS coordinate and the first GPS coordinate is calculated based on the first preset spacing s1 between the first self-moving device and the first boundary L1 of the working path, the second preset spacing s2 between the second self-moving device and the second boundary L2 of the working path, the width s of the working path, and the preset following spacing s3. For example, by calculating the width s of the working path minus the sum of the first preset spacing s1 and the second preset spacing s2, the horizontal spacing s5 between the first self-moving device and the second self-moving device is obtained, the preset following spacing s3 is the spacing between the first self-moving device and the second self-moving device in the vertical direction, and the distance s4 between the second GPS coordinate and the first GPS coordinate is obtained based on the Pythagorean theorem. The second GPS coordinate is calculated based on the distance s4 between the second GPS coordinate and the first GPS coordinate and the second preset spacing s2 between the second self-moving device and the second boundary L2 of the working path. The direction of the first self-moving device is determined as the direction of the second self-moving device, so that the second self-moving device determines the target following position based on the second GPS coordinate and the direction of the first self-moving device.
[0089] S502: The second self-moving device moves from the current position to the target following position, and performs a following collaborative operation with the first self-moving device based on the operation information.
[0090] In one embodiment of the present application, the second self-moving device moves from a current position to a target following position under the control of a PID (Proportional-Integral-Derivative) controller, and performs following collaborative operations with the first self-moving device based on operation information.
[0091] See also Fig.11 As shown, it is a flow chart of the second self-equipment device and the first self-equipment device performing collaborative operations according to another embodiment of the present application.
[0092] S601: If the collaborative operation mode is the side-by-side mode, determine a target side-by-side position of a second self-moving device based on the position and direction of the first self-moving device and a preset side-by-side spacing between a plurality of self-moving devices.
[0093] See also Fig.12 FIG. 1 is a schematic diagram of the positions of the second self-moving device and the first self-moving device provided in another embodiment of the present application. In one embodiment of the present application, in the side-by-side mode, the second self-moving device is located to the side of the first self-moving device, the first self-moving device moves along the first boundary L1 of the working path, and the second self-moving device moves along the second boundary L2 of the working path, and the movement trajectory of the second self-moving device and the movement trajectory of the first self-moving device overlap the working path.
[0094] In one embodiment of the present application, the second GPS coordinates of the second self-moving device are calculated based on the first GPS coordinates of the first self-moving device and the preset side-by-side spacing. The distance between the second GPS coordinates of the second self-moving device and the first GPS coordinates of the first self-moving device is the preset side-by-side spacing, and the extension direction of the line between the second GPS coordinates of the second self-moving device and the first GPS coordinates of the first self-moving device is perpendicular to the direction of the first self-moving device. The direction of the first self-moving device is determined as the direction of the second self-moving device, so that the second self-moving device determines the target side-by-side position based on the second GPS coordinates and the direction of the first self-moving device.
[0095] S602, the second self-moving device moves from the current position to the target parallel position, and performs parallel collaborative operation with the first self-moving device based on the operation information.
[0096] In one embodiment of the present application, the second self-moving device moves from a current position to a target side-by-side position under the control of a PID (proportional integral differential) controller, and performs side-by-side collaborative operations with the first self-moving device based on operation information.
[0097] Through the above-mentioned embodiments of the present application, the second self-moving device can automatically move to the target position based on the operation information synchronized by the first self-moving device and the collaborative operation instructions sent, and perform collaborative operations with the first self-moving device, thereby effectively improving the collaborative operation efficiency between multiple self-moving devices.
[0098] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.
[0099] The computer-readable storage medium may be the internal memory of the self-mobile device described in the above embodiment, such as the hard disk or memory of the self-mobile device. The computer-readable storage medium may also be an external storage device of the self-mobile device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the self-mobile device.
[0100] In one embodiment of the present application, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the self-mobile device, etc.
[0101] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0102] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0103] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0104] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0105] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.
Claims
1. A collaborative operation control method, applied to a first self-moving device, characterized in that: The method comprises: Acquire operation information of the operation area, and send the operation information to at least one second self-equipping device; Detecting operating environment information, and determining a collaborative operating mode of the at least one second self-moving device based on the operating environment information; A collaborative operation instruction is sent to the at least one second self-moving device, and the at least one second self-moving device is controlled to perform a collaborative operation with the first self-moving device based on the operation information and the collaborative operation mode.
2. The collaborative operation control method according to claim 1, characterized in that: The collaborative operation mode includes a follow-up mode and a side-by-side mode.
3. The collaborative operation control method according to claim 2, characterized in that: The operation information includes an operation path, the operation environment information includes a width of the operation path, and determining the collaborative operation mode of the at least one second self-moving device based on the operation environment information includes: Detecting the width of the working path; If the width of the operation path is greater than or equal to a preset value, determining that the collaborative operation mode of the at least one second self-moving device is the side-by-side mode; If the width of the operation path is smaller than the preset value, it is determined that the cooperative operation mode of the at least one second self-moving device is the following mode.
4. The collaborative operation control method according to claim 2, characterized in that: The operation information includes an operation path, the operation environment information includes obstacle information of the operation path, and determining the collaborative operation mode of the at least one second self-moving device based on the operation environment information includes: If there is no obstacle on the operation path, determining that the collaborative operation mode of the at least one second self-moving device is the side-by-side mode; If there is an obstacle on the operation path, the cooperative operation mode of the at least one second self-moving device is determined to be the following mode.
5. A collaborative operation control method, applied to a second self-moving device, characterized in that: The method comprises: Receiving operation information sent by a first mobile device; Receive the collaborative work instruction sent by the first self-mobile device, and perform collaborative work with the first self-mobile device based on the work information and the collaborative work mode corresponding to the collaborative work instruction, wherein the collaborative work mode is determined by the first self-mobile device based on the detected work environment information.
6. The collaborative operation control method according to claim 5, characterized in that: The collaborative operation mode includes a follow-up mode and a side-by-side mode.
7. The collaborative operation control method according to claim 6, characterized in that: The operation information includes an operation path, a position and a direction of the first self-moving device, and a preset following distance and a preset parallel distance between a plurality of self-moving devices.
8. The collaborative operation control method according to claim 7, characterized in that: The collaborative operation with the first self-equipment device based on the collaborative operation mode corresponding to the operation information and the collaborative operation instruction includes: If the collaborative operation mode is the following mode, determining a target following position of the second self-moving device based on the position and direction of the first self-moving device and a preset following distance between a plurality of self-moving devices; The second self-moving device moves from a current position to the target following position, and performs a following collaborative operation with the first self-moving device based on the operation path.
9. The collaborative operation control method according to claim 7, characterized in that: The collaborative operation with the first self-equipment device based on the collaborative operation mode corresponding to the operation information and the collaborative operation instruction includes: If the collaborative operation mode is the side-by-side mode, determining a target side-by-side position of the second self-moving device based on the position and direction of the first self-moving device and a preset side-by-side spacing between a plurality of self-moving devices; The second self-moving device moves from a current position to the target parallel position, and performs parallel collaborative operation with the first self-moving device based on the operation path.
10. A self-propelled device, characterized in that: The self-mobile device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the self-mobile device implements the collaborative job control method as described in any one of claims 1 to 9.
11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor in a mobile device, implements the collaborative job control method according to any one of claims 1 to 9.