Control method of autonomous operation equipment and autonomous operation equipment

Abstract

The embodiment of the invention provides a control method of autonomous operation equipment and the autonomous operation equipment, and relates to the technical field of autonomous operation equipment. The control method comprises the steps that based on a received fault signal from a target controller and / or a detected fault, the current fault type of the fault of the autonomous operation equipment is determined, and the target controller at least comprises an operation motor controller and / or a walking motor controller of the autonomous operation equipment; and based on the current fault type, determining a fault processing strategy of the autonomous operation equipment and executing the fault processing strategy. According to the method, different fault processing strategies are determined based on the current fault type, so that the autonomous operation equipment can intelligently and autonomously process the fault, the workload of manual intervention is reduced, the working efficiency is improved, and the user experience degree is high.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous operating equipment, and in particular to a control method for autonomous operating equipment and the autonomous operating equipment. Background Art

[0002] Autonomous working equipment with moving blades is usually driven by three motors, two of which are self-propelled motors that control the forward, backward and turning of the autonomous working equipment, and the other motor is the working motor, which drives the moving blades to work. Taking the smart lawn mower as an example, the working motor is the mowing motor, and the mowing of the lawn is completed by the mowing motor driving the blades. All motors are driven and controlled by the main control unit. When the motor has an electrical fault or abnormality, the main control unit needs to identify and handle the electrical fault so that the working equipment can continue to work. However, once the motor of the existing autonomous working equipment fails, it needs to be shut down for maintenance, which requires manual intervention, reducing the operating efficiency of the autonomous working equipment.

[0003] Based on the above technical problems, the applicant proposed the technical solution of the present application. Summary of the invention

[0004] The purpose of the present invention is to provide a control method for autonomous operating equipment and autonomous operating equipment, by determining different fault handling strategies based on the current fault type, so that the autonomous operating equipment can intelligently and autonomously handle faults, reduce the workload of manual intervention, improve work efficiency, and provide a strong user experience.

[0005] To achieve the above object, the present invention provides a control method for an autonomous operating device, which is applied to a main controller in the autonomous operating device. The method comprises:

[0006] Determine the current fault type of the fault occurring in the autonomous working device based on a received fault signal from a target controller and / or a detected fault, the target controller comprising at least: a working motor controller and / or a travel motor controller of the autonomous working device;

[0007] Based on the current fault type, a fault handling strategy for the autonomous operating equipment is determined and executed.

[0008] The present invention also provides an autonomous operation device, comprising a main controller, wherein the main controller is used to execute the above control method.

[0009] In one embodiment, determining the current fault type of the fault occurring in the autonomous operating device based on the received fault signal from the target controller and / or the detected fault signal includes:

[0010] When receiving a first fault signal sent by the working motor controller when detecting that a first operating parameter of the working motor is abnormal, determining that a current fault type of the autonomous working device is a first fault;

[0011] The determining and executing a fault handling strategy of the autonomous operating device based on the current fault type includes:

[0012] Based on the first fault, a prompt message is issued to indicate that manual intervention is required.

[0013] In one embodiment, the determining the current fault type of the fault occurring in the autonomous operating device based on the received fault signal from the target controller and / or the detected fault includes:

[0014] When it is detected that the power supply voltage parameter of the autonomous operation device is abnormal, determining that the current fault type of the autonomous operation device is a second fault;

[0015] The determining and executing a fault handling strategy of the autonomous operating device based on the current fault type includes:

[0016] If the autonomous operating device is operating, based on the second fault, controlling the autonomous operating device to stop operating and enter a return mode;

[0017] If the autonomous operating device is charging, based on the second fault, the autonomous operating device is controlled to disconnect the charging circuit.

[0018] In one embodiment, the determining the current fault type of the fault occurring in the autonomous operating device based on the received fault signal from the target controller and / or the detected fault includes:

[0019] If the third fault signal sent by the working motor controller when detecting an abnormality in the working motor meets a preset condition, determining that the current fault type of the autonomous working device is the third fault;

[0020] The determining and executing a fault handling strategy of the autonomous operating device based on the current fault type includes:

[0021] Controlling the autonomous operating equipment to reduce the travel speed according to a first strategy;

[0022] And / or, controlling the autonomous operating equipment to increase operating parameters according to a second strategy.

[0023] In one embodiment, after determining and executing the fault handling strategy of the autonomous operating device based on the current fault type, the method further includes:

[0024] After detecting that the third fault of the autonomous operating equipment is eliminated, if the autonomous operating equipment has reduced the walking speed according to the first strategy, the autonomous operating equipment is controlled to increase the walking speed according to the third strategy; if the autonomous operating equipment has increased the operating parameters according to the second strategy, the autonomous operating equipment is controlled to reduce the operating parameters according to the fourth strategy.

[0025] In one embodiment, the preset condition includes: within a first preset time, the number of the third fault signals sent by the working motor controller reaches a first preset threshold;

[0026] and / or,

[0027] The time taken for the cumulative number of the third fault signals continuously sent by the working motor controller to reach the second preset threshold is less than the second preset time.

[0028] In one embodiment, after determining and executing the fault handling strategy of the autonomous operating device based on the current fault type, the method further includes:

[0029] If it is detected that the duration of the third fault of the autonomous operating equipment is greater than the preset duration threshold, a prompt message is issued to indicate that manual intervention is required.

[0030] In one embodiment, controlling the autonomous working equipment to reduce the walking speed according to the first strategy includes:

[0031] A walking speed reduction instruction for reducing the walking speed is sent to the walking controller, so that the walking controller controls the walking motor to decelerate in response to the walking speed reduction instruction.

[0032] In one embodiment, controlling the autonomous operating device to increase the operating parameter according to the second strategy includes:

[0033] A work acceleration instruction for increasing the work speed is sent to the work motor controller, so that the work motor controller controls the work motor to accelerate in response to the work acceleration instruction.

[0034] In one embodiment, controlling the autonomous working equipment to reduce the walking speed according to the first strategy includes:

[0035] When the current walking speed of the autonomous operating device is greater than a preset walking speed threshold, controlling the autonomous operating device to reduce the current walking speed by a preset speed threshold;

[0036] If the autonomous operating equipment still has a third fault after the third preset time of slowing down, the autonomous operating equipment returns to the state where the current walking speed of the autonomous operating equipment is greater than the preset walking speed threshold, and the autonomous operating equipment is controlled to reduce the current walking speed by the preset speed threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a flow chart of a control method for an autonomous operation device according to a first embodiment of the present invention;

[0038] Figure 2 is a schematic diagram of the circuit connection relationship within the autonomous operation device according to the first embodiment of the present invention;

[0039] Figure 3 is a flow chart of a control method for an autonomous operating device according to a second embodiment of the present invention;

[0040] Figure 4 is a flow chart of a control method for an autonomous operating device according to a third embodiment of the present invention;

[0041] Figure 5 is a flow chart of a control method for an autonomous operating device according to a fourth embodiment of the present invention;

[0042] Figure 6 4 is a schematic diagram of the structure of the autonomous operation equipment according to the fifth embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following will be described in detail with reference to the accompanying drawings to provide a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0044] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0045] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0046] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0047] As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "or / and" unless the context clearly dictates otherwise.

[0048] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but the words "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as restrictive terms.

[0049] The first embodiment of the present invention relates to a control method for autonomous working equipment, which is applied to a main controller in the autonomous working equipment. The autonomous working equipment is a robot that can autonomously move in a preset area and perform specific operations, such as a smart sweeper / vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations. The specific operation refers in particular to an operation that processes a working surface and changes the state of the working surface. The present invention is described in detail using a smart lawn mower as an example.

[0050] To solve existing technical problems, such as Figure 1 As shown, the control method of the autonomous operation equipment provided in this embodiment includes the following steps:

[0051] Step 101, based on the received fault signal from the target controller and / or the detected fault, determine the current fault type of the autonomous working equipment, and the target controller includes at least: the working motor controller and / or the travel motor controller of the autonomous working equipment.

[0052] Step 102: Based on the current fault type, determine and execute a fault handling strategy for the autonomous operating device.

[0053] Specifically, the autonomous working equipment has a working motor, a working motor controller connected to the working motor for communication, a walking motor and a walking motor controller connected to the walking motor for communication. The number of walking motors can be one or more, and the number of walking motor controllers can also be one or more. For example, for the commonly used rear-wheel drive autonomous working equipment, a left-wheel walking motor, a left-wheel walking controller connected to the left-wheel walking motor for communication, a right-wheel walking motor, and a right-wheel walking controller connected to the right-wheel walking motor for communication can be provided.

[0054] The main controller is connected to the working motor controller and the travel motor controller for communication respectively. The main controller sends instructions to the working motor controller and the travel motor controller through the IO interface, such as start instructions, stop instructions, speed instructions, etc. Each working motor controller and the travel motor controller responds to the instructions sent by the main controller and controls the corresponding motor to perform the corresponding action. During the charging, starting or working process of the autonomous working equipment, if the working motor controller and / or the travel motor controller detects a fault, it will send the corresponding fault signal to the main controller, and the main controller will determine the fault type. Different fault handling strategies are adopted according to the different fault types; the main electrical faults and abnormalities of general motors are short circuit, single-phase grounding, overload, phase loss, unbalanced operation, undervoltage, overvoltage, etc.

[0055] In this embodiment, Figure 2 As shown, a current detection circuit 12 and a back electromotive force detection circuit 13 are connected between the working motor 11 and the working motor controller 14. Both detection circuits are used to detect the first operating parameter of the working motor. The working motor controller 14 detects whether the working motor 11 has a phase failure through the current detection circuit 12 and the back electromotive force detection circuit 13; the working motor controller 14 detects whether the working motor has a stall, overcurrent or overload fault through the current detection circuit 12. The main controller 15 controls the power on and off of the working motor 11 through a switch circuit 20 set between the power supply 17 and the working motor 11.

[0056] The main controller 15 can also detect power failures during charging, startup or operation of the autonomous operating device. Specifically, a voltage detection circuit 16 is connected between the power supply 17 and the main controller 15. The main controller 15 detects power supply voltage parameters through the voltage detection circuit 16, and determines whether the power supply has an undervoltage or overvoltage fault based on the detected power supply voltage parameters.

[0057] The second embodiment of the present invention relates to a control method for autonomous operating equipment, which is different from the first embodiment in that the current fault type of the autonomous operating equipment is determined to be a phase loss fault, and a specific fault handling strategy is determined for the phase loss fault.

[0058] like Figure 3 As shown, the control method of the autonomous operation equipment provided in this embodiment includes the following steps:

[0059] Step 201 , when receiving a first fault signal sent by the working motor controller when detecting that a first operating parameter of the working motor is abnormal, determining that the current fault type of the autonomous working device is a first fault.

[0060] Step 202: Based on the first fault, a prompt message is issued to indicate that manual intervention is required.

[0061] Specifically, the operating motor controller detects the first operating parameter of the operating motor through the current detection circuit and the back electromotive force detection circuit. When the first operating parameter of the operating motor is detected to be abnormal, the operating motor controller sends a first fault signal in response to the abnormal signal of the current detection circuit and the back electromotive force detection circuit. The main controller determines that the operating motor has a first fault in response to the first fault signal, that is, determines that the current fault type of the autonomous operating device is the first fault. The main controller controls the autonomous operating device to issue a prompt message, indicating that manual intervention is required; further, the autonomous operating device can also be controlled to stop the operation; wherein the prompt message can be a voice prompt, an interrupt push prompt message used by the server to the user, etc. Under normal circumstances, the abnormality of the first operating parameter of the operating motor is a phase loss fault, which requires manual intervention. The first operating parameter can be a parameter or a parameter group consisting of two or more parameters.

[0062] The third embodiment of the present invention relates to a control method for autonomous operating equipment. The difference from the first embodiment is that the current fault type of the autonomous operating equipment is determined to be an undervoltage or overvoltage fault, and a specific fault handling strategy is determined for the undervoltage or overvoltage fault.

[0063] like Figure 4 As shown, the control method of the autonomous operation equipment provided in this embodiment includes the following steps:

[0064] Step 301: When it is detected that the power supply voltage parameter of the autonomous operation device is abnormal, it is determined that the current fault type of the autonomous operation device is a second fault.

[0065] Step 302: If the autonomous operating device is operating, based on the second fault, the autonomous operating device is controlled to stop operating and enter a regression mode.

[0066] Step 303: If the autonomous operating device is charging, based on the second fault, control the autonomous operating device to disconnect the charging circuit.

[0067] Specifically, the autonomous operating equipment will detect the power supply voltage parameters through the voltage detection circuit during operation, usually detecting the voltage parameters of the battery pack. When the power supply voltage parameters of the autonomous operating equipment are detected to be abnormal, the fault type is determined to be a second fault, where the second fault includes undervoltage and overvoltage. Generally speaking, when the autonomous operating equipment is operating, the second fault manifests as undervoltage, and when the autonomous operating equipment is charging, the second fault manifests as overvoltage. After that, undervoltage and overvoltage are handled differently. If the power supply voltage is undervoltage, it means that the power supply voltage is insufficient to support the autonomous operating equipment to continue normal operation, then the autonomous operating equipment is controlled to stop the operation immediately and execute regression, so that the autonomous operating equipment returns to the docking station for docking and charging.

[0068] If the power supply voltage is overvoltage, this fault usually occurs in the charging state, indicating that the power supply has been overcharged, which will damage the relevant software and hardware. The autonomous operating equipment is controlled to disconnect the charging circuit to stop charging; in some examples, the autonomous operating equipment is also controlled to separate from the charging port of the docking station and notify the user to intervene.

[0069] The fourth embodiment of the present invention relates to a control method for autonomous operating equipment. The difference from the first embodiment is that the current fault type of the autonomous operating equipment is determined to be an abnormality in the operating motor, and a specific fault handling strategy is determined for the abnormal fault in the operating motor.

[0070] like Figure 5 As shown, the control method of the autonomous operation equipment provided in this embodiment includes the following steps:

[0071] Step 401: If the third fault signal received from the working motor controller and sent when the working motor controller detects an abnormality in the working motor meets a preset condition, it is determined that the current fault type of the autonomous working device is the third fault.

[0072] Specifically, during the operation of the autonomous operation equipment, the operation controller will continuously detect the current of the operation motor to detect the operation motor's stall, overcurrent, overload and other faults as early as possible, usually through the current detection circuit. When the operation motor controller detects these faults, it will send a third fault signal to the main controller. When the third fault signal received by the main controller meets the preset conditions, the main controller determines that the third fault has occurred.

[0073] The preset conditions include two situations. The first situation is: within the first preset time, the number of the third fault signals received from the working motor controller reaches a first preset threshold. The second situation is: the time taken for the number of the third fault signals received continuously from the working motor controller to reach a second preset threshold is less than the second preset time. If any of the above two situations occurs, it means that the third fault signal received by the main controller meets the preset condition.

[0074] When the autonomous operation equipment is operating, the current detection circuit works continuously. Once the current detection circuit detects a fault, the operation motor controller immediately sends a third fault signal to the main controller. When the main controller receives the third fault signal for the first time, it starts a counter and two timers. Among them, the counter is used to record the number of third fault signals received within a certain time range. One timer records the duration of the third fault, that is, if the third fault signal is received again within a certain time range, the timer will continue to count, and the other timer will record the duration of the continuous receipt of the third fault. For the first case, if the cumulative number of third fault signals received within 1 second reaches or exceeds 5 times, it is considered that the preset condition is met and it is determined that the third fault has occurred. For the second case, when the third fault signal is detected 3 times in a row, and the duration of the 3 consecutive third fault signals recorded by the second timer is less than 1 second, it is determined that the third fault has occurred. In some examples, if the duration of the third fault recorded by the first timer is greater than 3 seconds, the main controller will issue a prompt message, prompting that manual intervention is required; wherein the prompt message can be a voice prompt, an interrupt push prompt message used by the server to the user, etc.

[0075] Step 402: Control the autonomous operating equipment to reduce the walking speed according to a first strategy.

[0076] Specifically, the main controller of the autonomous operating equipment will issue a speed reduction instruction to the travel motor controller, and the travel motor controller will control the travel motor to decelerate in response to the speed reduction instruction.

[0077] Step 403, detect whether the third fault of the autonomous operating equipment is eliminated, if the third fault is eliminated, proceed to step 404, if the third fault is not eliminated, proceed to step 405.

[0078] Step 404: Control the autonomous operating equipment to increase the walking speed according to the third strategy.

[0079] Specifically, when the third fault is eliminated after reducing the walking speed, the main controller will speed up the autonomous operating equipment, that is, the main controller will issue an increase speed instruction to the walking motor controller, and the walking motor controller controls the increase speed of the walking motor in response to the increase speed instruction.

[0080] In some examples, when the autonomous operating equipment has increased the walking speed according to the third strategy in step 404, it will enter step 401a and detect again whether the third fault occurs. If the third fault occurs, it will return to step 402. If the third fault does not occur, it will enter step 411.

[0081] Step 411, detect whether the walking speed of the autonomous operating equipment is less than the preset normal walking speed. If the walking speed of the autonomous operating equipment is less than the preset normal walking speed, return to step 404. If the walking speed of the autonomous operating equipment reaches the preset normal walking speed, maintain the current operating state of the autonomous operating equipment.

[0082] Specifically, if the third fault is eliminated, the walking speed of the autonomous operating device needs to be restored to the normal walking speed. At this time, the walking speed will be judged. When the walking speed is less than the preset normal walking speed, the autonomous operating device is accelerated until the walking speed of the autonomous operating device reaches the preset normal walking speed. During the speed-up process, if the third fault does not occur, it means that the autonomous operating device is operating normally. If the third fault occurs again, it is still necessary to reduce the speed according to the processing strategy in step 402 until the third fault is eliminated.

[0083] It should be noted that the speed adjustment of the walking motor is usually continuously changed. In some examples, the speed adjustment of the walking motor can also be discontinuous. For example, several gears are preset for the walking speed. The walking speed is first reduced by one gear and walked for a period of time. If the third fault still occurs, the walking speed is reduced by one gear again, and the speed of the walking motor is increased in the same way as the gear increase.

[0084] Step 405, detect whether the walking speed of the autonomous operating equipment is greater than the preset walking speed threshold. If the walking speed of the autonomous operating equipment at this time is greater than the preset walking speed threshold, continue to return to step 402. If the walking speed of the autonomous operating equipment at this time is equal to or less than the preset walking speed threshold, enter step 406.

[0085] Step 406: Control the autonomous operating equipment to increase operating parameters according to the second strategy.

[0086] Specifically, if the walking speed of the autonomous operating device has reached the minimum walking speed after the walking speed is reduced, and the third fault still cannot be eliminated, the second strategy can be used to handle it. The autonomous operating device increases the operating parameters according to the second strategy. Taking the lawn mower as an example, increasing the operating parameters specifically means increasing the blade speed of the lawn mower. The main controller sends an acceleration command to the motor controller of the lawn mower. The motor controller controls the lawn mower motor to accelerate in response to the acceleration command, thereby increasing the blade speed.

[0087] Step 407 , detect whether the third fault of the autonomous operating equipment is eliminated. If the third fault is eliminated, proceed to step 408 ; if the third fault is not eliminated, proceed to step 409 .

[0088] Step 408: Control the autonomous operating equipment to reduce operating parameters according to a fourth strategy.

[0089] Specifically, if the third fault is eliminated by increasing the operating parameters, after the third fault is eliminated, the operating parameters need to be reduced to restore the autonomous operating equipment to normal operating parameters. Take a lawn mower as an example, reduce the blade speed of the lawn mower. The main controller sends a speed reduction command to the motor controller of the lawn mower, and the motor controller controls the lawn mower motor to reduce speed in response to the acceleration command, so that the blade speed is reduced.

[0090] It should be noted that the speed adjustment of the mowing motor is usually discontinuous. For example, a number of gears are preset for the mowing speed. The mowing speed is first increased by one gear and the mowing is continued for a period of time. If the third fault still occurs, the mowing speed is increased by one gear again. The speed of the mowing motor is also reduced in the same manner as the gear. In some examples, the speed adjustment of the mowing motor may also be discontinuous.

[0091] In some examples, when the autonomous operating equipment has lowered the operating parameters according to the fourth strategy in step 408, it will enter step 401b again to detect again whether the third fault occurs. If the third fault occurs, it returns to step 408. If the third fault does not occur, it enters step 412.

[0092] Step 412, detect whether the operating parameters of the autonomous operating equipment are less than the preset normal operating parameters. If the operating parameters of the autonomous operating equipment are less than the preset normal operating parameters, return to step 408; if the operating parameters of the autonomous operating equipment reach the preset normal operating parameters, enter step 411.

[0093] Specifically, if the third fault is eliminated after the operating parameters are reduced through the fourth strategy, the operating parameters need to be increased and restored to normal operating parameters so that the autonomous operating equipment can operate normally. If the third fault still occurs, the third and fourth strategies need to be used again to handle the fault. That is, the operating parameters are increased first, and then the operating parameters are reduced after the third fault is eliminated.

[0094] Step 409, detect whether the operating parameters of the autonomous operating equipment are less than the preset operating parameter threshold. If the operating parameters of the autonomous operating equipment at this time are less than the preset operating parameter threshold, continue to return to step 406. If the operating parameters of the autonomous operating equipment at this time are equal to or greater than the preset operating parameter threshold, enter step 410.

[0095] Step 410: Control the autonomous operation equipment to issue a prompt message indicating that human intervention is required.

[0096] Specifically, if the third fault cannot be eliminated after the operating parameters are increased to the highest operating parameter threshold, manual intervention is required. At this time, the main controller will issue a prompt message to remind manual intervention. For example, the blade speed of the lawn mower has reached the maximum speed. If the blade speed is increased further, other dangers will occur. In this case, the cutting motor needs to be stopped and manual intervention is required.

[0097] The fifth embodiment of the present invention relates to an autonomous working device, which is a robot that can autonomously move in a preset area and perform specific operations, such as a smart sweeper / vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations, etc., wherein the specific operation particularly refers to an operation of processing a working surface and changing the state of the working surface. The autonomous working device is used to perform the operating method of the autonomous working device in the first embodiment.

[0098] like Figure 6 As shown, the autonomous working device 10 can autonomously walk on the surface of the working area, and in particular, as an intelligent lawn mower, can autonomously perform lawn mowing operations on the ground. The autonomous working device 10 at least includes a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, and the like.

[0099] The main body mechanism generally includes a chassis and a housing, and the chassis is used to install and accommodate functional mechanisms and functional modules such as a mobile mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The housing is generally configured to at least partially cover the chassis, and mainly serves to enhance the aesthetics and recognition of the autonomous operating equipment 10. In this embodiment, the housing is configured to translate and / or rotate relative to the chassis under the action of an external force, and in conjunction with an appropriate detection module, such as, for example, a Hall sensor, it can further serve to sense events such as collisions and lifts.

[0100] The mobile mechanism is configured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, and generally includes a wheeled mobile mechanism, a crawler or semi-crawler mobile mechanism, and a walking mobile mechanism. In the present embodiment, the mobile mechanism is a wheeled mobile mechanism, including at least one driving wheel and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In the present embodiment, a left driving wheel, a left walking prime mover that drives the left driving wheel, a right driving wheel, and a right walking prime mover that drives the right driving wheel are preferably provided. In the present embodiment, the straight-line travel of the autonomous operating equipment is achieved by the same-direction and uniform-speed rotation of the left and right driving wheels, and the steering travel is achieved by the same-direction differential or opposite rotation of the left and right driving wheels. In other embodiments, the mobile mechanism may also include a steering mechanism independent of the driving wheel and a steering prime mover independent of the walking prime mover. In this embodiment, the moving mechanism further includes at least one driven wheel, which is typically configured as a universal wheel. The driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working equipment.

[0101] The working mechanism is constructed to perform specific work tasks, including a working piece and a working prime mover that drives the working piece to operate. Exemplarily, for an intelligent sweeper / vacuum cleaner, the working piece includes a roller brush, a dust suction tube, a dust collection chamber, etc.; for an intelligent lawn mower, the working piece includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The working prime mover is preferably an electric motor, and in other embodiments it may also be an internal combustion engine or a machine that uses other types of energy to generate power. In some other embodiments, the working prime mover and the travel prime mover are constructed as the same prime mover.

[0102] The energy module is configured to provide energy for various operations of the autonomous working device 10. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous working device.

[0103] The detection module is constructed as at least one sensor that senses the environmental parameters of the autonomous operating equipment 10 or its own working parameters. Typically, the detection module may include sensors related to the limitation of the working area, such as magnetic induction, collision, ultrasonic, infrared, radio and other types, and the sensor type is adapted to the position and quantity of the corresponding signal generating device. The detection module may also include sensors related to positioning and navigation, such as GNSS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, etc. The detection module may also include sensors related to its own working safety, such as obstacle sensors, lifting sensors, battery pack temperature sensors, etc. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, rain sensors, etc.

[0104] The interaction module is constructed to at least receive control command information input by the user, send information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc. In this embodiment, the interaction module includes an input device arranged on the autonomous operation equipment 10, which is used to receive control command information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, an indicator light and / or a buzzer arranged on the autonomous operation equipment 10, which allows the user to perceive information by emitting light or sound. In other embodiments, the interaction module includes a communication module arranged on the autonomous operation equipment 10 and a terminal device independent of the autonomous operation equipment 10, such as a mobile phone, a computer, a network server, etc. The user's control command information or other information can be input on the terminal device and reach the autonomous operation equipment 10 via a wired or wireless communication module.

[0105] The control module generally includes at least one processor and at least one non-volatile memory, wherein the memory stores a pre-written computer program or instruction set, and the processor controls the execution of the movement, work and other actions of the autonomous working device 10 according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous working device 10, modify the parameters in the memory, etc. according to the signal of the detection module and / or the user control instruction.

[0106] The boundary 30 is used to limit the working area of ​​the robot system, and generally includes an outer boundary and an inner boundary. The autonomous working equipment 10 is limited to move and work within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary can be physical, typically such as a wall, a fence, a railing, etc.; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a signal generating device, the virtual boundary signal is generally an electromagnetic signal or an optical signal, or for an autonomous working equipment 10 provided with a positioning device (such as GPS, etc.), a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates. In the present embodiment, the boundary 30 is constructed as a closed energized boundary line electrically connected to the signal generating device, and the signal generating device is generally arranged in the docking station 20.

[0107] The docking station 20 is usually constructed on or within a boundary 30 for the autonomous working device 10 to dock, and in particular can supply energy to the autonomous working device 10 docked at the docking station.

[0108] Preferred embodiments of the present invention have been described above in detail, but it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide further embodiments.

[0109] These and other changes can be made to the embodiments in light of the above detailed description.In general, in the claims, the terms used should not be considered limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which these claims are entitled.

Claims

1. A control method for autonomous operation equipment, characterized in that: A main controller applied to an autonomous operation device, the method comprising: Determine the current fault type of the fault occurring in the autonomous working device based on a received fault signal from a target controller and / or a detected fault, the target controller comprising at least: a working motor controller and / or a travel motor controller of the autonomous working device; Based on the current fault type, a fault handling strategy for the autonomous operating equipment is determined and executed.

2. The control method of the autonomous operation equipment according to claim 1, characterized in that: The determining of the current fault type of the fault occurring in the autonomous operating device based on the received fault signal from the target controller and / or the detected fault signal comprises: When receiving a first fault signal sent by the working motor controller when detecting that a first operating parameter of the working motor is abnormal, determining that a current fault type of the autonomous working device is a first fault; The determining and executing a fault handling strategy of the autonomous operating device based on the current fault type includes: Based on the first fault, a prompt message is issued to indicate that manual intervention is required.

3. The control method of the autonomous operation equipment according to claim 1, characterized in that: The determining of the current fault type of the fault occurring in the autonomous operating device based on the received fault signal from the target controller and / or the detected fault includes: When it is detected that the power supply voltage parameter of the autonomous operation device is abnormal, determining that the current fault type of the autonomous operation device is a second fault; The determining and executing a fault handling strategy of the autonomous operating device based on the current fault type includes: If the autonomous operating device is operating, based on the second fault, controlling the autonomous operating device to stop operating and enter a return mode; If the autonomous operating device is charging, based on the second fault, the autonomous operating device is controlled to disconnect the charging circuit.

4. The control method of the autonomous working equipment according to any one of claims 1 to 3, characterized in that: The determining of the current fault type of the fault occurring in the autonomous operating device based on the received fault signal from the target controller and / or the detection of the fault comprises: If the third fault signal sent by the working motor controller when detecting an abnormality in the working motor meets a preset condition, determining that the current fault type of the autonomous working device is the third fault; The determining and executing a fault handling strategy of the autonomous operating device based on the current fault type includes: Controlling the autonomous operating equipment to reduce the travel speed according to a first strategy; And / or, controlling the autonomous operating equipment to increase operating parameters according to a second strategy.

5. The control method of the autonomous operation equipment according to claim 4, characterized in that: After determining and executing the fault handling strategy of the autonomous operating device based on the current fault type, the method further includes: After detecting that the third fault of the autonomous operating equipment is eliminated, if the autonomous operating equipment has reduced the walking speed according to the first strategy, the autonomous operating equipment is controlled to increase the walking speed according to the third strategy; if the autonomous operating equipment has increased the operating parameters according to the second strategy, the autonomous operating equipment is controlled to reduce the operating parameters according to the fourth strategy.

6. The control method of the autonomous operation equipment according to claim 4, characterized in that: The preset condition includes: within a first preset time, the number of the third fault signals sent by the working motor controller received cumulatively reaches a first preset threshold; and / or, The time taken for the cumulative number of the third fault signals continuously sent by the working motor controller to reach the second preset threshold is less than the second preset time.

7. The control method of the autonomous operation equipment according to claim 4, characterized in that: After determining and executing the fault handling strategy of the autonomous operating device based on the current fault type, the method further includes: If it is detected that the duration of the third fault of the autonomous operating equipment is greater than the preset duration threshold, a prompt message is issued to indicate that manual intervention is required.

8. The control method of the autonomous operation equipment according to claim 4, characterized in that: The controlling the autonomous operating equipment to reduce the walking speed according to the first strategy includes: A walking speed reduction instruction for reducing the walking speed is sent to the walking controller, so that the walking controller controls the walking motor to decelerate in response to the walking speed reduction instruction.

9. The control method of the autonomous operation equipment according to claim 4, characterized in that: The controlling the autonomous operation equipment to improve the operation parameter according to the second strategy includes: A work acceleration instruction for increasing the work speed is sent to the work motor controller, so that the work motor controller controls the work motor to accelerate in response to the work acceleration instruction.

10. The control method of the autonomous operation equipment according to claim 4, characterized in that: The controlling the autonomous operating equipment to reduce the walking speed according to the first strategy includes: When the current walking speed of the autonomous operating device is greater than a preset walking speed threshold, controlling the autonomous operating device to reduce the current walking speed by a preset speed threshold; If the autonomous operating equipment still has a third fault after the third preset time of deceleration, the autonomous operating equipment returns to the state where the current walking speed of the autonomous operating equipment is greater than the preset walking speed threshold, and the autonomous operating equipment is controlled to reduce the current walking speed by the preset speed threshold.

11. An autonomous operation device, characterized in that: It includes a main controller, which is used to execute the control method of the autonomous working equipment according to any one of claims 1 to 10.

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