Turning method of self-moving equipment, self-moving equipment and readable storage medium

Abstract

The invention belongs to the technical field of self-moving equipment control, and discloses a self-moving equipment turning method, self-moving equipment and a readable storage medium, and the method comprises the steps: controlling the self-moving equipment to execute walking processing according to a preset planning path, and determining whether the self-moving equipment is located at a turning point of the preset planning path; when it is determined that the self-moving device is located at the turning point of the preset planned path, the turning circle center and the turning radius of the self-moving device are determined, and the self-moving device is controlled to execute turning processing according to the turning circle center and the turning radius, so that the self-moving device returns to the moving point in the preset planned path; according to the invention, small damage to a site in a working environment is realized, the position switching of two adjacent paths of the self-moving equipment can be realized, the self-moving equipment can be prevented from losing balance or running unstably, large turning power is not needed, and the working efficiency of the self-moving equipment can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of self-moving device control, and in particular to a self-moving device turning method, a self-moving device and a readable storage medium. Background Art

[0002] A self-moving device is an intelligent robot used in a courtyard, and is provided with a component for the device to walk, which may be a tracked component. In the prior art, most of the movement paths of the self-moving device are parallel paths, and two consecutive 90-degree turns are required between two adjacent paths. If the self-moving device uses the method of turning in situ, the self-moving device with tracked components will cause greater damage or wear to the work site (grass) during the process of turning in situ due to the existence of shear force, and even lift up the grass in the work site. When the self-moving device is working, it is common for the terrain to be complex, such as slopes, height differences, etc., and the use of the in-situ turning method may cause the self-moving device to lose balance or drive unsteadily. The body of the self-moving device is relatively large, the body weight is also relatively large, the resistance of the work site is also relatively large, and the use of the in-situ turning method requires a large torque; the turning between two adjacent paths requires a long time through two in-situ rotations plus the width between the forward paths, which affects work efficiency.

[0003] Therefore, those skilled in the art are in urgent need of finding a method for solving the turning problem of tracked self-propelled equipment. Summary of the invention

[0004] Based on this, it is necessary to provide a turning method for a self-moving device, a self-moving device and a readable storage medium to address the above-mentioned technical problems, so as to solve the problems in the prior art that the turning method of the self-moving device causes great damage to the grass, the self-moving device is prone to lose balance or driving unsteadily, the self-moving device requires a large torque, and the self-moving device takes a long time to turn, affecting work efficiency.

[0005] To achieve the above object, a turning method for a self-propelled device is provided, the method comprising:

[0006] When controlling the self-moving device to perform walking processing according to the preset planned path, determining whether the self-moving device is located at a turning point of the preset planned path;

[0007] When it is determined that the self-moving device is located at a turning point of the preset planned path, the turning center and turning radius of the self-moving device are determined, and the self-moving device is controlled to perform turning processing according to the turning center and turning radius, so that the self-moving device returns to the moving point in the preset planned path.

[0008] Optionally, before controlling the mobile device to walk according to the preset planned path, the method further includes:

[0009] Determine the longest side corresponding to the working area where the mobile device is located;

[0010] The preset planning path is planned according to the longest side of the working area.

[0011] Optionally, when determining that the self-moving device is located at a turning point of the preset planned path, determining a turning center and a turning radius of the self-moving device, and controlling the self-moving device to perform turning processing according to the turning center and the turning radius, includes:

[0012] When determining, by a preset positioning device in the self-moving device, that the moving position point of the self-moving device is located at a turning point of the preset planned path, the turning center and the turning radius are determined according to the distance between the turning point and the moving point;

[0013] A turning curve is determined according to the turning center and the turning radius, and the self-moving device is controlled to perform turning processing according to the turning curve.

[0014] Optionally, the controlling the self-moving device to perform turning processing according to the turning curve includes:

[0015] Determine the current progress coordinate point of the automatic equipment on the turning curve by a preset dichotomy method;

[0016] Comparing the current positioning coordinate point of the self-moving device with the current progress coordinate point on the turning curve to obtain an angle deviation and a position deviation;

[0017] The self-moving device is adjusted according to the angle deviation and the position deviation, and the self-moving device is controlled to complete the turning process.

[0018] Optionally, the controlling the self-moving device to perform a turning process according to the turning center and the turning radius includes:

[0019] During the turning process, determining whether there is an obstacle in the turning curve by using a preset identification sensor in the self-moving device;

[0020] After determining that there is an obstacle in the turning curve, determining whether the self-moving device will deviate from the turning curve by identifying the position of the obstacle;

[0021] After determining that the self-moving device will deviate from the turning curve, controlling the self-moving device to bypass the obstacle along the edge;

[0022] The turning center and turning radius are determined by the current positioning coordinate point of the self-moving device and the moving point in the preset planned path, a new turning curve is re-determined by the turning center and turning radius, and the self-moving device is controlled to perform turning processing according to the new turning curve.

[0023] Optionally, determining the turning center and the turning radius by using the current positioning coordinate point of the self-moving device and the moving point in the preset planned path, re-determining a new turning curve by using the turning center and the turning radius, and controlling the self-moving device to perform turning processing according to the new turning curve includes:

[0024] Determining whether the self-moving device can continue to return to the original turning curve according to the relative position of the obstacle in the turning curve;

[0025] When it is determined that the self-moving device can return to the original turning curve, controlling the self-moving device to directly return to the original turning curve for turning processing;

[0026] When it is determined that the self-moving device cannot return to the original turning curve, the turning center and the turning radius are determined by the current positioning coordinate point of the self-moving device and the motion point in the preset planned path, and a new turning curve is re-determined by the turning center and the turning radius, and the self-moving device is controlled to perform turning processing according to the new turning curve.

[0027] Optionally, the controlling the self-moving device to bypass an obstacle along an edge includes:

[0028] Controlling the self-moving device to move outward along the edge around the obstacle, to move outside the working area corresponding to the preset planned path, and to return to the working area after walking a preset distance;

[0029] Or, control the self-moving device to rotate inward to bypass the obstacle.

[0030] Optionally, the controlling the self-moving device to perform turning processing according to the turning center and the turning radius includes:

[0031] Get the preset line speed;

[0032] Calculate the angular velocity of the self-moving device by using the preset linear velocity, turning radius, angle deviation and position deviation;

[0033] Calculating the travel speed of the left and right walking wheels according to the preset linear speed, angular speed and the wheelbase of the left and right walking wheels;

[0034] The self-moving device is controlled to perform turning processing according to the walking speed of the left and right walking wheels, the turning center and the turning radius.

[0035] To achieve the above-mentioned purpose, a self-moving device is also provided, which includes left and right walking wheels, a walking motor connected to the left and right walking wheels, and a controller. The controller controls the walking wheels and the walking motor to implement the steps of the self-moving device turning method.

[0036] In order to achieve the above-mentioned purpose, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned self-moving device turning method are implemented.

[0037] The turning method of the self-moving device provided by the present invention includes: when controlling the self-moving device to perform walking processing according to the preset planned path, determining whether the self-moving device is located at the turning point of the preset planned path; when determining that the self-moving device is located at the turning point of the preset planned path, determining the turning center and turning radius of the self-moving device, and controlling the self-moving device to perform turning processing according to the turning center and turning radius, so that the self-moving device returns to the moving point in the preset planned path; through the above-mentioned turning method, there is no need to make two 90-degree turns in place on two adjacent paths in the preset planned path, and the self-moving device can directly achieve the position switching of the two adjacent paths with one turn, the turning radius is larger than the radius of the in-situ turn, and the turning arc is larger than the turning at the origin. The arc is gentle. In terms of the distance of the turning arc, the above-mentioned turning method is longer than the turning method in situ, and the wear unit of the site in the working environment is larger, which is equivalent to spreading the wear to more sites in the working environment, and the wear degree per unit area is reduced, thereby achieving less damage to the site in the working environment; through the above-mentioned turning method, the arc of the turn can be gently controlled to prevent the self-moving device from losing balance or driving unsteadily. At the same time, in the process of controlling the arc of the turn, the motor in the self-moving device does not need to provide a large turning power like the process of turning in situ; through the above-mentioned turning method, there is no need to turn in situ, but a direct turn can enable the self-moving device to switch positions between two adjacent paths, thereby improving the working efficiency of the self-moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0039] Figure 1 It is a schematic diagram of a process of a turning method of a self-moving device in one embodiment of the present invention.

[0040] Figure 2is a schematic diagram of a turning method for a self-moving device according to an embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of a turning method for a self-moving device according to an embodiment of the present invention;

[0042] Figure 4 It is a schematic block diagram of a self-moving device in one embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] like Figure 1 and 2 As shown, a turning method of a self-moving device provided by an embodiment of the present invention can be applied to a controller in a self-moving device, wherein the controller can also be understood as an MCU (microcontroller unit). The method includes the following steps:

[0045] S10, when controlling the self-moving device to execute walking processing according to the preset planned path, determining whether the self-moving device is located at a turning point of the preset planned path.

[0046] Understandably, a self-moving device is a robot used in a garden, in which the robot can be divided into a detachable front and a body, in which a mowing blade can be provided, the main function of which is to cut the grass on the lawn, and in the body, a crawler-type walking component can be provided, and it should also be noted that garden robots with the same functions or the same components also fall within the scope of the method in the present application; the preset planned path is a path planned within the working area of ​​the self-moving device, and the path can be a bow-shaped path within the working area, so at the edge of the working area, the self-moving device needs to perform a turning operation between adjacent paths; the turning point is a position point where a turn needs to be performed between adjacent paths in the preset planned path, wherein whether the self-moving device is at the turning point is determined by confirming the fused positioning information of the preset positioning device in the self-moving device, and when the identified fused positioning information is located at the turning position of the preset map corresponding to the working area, the current position point of the self-moving device can be considered to be the turning point of the preset planned path.

[0047] In one embodiment, the step S10, before controlling the mobile device to walk according to the preset planned path, further includes:

[0048] Determine the longest side corresponding to the working area where the mobile device is located;

[0049] The preset planning path is planned according to the longest side of the working area.

[0050] Understandably, the working area may be a regular or irregular graphic area. In the regular or irregular graphic area, there will be an area with the longest side. In addition, the working area can be controlled by the mobile device to walk a circle first, and then the corresponding map of the working area can be established based on the preset positioning sensor;

[0051] Specifically, a path with a preset walking pattern (such as bow-shaped sweeping walking) is planned in the working area through the starting point of the self-moving device and the longest side corresponding to the working area until the path planning of the entire working area is completed; wherein the starting point can be the current position of the self-moving device or the position where the self-moving device starts from the charging pile.

[0052] S20, when it is determined that the self-moving device is located at the turning point of the preset planned path, the turning center and turning radius of the self-moving device are determined, and the self-moving device is controlled to perform turning processing according to the turning center and turning radius, so that the self-moving device returns to the moving point in the preset planned path.

[0053] It can be understood that the turning center and turning radius are determined based on the distance between adjacent paths in the preset planned path, wherein the distance between adjacent paths is determined by the distance between the turning point of the current path and the moving point of the next path. Specifically, after obtaining the distance between the two, half of the distance between the two is used as the turning radius, and the center point of the distance between the two is used as the turning center. The expression of the semicircular curve finally formed is (x-a) 2 +(y-b) 2 =r 2 , wherein the curve is centered at O(a, b) and has a radius of r; the turning process is based on the semicircular curve mentioned above and rotates until the mobile device returns to the motion point of the next path in the preset planned path.

[0054] In the embodiments of steps S10 to S20, this turning method can achieve less damage to the site in the working environment, enable the self-moving device to switch positions between two adjacent paths, prevent the self-moving device from losing balance or driving unsteadily, and eliminate the need for large turning power, thereby improving the working efficiency of the self-moving device.

[0055] It should be noted that if Figure 2As shown, when the self-moving device moves from left to right in the working area, point A is the turning point and point B is the moving point. When the self-moving device moves from right to left in the working area, point B is the turning point and point A is the moving point.

[0056] In one embodiment, the step S20, determining the turning radius of the self-moving device, includes:

[0057] Determine the current work task through the recognition status of the preset recognition sensor in the mobile device;

[0058] The turning radius of the self-moving device is determined in real time according to the current work task.

[0059] Understandably, the preset identification sensor includes but is not limited to one or more of an image sensor, a laser radar, an infrared radar and a millimeter wave radar; the identification situation refers to the information identified by the preset positioning device, such as after taking a photo through an image sensor, the density of grass in a range area is identified through the photographed image, such as after the laser is emitted by the laser radar to reach a range area, the laser reflected on the range is obtained, and then the density of grass is determined by the reflected laser; the work task refers to the current work intensity determined by the mobile device based on the identified information. If the density of grass (the site in the working environment) in the identified lawn is higher, the work intensity of the current work task is higher, and vice versa;

[0060] In this embodiment, the smaller the turning radius of the self-moving device is, the better the cleaning degree in the working area is. Therefore, the turning radius can be determined in real time according to the current work task to improve the cleaning degree of the working area.

[0061] In one embodiment, the step S20, when determining that the self-moving device is located at a turning point of the preset planned path, determining the turning center and turning radius of the self-moving device, and controlling the self-moving device to perform turning processing according to the turning center and turning radius, includes:

[0062] When determining, by a preset positioning device in the self-moving device, that the moving position point of the self-moving device is located at a turning point of the preset planned path, the turning center and the turning radius are determined according to the distance between the turning point and the moving point;

[0063] A turning curve is determined according to the turning center and the turning radius, and the self-moving device is controlled to perform turning processing according to the turning curve.

[0064] It can be understood that the preset positioning device refers to a sensor that can confirm the position of the self-moving device, which may include but is not limited to one or more of an IMU sensor, a tachometer and an RTK positioning device (which may be a dual RTK antenna, and the orientation information of the self-moving device can be determined by the positioning information of the two antennas). Among them, a variety of fused positioning information can be obtained through the preset positioning device, and the current coordinates (moving position point) of the self-moving device in the working area can be confirmed based on the fused positioning information; the method for confirming the turning center and the turning radius is based on the distance between the two points, please refer to the content described in the above step S20 for details; the turning curve is a semicircular curve determined based on the turning center and the turning radius, which has a corresponding mathematical expression, and the self-moving device will turn according to this turning curve.

[0065] It should be noted that Figure 2 The curve from point A to point B in the figure is the turning curve.

[0066] In one embodiment, the controlling the self-moving device to perform turning processing according to the turning curve includes:

[0067] Determine the current progress coordinate point of the automatic device on the turning curve by a preset dichotomy method;

[0068] Comparing the current positioning coordinate point of the self-moving device with the current progress coordinate point on the turning curve to obtain an angle deviation and a position deviation;

[0069] The self-moving device is adjusted according to the angle deviation and the position deviation, and the self-moving device is controlled to complete the turning process.

[0070] Understandably, the main idea of ​​the preset binary search method is to continuously fold in half, and each search can remove half of the data volume until all the results that do not meet the conditions are finally removed, leaving only one result that meets the conditions. Applied to the scenario of this embodiment, the self-mobile device continuously determines the current progress coordinate point in the turning curve. The specific method is: first divide the turning curve into a folded coordinate point in half, and obtain the current progress coordinate point of the self-mobile device on the turning curve based on the current positioning coordinate point (the current progress coordinate point of the current coordinate point on the turning curve is determined by connecting the current positioning coordinate point with the center of the turning circle to obtain a straight line; the current progress coordinate point of the self-mobile device on the turning curve is determined by the intersection of the straight line and the turning curve), compare the relationship between the current coordinate point and the folded coordinate point, and determine whether the current coordinate point is located on the left or right of the folded coordinate point. If it is determined that the current coordinate point is located on the left of the folded coordinate point, continue to fold the folded coordinate point again to obtain a new folded coordinate point. After comparing the relationship between the current coordinate point and the new folded coordinate point, perform multiple foldings until it is determined that the current coordinate point is within the range of the folded coordinate point or less than the folded coordinate point. The preset distance of the coordinate point (such as less than 1cm) or the preset dichotomy method is used to determine the progress of the current progress coordinate point on the turning curve as the preset progress value (such as the progress value is 99.9%). For example, when the machine moves from left to right on the turning curve, when the current coordinate point is within the left half range of the folded coordinate point, it is determined that the self-moving device is in the left half of the progress. When the current coordinate point is within the other half range of the left half range (the left half range of the new folded coordinate point), it is determined that the self-moving device is in the 1 / 4 progress of the left half, and so on. The angle deviation angErr refers to The deviation of the current orientation of the self-mobile device relative to the tangent angle of a current progress coordinate point on the turning curve (angle difference, which has a positive or negative relationship). Specifically, the angle between the orientation and the straight line where the current progress coordinate point is located is calculated by the orientation of the self-mobile device and the tangent angle of a current progress coordinate point to obtain the angle deviation; the position deviation posErr refers to the deviation of the current positioning position of the self-mobile device relative to a current progress coordinate point on the turning curve (distance difference, which has a positive or negative relationship). Specifically, the position difference between the current positioning position and a current progress coordinate point is calculated to obtain the position deviation;

[0071] After obtaining the angle deviation and position deviation, this embodiment can calculate the angular velocity through other parameters. In the differential model, the walking speed of the left and right walking wheels can be obtained through the linear speed and angular velocity, thereby completing the steering adjustment of the mobile device at the current position and improving the turning efficiency.

[0072] In one embodiment, if Figure 3As shown, the controlling the self-moving device to perform turning processing according to the turning center and the turning radius includes:

[0073] During the turning process, determining whether there is an obstacle in the turning curve by using a preset identification sensor in the self-moving device;

[0074] After determining that there is an obstacle in the turning curve, determining whether the self-moving device will deviate from the turning curve by identifying the position of the obstacle;

[0075] After determining that the self-moving device will deviate from the turning curve, controlling the self-moving device to bypass the obstacle along the edge;

[0076] The turning center and turning radius are determined by the current positioning coordinate point of the self-moving device and the moving point in the preset planned path, a new turning curve is re-determined by the turning center and turning radius, and the self-moving device is controlled to perform turning processing according to the new turning curve.

[0077] It is understandable that the preset identification sensor can be consistent with the above-mentioned sensor, and its function in this embodiment is to identify Figure 3 The position and size of the obstacle C, wherein the position of the obstacle may be within the path or path range in the turning curve; the types of obstacles may be various, such as stones, flower pots, vases, boxes, and some movable objects, wherein determining whether the self-moving device will deviate from the turning curve by the position of the obstacle is to determine whether the obstacle falls into the turning curve, and falling into the turning curve means that the self-moving device cannot perform normal turning processing in the original turning curve; the new turning curve is a curve that needs to be turned based on the current position point and the motion point, that is, the new turning center and turning radius need to be determined. It should be noted that the new turning curve can refer to the second-order Bezier curve, wherein the second-order Bezier curve can make the new turning curve present a trend of first smoothing and then turning sharply, and the angle of the curve can be 180 degrees;

[0078] In this embodiment, during the turning process, after determining that an obstacle will affect the normal turning process of the mobile device on the original turning curve, a new turning curve will be re-determined to improve the turning efficiency.

[0079] In one embodiment, if Figure 4 As shown, the method of determining the turning center and the turning radius by the current positioning coordinate point of the self-moving device and the moving point in the preset planned path, re-determining a new turning curve by the turning center and the turning radius, and controlling the self-moving device to perform turning processing according to the new turning curve includes:

[0080] Determining whether the self-moving device can continue to return to the original turning curve according to the relative position of the obstacle in the turning curve;

[0081] When it is determined that the self-moving device can return to the original turning curve, controlling the self-moving device to directly return to the original turning curve for turning processing;

[0082] When it is determined that the self-moving device cannot return to the original turning curve, the turning center and the turning radius are determined by the current positioning coordinate point of the self-moving device and the motion point in the preset planned path, and a new turning curve is re-determined by the turning center and the turning radius, and the self-moving device is controlled to perform turning processing according to the new turning curve.

[0083] Specifically, the position of the self-moving device in the distance d between the turning point and the moving point can be determined by the relative position of the obstacle in the turning curve, and whether the self-moving device can return to the original turning curve can be determined by the position. Among them, if the distance projected from the position to the straight line in d is within half of d, it can be determined that the self-moving device can return to the original turning curve. If the distance projected from the position to the straight line in d is outside half of d, it is not necessary for the self-moving device to return to the original turning curve. If it is necessary to adjust to return to the original turning curve, too many adjustment actions will be required, and the turning efficiency will be reduced.

[0084] After determining that the self-moving device will deviate from the turning curve, the embodiment controls the self-moving device to bypass the obstacle along the edge, and then determines whether the self-moving device can return to the turning curve to perform turning or walking through the original turning curve; the method of planning the new turning curve is the same as the previous turning curve, except that the radius of the turning curve and the positions of the starting point and the end point of the turning curve are different;

[0085] It should be noted that when it is determined that the self-moving device cannot return to the original turning curve, a straight line path can also be determined through the current position and movement point of the self-moving device.

[0086] In one embodiment, after determining whether the self-moving device will deviate from the turning curve by identifying the position of the obstacle, the method further includes:

[0087] After determining that the self-moving device will not deviate from the turning curve, the self-moving device is controlled to continue to perform turning processing on the turning curve.

[0088] In this embodiment, the self-moving device will not deviate from the turning curve, which is equivalent to the obstacle being present near the turning curve, and the size of the obstacle will not affect the normal turning process of the self-moving device.

[0089] In one embodiment, controlling the self-moving device to bypass an obstacle along an edge includes:

[0090] Controlling the self-moving device to move outward along the edge around the obstacle, to move outside the working area corresponding to the preset planned path, and to return to the working area after walking a preset distance;

[0091] Or, control the self-moving device to rotate inward to bypass the obstacle.

[0092] During the process of turning along the preset path, the self-moving device is located in a preset working area. At this time, it is necessary to control the distance between the self-moving device and the edge of the working area so as to perform the turning process according to the distance;

[0093] Specifically, when the self-moving device turns, it is necessary to ensure that the self-moving device is at a certain distance from the edge. When there are obstacles on the turning curve, the self-moving device is controlled to rotate outside the working area, and then return to the working area after walking outward for a preset distance, or the self-moving device is controlled to rotate inside the working area to bypass the obstacles.

[0094] This embodiment controls the mobile device to bypass the obstacle along the edge and then complete the turning process in the working area.

[0095] In one embodiment, when initially planning a preset path, a preset distance between the mobile device and the edge of the working area is determined, and the mobile device is controlled to first walk around the edge of the working area and then return to the preset planned path in the working area for walking.

[0096] In one embodiment, controlling the self-moving device to perform turning processing according to the turning center and the turning radius includes:

[0097] Get the preset line speed;

[0098] Calculate the angular velocity of the self-moving device by using the preset linear velocity, turning radius, angle deviation and position deviation;

[0099] Calculating the travel speed of the left and right walking wheels according to the preset linear speed, angular speed and the wheelbase of the left and right walking wheels;

[0100] The self-moving device is controlled to perform turning processing according to the walking speed of the left and right walking wheels, the turning center and the turning radius.

[0101] It can be understood that it is the speed of any point on an object when it makes a circular motion about a fixed axis. Its general definition is the instantaneous speed of a particle (or each point on an object) when it makes a curved motion (including circular motion). Specifically, the angular velocity of the self-moving device is first calculated by the motion control algorithm. The specific formula is w=v / r+PID(angErr)+PID(posErr), where v is the preset linear velocity, r is the turning radius, PID(angErr) is the value obtained after PID calculation for the angle deviation, PID(posErr) is the value obtained after PID calculation for the position deviation, and the angErr value of the PID control is the vehicle The angle between the body orientation and the straight line where a current progress coordinate point is located is: theta=C (the current heading angle of the self-moving device, also the body orientation)-D (the straight line where the current progress coordinate point is located, also the tangent where the current progress coordinate point is located), the PID controlled posErr is the position difference between the positioning position of the self-moving device and a current progress coordinate point; finally, the walking speed of the left and right walking wheels is calculated through the differential model, among which the walking speed of the right walking wheel vr=v+w*d / 2, the walking speed of the left walking wheel vl=vw*d / 2, d is the wheelbase, during the turning process, one walking wheel is fast and the other walking wheel is slow.

[0102] The present invention provides a turning method for a self-moving device. When the self-moving device is controlled to perform walking processing according to a preset planned path, it is determined whether the self-moving device is located at a turning point of the preset planned path; when it is determined that the self-moving device is located at the turning point of the preset planned path, the turning center and turning radius of the self-moving device are determined, and the self-moving device is controlled to perform turning processing according to the turning center and turning radius, so that the self-moving device returns to the moving point in the preset planned path; through the above-mentioned turning method, there is no need to perform two 90-degree turns in situ on two adjacent paths in the preset planned path. The self-moving device can directly switch the positions of the two adjacent paths with one turn. The turning radius is larger than the radius of the turn in situ, and the arc of the turn is gentler than the arc of the turn at the origin. In the arc of the turn, a distance of turning 180 degrees in situ is only a radius with the wheel base as the diameter. The turning method of the present invention has a 180-degree distance of a circle with a diameter of (wheelbase + U-shaped distance). In terms of the distance of the turning arc, the above-mentioned turning method is longer than the in-situ turning method, and the wear unit of the site in the working environment is larger, which is equivalent to spreading the wear to more sites in the working environment, and the wear degree per unit area is reduced, thereby achieving less damage to the site in the working environment; through the above-mentioned turning method, the arc of the turn can be moderately controlled to prevent the self-moving device from losing balance or driving unsteadily. At the same time, in the process of controlling the arc of the turn, the motor in the self-moving device does not need to provide a large turning power like the process of turning in situ; through the above-mentioned turning method, there is no need to turn in situ, but a direct turn can enable the self-moving device to achieve position switching of two adjacent paths, thereby improving the working efficiency of the self-moving device.

[0103] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean 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 embodiment of the present invention.

[0104] like Figure 4 As shown, a self-moving device is also provided, the self-moving device includes left and right walking wheels, a walking motor connected to the left and right walking wheels, and a controller, the controller controls the walking wheels and the walking motor to implement the steps of the self-moving device turning method. In one embodiment, the front and body of the self-moving device are in a detachable state.

[0105] The execution function of the controller corresponds one-to-one to the turning method of the self-moving device in the above embodiment. For the specific definition of the controller, please refer to the definition of the turning method of the self-moving device in the above text, which will not be repeated here. Each submodule in the above controller can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above submodules can be embedded in or independent of the processor in the controller in hardware form, or can be stored in the memory in the controller in software form, so that the processor can call and execute the operations corresponding to each of the above submodules.

[0106] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions, and the readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media; the readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the self-moving device turning method described in the above embodiment.

[0107] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0108] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0109] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those 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 invention, and should all be included in the protection scope of the present invention.

Claims

1. A turning method for a self-propelled device, characterized in that: The method comprises: When controlling the self-moving device to perform walking processing according to the preset planned path, determining whether the self-moving device is located at a turning point of the preset planned path; When it is determined that the self-moving device is located at a turning point of the preset planned path, the turning center and turning radius of the self-moving device are determined, and the self-moving device is controlled to perform turning processing according to the turning center and turning radius, so that the self-moving device returns to the moving point in the preset planned path.

2. The turning method of a self-propelled device according to claim 1, characterized in that: Before controlling the mobile device to walk according to the preset planned path, the method further includes: Determine the longest side corresponding to the working area where the mobile device is located; The preset planning path is planned according to the longest side of the working area.

3. The turning method of a self-propelled device according to claim 1, characterized in that: When it is determined that the self-moving device is located at a turning point of the preset planned path, determining the turning center and turning radius of the self-moving device, and controlling the self-moving device to perform turning processing according to the turning center and turning radius, includes: When determining, by a preset positioning device in the self-moving device, that the moving position point of the self-moving device is located at a turning point of the preset planned path, the turning center and the turning radius are determined according to the distance between the turning point and the moving point; A turning curve is determined according to the turning center and the turning radius, and the self-moving device is controlled to perform turning processing according to the turning curve.

4. The turning method of a self-propelled device as claimed in claim 3, characterized in that: The controlling the self-moving device to perform turning processing according to the turning curve includes: Determine the current progress coordinate point of the automatic equipment on the turning curve by a preset dichotomy method; Comparing the current positioning coordinate point of the self-moving device with the current progress coordinate point on the turning curve to obtain an angle deviation and a position deviation; The self-moving device is adjusted according to the angle deviation and the position deviation, and the self-moving device is controlled to complete the turning process.

5. The turning method of a self-moving device according to any one of claims 1 to 4, characterized in that: The controlling the self-moving device to perform a turning process according to the turning center and the turning radius includes: During the turning process, determining whether there is an obstacle in the turning curve by using a preset identification sensor in the self-moving device; After determining that there is an obstacle in the turning curve, determining whether the self-moving device will deviate from the turning curve by identifying the position of the obstacle; After determining that the self-moving device will deviate from the turning curve, controlling the self-moving device to bypass the obstacle along the edge; The turning center and turning radius are determined by the current positioning coordinate point of the self-moving device and the moving point in the preset planned path, a new turning curve is re-determined by the turning center and turning radius, and the self-moving device is controlled to perform turning processing according to the new turning curve.

6. The turning method of a self-moving device according to claim 5, characterized in that: The method of determining the turning center and the turning radius by using the current positioning coordinate point of the self-moving device and the moving point in the preset planned path, re-determining a new turning curve by using the turning center and the turning radius, and controlling the self-moving device to perform turning processing according to the new turning curve includes: Determining whether the self-moving device can continue to return to the original turning curve according to the relative position of the obstacle in the turning curve; When it is determined that the self-moving device can return to the original turning curve, controlling the self-moving device to directly return to the original turning curve for turning processing; When it is determined that the self-moving device cannot return to the original turning curve, the turning center and the turning radius are determined by the current positioning coordinate point of the self-moving device and the motion point in the preset planned path, and a new turning curve is re-determined by the turning center and the turning radius, and the self-moving device is controlled to perform turning processing according to the new turning curve.

7. The turning method of a self-moving device according to claim 5, characterized in that: The controlling the self-moving device to bypass obstacles along the edge includes: Controlling the self-moving device to move outward along the edge around the obstacle, to move outside the working area corresponding to the preset planned path, and to return to the working area after walking a preset distance; Or, control the self-moving device to rotate inward to bypass the obstacle.

8. The turning method of a self-propelled device as claimed in claim 4, characterized in that: The step of adjusting the self-moving device according to the angle deviation and the position deviation to control the self-moving device to complete the turning process includes: Get the preset line speed; Calculate the angular velocity of the self-moving device by using the preset linear velocity, turning radius, angle deviation and position deviation; Calculating the travel speed of the left and right walking wheels according to the preset linear speed, angular speed and the wheelbase of the left and right walking wheels; The self-moving device is controlled to perform turning processing according to the walking speed of the left and right walking wheels, the turning center and the turning radius.

9. A self-propelled device, characterized in that: It includes left and right walking wheels, a walking motor connected to the left and right walking wheels, and a controller. The controller controls the left and right walking wheels and the walking motor to implement the steps of the self-moving device turning method as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the self-moving device turning method according to any one of claims 1 to 8 are implemented.

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