Working method, robot, robot system, and computer readable storage medium

Abstract

The invention provides an operation method, a robot, a robot system and a computer readable storage medium, the operation method is applied to automatic walking equipment comprising a position sensor, and the automatic walking equipment can be positioned through a network RTK function or the position sensor. During operation, first positioning operation is executed firstly, a network RTK function is controlled to enter a working mode, a first positioning result is obtained, operation is carried out based on the first positioning result, and positioning correction data is obtained from a network RTK server at a first frequency at the moment; after executing the first positioning operation for a first preset time length or moving for a first preset distance, switching to a second positioning operation: controlling the network RTK function to enter a sleep mode (stopping or acquiring positioning correction data at a second frequency smaller than the first frequency), acquiring a second positioning result through the position sensor, and operating; and executing the first positioning operation again after executing the second positioning operation for a second preset duration or moving for a second preset distance. Therefore, the network flow consumption can be effectively controlled while the operation positioning requirement is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, and in particular to a working method, a robot, a robot system and a computer readable storage medium. BACKGROUND

[0002] With the development of automation technology, lawn mowers have been widely used in home gardens, public green spaces and other scenarios. The autonomous mowing operation of the lawn mower relies on precise positioning technology to achieve path tracking and ensure full coverage of the mowing operation. Network RTK technology can provide high-precision positioning results. By receiving satellite positioning signals and obtaining positioning correction data from a server, the positioning needs of the lawn mower moving along the planned path can be met. However, the continuous operation of the network RTK function requires real-time acquisition of positioning correction data, which will consume mobile traffic and generate corresponding fees. For some users who are more concerned about traffic fees, the cost of traffic under long-term and high-frequency use is too high. The existing solution that simply relies on network RTK positioning cannot balance positioning accuracy and traffic control. SUMMARY

[0003] The purpose of the present application is to provide a working method, a robot, a robot system and a computer readable storage medium to solve the problems mentioned in the background.

[0004] To solve the above problems, on the one hand, a work method is provided for an automatic walking device, wherein the automatic walking device comprises a position sensor, and the automatic walking device can be positioned through a network RTK function or the position sensor. The work method comprises: during work of the automatic walking device, controlling the automatic walking device to perform a first positioning operation, the first positioning operation comprising: controlling the network RTK function to enter a working mode to obtain a first positioning result through the network RTK function, so that the automatic walking device works based on the first positioning result; and controlling the automatic walking device to perform a second positioning operation, the second positioning operation comprising: controlling the network RTK function to enter a dormant mode, and obtaining a second positioning result through the position sensor, so that the automatic walking device works based on the second positioning result; wherein the second positioning operation is started after the first positioning operation is performed for a first preset time length or moves a first preset distance, and the first positioning operation is performed again after the second positioning operation is performed for a second preset time length or moves a second preset distance; wherein when the network RTK function is in the working mode, the automatic walking device obtains positioning correction data from a network RTK server at a first frequency; when the network RTK function is in the dormant mode, the automatic walking device stops obtaining positioning correction data from the network RTK server or obtains positioning correction data from the network RTK server at a second frequency, and the first frequency is greater than the second frequency.

[0005] In one embodiment, the work method further comprises: during work of the automatic walking device, when a work instruction for starting a first running mode is received, controlling the automatic walking device to enter the first running mode, wherein when the automatic walking device enters the first running mode, the automatic walking device is controlled to perform the first positioning operation, and after the first positioning operation is performed for a first preset time length or moves a first preset distance, the second positioning operation is started, and after the second positioning operation is performed for a second preset time length or moves a second preset distance, the first positioning operation is performed again.

[0006] In one of the embodiments, the automatic walking device further comprises a timing module, and the controlling the network RTK function to enter the working mode to obtain the first positioning result through the network RTK function comprises: controlling the network RTK function to enter the working mode, and controlling the timing module to start timing to obtain a first working duration of the network RTK function; receiving a satellite positioning signal sent by a satellite positioning system, and obtaining positioning correction data from the network RTK server at a first frequency; obtaining a first positioning result based on the current received satellite positioning signal and the positioning correction data each time the positioning correction data is obtained; and controlling the automatic walking device to work based on the first positioning result until the first working duration reaches a first preset duration.

[0007] In one of the embodiments, after the first working duration reaches the first preset duration, the working method further comprises: clearing the time of the timing module.

[0008] In one of the embodiments, the automatic walking device further comprises a timing module, and the obtaining the second positioning result through the position sensor comprises: controlling the position sensor to work to obtain the second positioning result through the position sensor, and controlling the timing module to start timing to obtain a second working duration of the position sensor; and controlling the automatic walking device to work based on the second positioning result until the second working duration reaches a second preset duration.

[0009] In one of the embodiments, after the second working duration reaches the second preset duration, the working method further comprises: clearing the time of the timing module.

[0010] In one of the embodiments, the automatic walking device further comprises a distance measuring module, and the controlling the network RTK function to enter the working mode to obtain the first positioning result through the network RTK function comprises: controlling the network RTK function to enter the working mode, and controlling the distance measuring module to count a first moving distance of the automatic walking device during the working of the network RTK function; receiving a satellite positioning signal sent by a satellite positioning system, and obtaining positioning correction data from the network RTK server at a first frequency; obtaining a first positioning result based on the current received satellite positioning signal and the positioning correction data each time the positioning correction data is obtained; and controlling the automatic walking device to work based on the first positioning result until the first moving distance counted by the distance measuring module reaches a first preset distance.

[0011] In one of the embodiments, the automatic walking device further comprises a distance measuring module, and the obtaining of the second positioning result by the positioning of the position sensor comprises: controlling the position sensor to work to obtain the second positioning result by the positioning of the position sensor, and controlling the distance measuring module to count a second movement distance of the automatic walking device during the working of the position sensor; and the automatic walking device is controlled to work based on the second positioning result until the second movement distance counted by the distance measuring module reaches a second preset distance.

[0012] In one of the embodiments, when the automatic walking device is in the first running mode, the first positioning operation and the second positioning operation are alternately performed until the automatic walking device exits the first running mode.

[0013] In one of the embodiments, the working method further comprises: when the automatic walking device receives a working instruction for exiting the first running mode, and / or when the automatic walking device completes a preset working task, the automatic walking device exits the first running mode.

[0014] In one of the embodiments, after the automatic walking device exits the first running mode, the working method further comprises: controlling the network RTK function to enter a working mode to obtain a first positioning result by the positioning of the network RTK function, and the automatic walking device works based on the first positioning result; and when it is detected that the network RTK function is in an abnormal state, the network RTK function is controlled to enter a dormant mode, and the position sensor is controlled to work to obtain a second positioning result by the positioning of the position sensor, and the automatic walking device works based on the second positioning result.

[0015] In one of the embodiments, the working method further comprises: when it is detected that the network RTK function exits the abnormal state, the network RTK function is controlled to exit the dormant mode and enter the working mode to obtain a first positioning result by the positioning of the network RTK function, and the automatic walking device works based on the first positioning result.

[0016] In a second aspect, a robot is provided, which comprises a walking device, a position sensor, a processor and a memory, wherein the walking device is configured to control the robot to walk, the position sensor is configured to be positioned, the robot further is configured to be positioned by a network RTK function, the memory stores a computer program, and the processor executes the computer program to perform the working method according to the first aspect.

[0017] In one of the embodiments, the robot further comprises a communication module, which is configured to establish a connection with the mobile terminal, and the robot receives the operation instruction issued by the mobile terminal through the communication module.

[0018] In a third aspect, a robot system is provided, comprising a mobile terminal and the robot according to the second aspect, wherein the mobile terminal is configured to issue an operation instruction for starting / leaving the first operation mode, and the robot is configured to execute the operation instruction issued by the mobile terminal.

[0019] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program configured to execute the operation method according to the first aspect when invoked by a processor.

[0020] Therefore, the operation method can control the transmission amount of network data, i.e., the consumption of network traffic, while ensuring the positioning requirement during operation, by alternately executing the two positioning operations. When the network RTK function is in the working mode, the first frequency can ensure the timely update of the positioning correction data, so that the first positioning result has high accuracy and meets the requirement of the automatic walking device for operation accuracy. When the network RTK function is in the dormant mode, the acquisition frequency of the positioning correction data is stopped or reduced, which can reduce unnecessary network traffic consumption and reduce the operation cost of the automatic walking device. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0022] Figure 1 Flowchart of the operation method in some embodiments of the present application; Figure 2 Flowchart of step S10 in some embodiments of the present application; Figure 1 Flowchart of step S20 in some embodiments of the present application; Figure 3 Figure 2 Further flowchart in some embodiments of the present application; Figure 4 Further flowchart in some embodiments of the present application; Figure 1 Further flowchart in some embodiments of the present application; Figure 5 Figure 4 Further flowchart in some embodiments of the present application; Figure 6 Further flowchart in some embodiments of the present application;​​Figure 1 Another subflowchart of step S10 in some embodiments; Figure 7 is a structural block diagram of a robot in some embodiments of the present application; Figure 1 Another subflowchart of step S20 in some embodiments; Figure 8 is a structural block diagram of a robot in some embodiments of the present application; Figure 9 is another structural block diagram of a robot in some embodiments of the present application; Figure 10 is a structural block diagram of a robot system in some embodiments of the present application. DETAILED DESCRIPTION

[0023] In order to enable persons skilled in the art to better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, not to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0025] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] Please refer to Figure 1 , Figure 1 is a flowchart of a working method in some embodiments of the present application; in some embodiments, the working method is applied to an automatic walking device, wherein the automatic walking device includes a position sensor, the automatic walking device can be positioned through a network RTK function or the position sensor, and the working method includes the following steps: Step S10: during the operation of the automatic walking device, control the automatic walking device to perform a first positioning operation, the first positioning operation comprising: controlling the network RTK function to enter a working mode, to obtain a first positioning result by positioning through the network RTK function, so that the automatic walking device operates based on the first positioning result; Step S20: control the automatic walking device to perform a second positioning operation, the second positioning operation comprising: controlling the network RTK function to enter a dormant mode, and obtaining a second positioning result by positioning through the position sensor, so that the automatic walking device operates based on the second positioning result; Wherein, after performing the first positioning operation for a first preset time length or moving a first preset distance, the second positioning operation is started, and after performing the second positioning operation for a second preset time length or moving a second preset distance, the first positioning operation is performed again; Wherein, when the network RTK function is in the working mode, the automatic walking device obtains positioning correction data from the network RTK server at a first frequency; when the network RTK function is in the dormant mode, the automatic walking device stops obtaining positioning correction data from the network RTK server or obtains positioning correction data from the network RTK server at a second frequency, the first frequency being greater than the second frequency.

[0027] Specifically, when the automatic walking device is in the operation state, the first positioning operation is performed first, that is, the network RTK function is controlled to enter the working mode, and positioning correction data is obtained from the network RTK server at a first frequency, and finally a first positioning result is obtained, and the automatic walking device starts operation based on the first positioning result; when the execution time length of the first positioning operation reaches a first preset time length, or the moving distance of the automatic walking device based on the first positioning result reaches a first preset distance, the automatic walking device switches to perform the second positioning operation, at this time the network RTK function is controlled to enter the dormant mode, and the position sensor is controlled to work, and the second positioning result is obtained by positioning through the position sensor, and the automatic walking device continues to operate based on the second positioning result, and during the dormant mode of the network RTK function, the automatic walking device stops obtaining positioning correction data from the network RTK server or obtains positioning correction data from the network RTK server at a second frequency, wherein the first frequency is greater than the second frequency; when the execution time length of the second positioning operation reaches a second preset time length, or the moving distance of the automatic walking device based on the second positioning result reaches a second preset distance, the automatic walking device switches back to perform the first positioning operation again, and the cycle is repeated until the automatic walking device completes the operation or exits the operation state.

[0028] The acquisition frequency of the positioning correction data of the network RTK function in the working mode (i.e., the first frequency) is greater than the acquisition frequency of the network RTK function in the dormant mode (i.e., the second frequency). In the dormant mode, the automatic walking device can stop acquiring the positioning correction data or can acquire the positioning correction data at a low frequency according to the second frequency.

[0029] The above operation method can control the transmission amount of network data, i.e., control the consumption of network traffic, by alternately performing the two positioning operations while ensuring the positioning requirements during operation. When the network RTK function is in the working mode, the first frequency can ensure timely updating of the positioning correction data, so that the first positioning result has high accuracy and meets the demand of the automatic walking device for operation accuracy. When the network RTK function is in the dormant mode, the acquisition frequency of the positioning correction data is stopped or reduced, which can reduce unnecessary network traffic consumption and reduce the operation cost of the automatic walking device.

[0030] Meanwhile, the setting of the two trigger conditions of time length and distance can avoid the accumulation of errors that may occur when the position sensor is positioned alone. When the automatic walking device performs the second positioning operation through the position sensor for a preset time length or moves to a preset distance (for example, 80 m), the first positioning operation of the network RTK function is switched back in time, the positioning result of the position sensor is calibrated by using the high-precision positioning characteristics of the network RTK function, which can eliminate the accumulated errors generated in the continuous working process of the position sensor. Subsequently, the position sensor is switched to positioning again and the cycle is repeated. Through this periodic alternating operation, the positioning accuracy of the overall operation is ensured to be within a reasonable range, and the network RTK function does not need to be continuously relied on.

[0031] In some embodiments, since the automatic walking device generally maintains a uniform motion state in general operation scenarios, the first preset time length and the first preset distance, the second preset time length and the second preset distance can form equivalent corresponding relationships in function. Based on the preset operation speed of the automatic walking device, the distance that the automatic walking device can move within the preset time length can be derived by the product of speed and time, and the motion time length of the automatic walking device corresponding to the preset distance can also be obtained by the ratio of distance and speed. Therefore, the two trigger conditions can essentially correspond to switching after the positioning operation reaches a preset running threshold. In actual application, any trigger condition can be selected flexibly according to the actual operation scenario, and no additional repeated setting is required.

[0032] In some embodiments, when the network RTK function is in the working mode, the position sensor can continue to work or can be controlled to stop working.

[0033] When the automatic walking device is positioned by the position sensor, the network RTK function is controlled to enter a dormant mode instead of being directly turned off. Since the time required to wake up the network RTK function in the dormant state is obviously shorter than the time required to restart the network RTK function, the smoothness of the switching process from the position sensor positioning to the network RTK positioning can be effectively guaranteed, and the situation of work stoppage caused by positioning loss during switching can be avoided. At the same time, when the network RTK function is in the dormant mode, the automatic walking device stops or reduces the frequency of obtaining positioning correction data from the network RTK server, reduces the network communication interaction between the automatic walking device and the network RTK server, and further reduces the traffic consumption.

[0034] The position sensor can be a visual positioning module or a wheel speed positioning module. The visual positioning module collects surrounding environment images through a camera, identifies feature points of the environment, and calculates the current position of the automatic walking device by combining image matching and other preset algorithms. The wheel speed positioning module calculates the driving displacement of the automatic walking device based on the number of wheel rotations and wheel diameter parameters, and then deduces the real-time coordinates in combination with the initial positioning information.

[0035] In some embodiments, the work method further includes: during the work of the automatic walking device, when a work instruction for starting the first running mode is received, controlling the automatic walking device to enter the first running mode. When the automatic walking device enters the first running mode, the first positioning operation is performed, after the first positioning operation is performed for a first preset time length or moves a first preset distance, the second positioning operation is started, and after the second positioning operation is performed for a second preset time length or moves a second preset distance, the first positioning operation is performed again.

[0036] During the work of the automatic walking device, the corresponding work logic can be triggered by receiving a work instruction for starting the first running mode. When the automatic walking device receives the instruction, it enters the first running mode and starts the preset positioning switching process: first, the first positioning operation is performed to obtain a high-precision first positioning result through the working mode of the network RTK function to ensure work accuracy. After the first positioning operation reaches a first preset time length or the automatic walking device moves to a first preset distance, the second positioning operation is switched to, at which time the network RTK function enters a dormant mode, and the automatic walking device obtains a second positioning result through the position sensor for continuous work. When the second positioning operation reaches a second preset time length or the device moves to a second preset distance, the first positioning operation is switched back again to form a periodic positioning alternating cycle, until the automatic walking device exits the first running mode or completes the work. In some embodiments, the first running mode can be a traffic-saving work mode.

[0037] Therefore, the user can flexibly select whether to enable the operation method of the application according to the actual operation demand. For example, in the operation scene where high precision and sufficient flow are required, the first operation mode can be selected not to be started, and the operation method of the application is not enabled. In the scene of long-time continuous operation and reasonable flow control, the first operation mode is started, which improves the scene adaptability of the operation method. At the same time, after the first operation mode is started, the automatic walking device can automatically complete the alternative cycle of positioning operation according to the preset condition without manual intervention, which simplifies the user operation process and avoids the deviation or operation interruption caused by manual switching of the positioning mode.

[0038] Please refer to Figure 2 , Figure 2 for Figure 1 Step S10 in some embodiments, the automatic walking device further comprises a timing module, and the control of the network RTK function into the working mode to obtain the first positioning result by positioning through the network RTK function comprises the following steps: Step S11: control the network RTK function into the working mode, and control the timing module to start timing to obtain the first working time length of the network RTK function; Step S12: receiving the satellite positioning signal sent by the satellite positioning system, and obtaining the positioning correction data from the network RTK server at a first frequency; Step S13: based on the current received satellite positioning signal and positioning correction data, a first positioning result is obtained each time the positioning correction data is obtained; Step S14: based on the first positioning result, the automatic walking device is controlled to operate until the first working time length reaches a first preset time length.

[0039] In step S11, the network RTK function is controlled into the working mode, and the timing module is started at the same time to start timing, so as to realize real-time statistics of the first working time length of the network RTK function in the working mode, ensure that the time length statistics of the positioning operation is synchronized with the start of the network RTK function, and avoid time sequence deviation. Then, step S12 is entered, the automatic walking device continuously receives the satellite positioning signal sent by the satellite positioning system, and obtains the positioning correction data from the network RTK server at a preset first frequency. The setting of the first frequency can guarantee the real-time of the positioning correction data.

[0040] As for step S13, each time the positioning correction data is acquired, the automatic walking device processes the positioning correction data and the currently received satellite positioning signal to generate a corresponding first positioning result, so that the positioning result can be updated in time with the update of the positioning correction data, and the real-time position change of the automatic walking device in the operation process can be better reflected; in step S14, the automatic walking device continuously carries out the operation based on the first positioning result generated each time until the first working time length counted by the timing module reaches the first preset time length, triggering the positioning operation to switch to the second positioning operation.

[0041] Therefore, by synchronously starting the timing module and the network RTK function, the timing deviation of the positioning switching caused by inaccurate time length counting can be avoided.

[0042] Referring to Figure 3 , Figure 3 for Figure 2 In some embodiments, the further flowchart in some embodiments, after the first working time length reaches the first preset time length, the operation method further includes the following steps: Step S15: clearing the time of the timing module.

[0043] In step S14, after the automatic walking device operates based on the first positioning result until the first working time length reaches the first preset time length, step S15 is executed to clear the counting time of the timing module, so that the timing module returns to the initial state and is ready for the next time length counting.

[0044] Therefore, the clearing operation of the timing module eliminates the time length data of the last positioning operation, ensures that the timing can start counting from the initial value when the positioning operation is executed again, avoids the time length counting deviation caused by residual data, and guarantees that the execution time length of each positioning operation meets the preset time length requirement.

[0045] Referring to Figure 4 , Figure 4 for Figure 1 The sub-flowchart of step S20 in some embodiments, in some embodiments, the automatic walking device further includes a timing module, and the second positioning result is acquired by positioning through the position sensor, including the following steps: Step S21: controlling the position sensor to work to acquire the second positioning result by positioning through the position sensor, and controlling the timing module to start timing to obtain the second working time length of the position sensor; Step S22: controlling the automatic walking device to operate based on the second positioning result until the second working time length reaches the second preset time length.

[0046] In step S21, the position sensor is controlled to start working to carry out positioning operation, and a real-time second positioning result is obtained through the position sensor, and at the same time, the timing module is controlled to start timing to synchronously count the second working duration of the position sensor in the working state, so as to ensure the timing consistency of the positioning operation and the duration counting, and avoid timing deviation; as to step S22, the automatic walking device carries out continuous operation based on the second positioning result continuously output by the position sensor, until the second working duration counted by the timing module reaches the second preset duration, triggering the positioning operation to switch back to the first positioning operation, and completing the process of the single second positioning operation.

[0047] Therefore, through the synchronous starting of the timing module and the position sensor, the accurate counting of the second positioning operation duration can be ensured, and the working duration of the position sensor can match the second preset duration requirement.

[0048] Please refer to Figure 5 , Figure 5 For Figure 4 In some embodiments, further flowchart of step S10 in some embodiments, after the second working duration reaches the second preset duration, the operation method further includes the following steps: Step S23: clearing the time of the timing module.

[0049] In which, when the second working duration counted by the timing module reaches the second preset duration, the automatic walking device completes the operation control of the current round of second positioning operation, and then executes step S23 to clear the counting time of the timing module, so that the timing module returns to the initial counting state, and prepares for the duration counting when the positioning operation is triggered again.

[0050] Therefore, the clearing operation of the timing module eliminates the duration data of the last positioning operation, ensures that the timing can start counting from the initial value when the positioning operation is executed again, avoids the duration counting deviation caused by the residual data, and guarantees that the execution duration of each positioning operation meets the preset duration requirement; and the timing clearing logic (step S15) after the first positioning operation is set consistently, so that the same timing module can be alternately multiplexed by the two positioning operations, without the need to additionally increase an independent timing module, thereby simplifying the hardware configuration of the automatic walking device.

[0051] Please refer to Figure 6 , Figure 6 For Figure 1 Another sub-flowchart of step S10 in some embodiments, in some embodiments, the automatic walking device further includes a ranging module, and the control of the network RTK function to enter the working mode to obtain the first positioning result through the network RTK function includes the following steps: Step S101: control the network RTK function to enter a working mode, and control the ranging module to count a first movement distance of the automatic walking device during working of the network RTK function; Step S102: receive a satellite positioning signal sent by a satellite positioning system, and acquire positioning correction data from the network RTK server at a first frequency; Step S103: obtain a first positioning result based on the currently received satellite positioning signal and the positioning correction data each time the positioning correction data is acquired; Step S104: control the automatic walking device to work based on the first positioning result until the first movement distance counted by the ranging module reaches a first preset distance.

[0052] In step S101, the network RTK function is controlled to enter the working mode to start high-precision positioning, and the ranging module is simultaneously controlled to start working to count the first movement distance of the automatic walking device during working of the network RTK function in real time, so as to ensure that the distance counting is synchronized with the starting timing of the RTK positioning operation and avoid distance deviation caused by counting delay. Then, step S102 is entered, the automatic walking device continuously receives the satellite positioning signal sent by the satellite positioning system, and acquires the positioning correction data from the network RTK server at a preset first frequency.

[0053] In step S103, each time the positioning correction data is acquired, the device performs data processing on the positioning correction data and the currently received satellite positioning signal to generate a corresponding first positioning result, so as to ensure that the positioning result can match the actual working position of the automatic walking device in real time. In step S104, the automatic walking device continuously works based on the first positioning result generated each time until the first movement distance counted by the ranging module reaches the first preset distance, triggering switching of the positioning operation to a second positioning operation and completing the first positioning process in this round.

[0054] Therefore, by simultaneously starting the ranging module and the network RTK function, positioning switching triggering based on the actual movement distance is realized, which is suitable for non-uniform motion states (such as detouring when encountering obstacles) of the automatic walking device in complex working scenarios, can accurately reflect the actual working progress of the device, avoid switching timing deviation caused by speed change, and further ensure the accuracy of positioning switching.

[0055] In some embodiments, the distance measuring module can be implemented through a network RTK function or a position sensor. When the automatic walking device performs the first positioning operation through the network RTK function, the built-in computing chip can generate a movement trajectory of the automatic walking device based on a plurality of first positioning results obtained at different time nodes, and the length of the trajectory is the first movement distance of the device during the working period of the network RTK function. Similarly, when the device performs the second positioning operation through the position sensor, the computing chip can obtain the second movement distance of the device during the working period of the position sensor based on the continuously output second positioning results in the same way through the trajectory generation. Thus, without additional configuration of a dedicated distance measuring hardware, the hardware structure of the automatic walking device is simplified; at the same time, the actual movement trajectory of the automatic walking device is directly reflected based on the positioning results, ensuring the accuracy and real-time performance of the movement distance calculation.

[0056] Please refer to Figure 7 , Figure 7 for Figure 1 Step S20 in some embodiments, the automatic walking device further comprises a distance measuring module, and the second positioning result is obtained by positioning through the position sensor, comprising the following steps: Step S201: controlling the position sensor to work to obtain the second positioning result by positioning through the position sensor, and controlling the distance measuring module to count the second movement distance of the automatic walking device during the working period of the position sensor; Step S202: controlling the automatic walking device to work based on the second positioning result until the second movement distance counted by the distance measuring module reaches a second preset distance.

[0057] In step S201, the position sensor is controlled to start working to carry out positioning operation, and the second positioning result is obtained in real time through the position sensor, and the distance measuring module is simultaneously controlled to start counting the second movement distance of the automatic walking device during the working period of the position sensor, so as to ensure the time sequence synchronization of distance counting and positioning operation of the position sensor, and avoid the movement distance deviation caused by statistical lag; as to step S202, the automatic walking device continuously works based on the continuously output second positioning result of the position sensor until the second movement distance counted by the distance measuring module reaches the second preset distance, triggering the positioning operation to switch back to the first positioning operation, and completing the second positioning process in this round.

[0058] Thus, by synchronizing the opening of the ranging module and the network RTK function, positioning switching triggering based on actual movement distance is realized, which is suitable for non-uniform motion state of the automatic walking device in complex working scenarios (such as detouring when encountering obstacles, etc.), can accurately reflect the actual working progress of the device, avoid switching timing deviation caused by speed changes, and further ensure the accuracy of positioning switching. The ranging module can also be realized by the network RTK function or the position sensor.

[0059] In some embodiments, when the automatic walking device is in the first running mode, the first positioning operation and the second positioning operation are alternately performed until the automatic walking device exits the first running mode.

[0060] When the automatic walking device receives a working instruction to open the first running mode and enters the mode, the first positioning operation and the second positioning operation are alternately performed according to a preset logic: first, the first positioning result is obtained by the working mode of the network RTK function and the work is performed, and when the first preset time or the first preset distance trigger condition is met, the second positioning operation of the position sensor positioning is switched to continue the work, and then the first positioning operation is switched back after the second preset time or the second preset distance trigger, and the cycle is repeated.

[0061] In some embodiments, the working method further comprises: when the automatic walking device receives a working instruction to exit the first running mode, and / or the automatic walking device completes a preset working task, the automatic walking device exits the first running mode.

[0062] When the automatic walking device receives an externally issued working instruction to exit the first running mode, whether it is currently in the first positioning operation or the second positioning operation stage, the mode exit process will be started; or when the automatic walking device completes all working tasks according to the preset working plan, the exit operation will be automatically triggered. One of the above two conditions can exit the first running mode, and if both conditions are met, the exit process will be executed simultaneously.

[0063] Thus, the user can independently exit or terminate the first running mode according to temporary needs (such as working area adjustment, etc.), improve the operation flexibility, and automatically exit the mode after completing the working task, avoid unnecessary positioning alternating operation, and reduce unnecessary traffic consumption.

[0064] In some embodiments, after the automatic walking device exits the first running mode, the working method further comprises: controlling the network RTK function to enter a working mode to obtain a first positioning result by positioning through the network RTK function, and the automatic walking device works based on the first positioning result; wherein when it is detected that the network RTK function is in an abnormal state, the network RTK function is controlled to enter a dormant mode, and the position sensor is controlled to work to obtain a second positioning result by positioning through the position sensor, and the automatic walking device works based on the second positioning result.

[0065] After the automatic walking device exits the first running mode, the network RTK function is first controlled to enter a working mode, a first positioning result is generated by receiving satellite positioning signals and obtaining positioning correction data, and work is continued based on the first positioning result to ensure the work accuracy after the first running mode is exited. At the same time, the system monitors the running state of the network RTK function in real time, and if it is detected that the network RTK function is in an abnormal state (for example, unable to obtain satellite positioning signals, unable to obtain positioning correction data from a network RTK server, or positioning accuracy is lower than a preset threshold), the network RTK function is controlled to enter a dormant mode, and a position sensor is started simultaneously to obtain a second positioning result, and the device continues to work based on the second positioning result, avoiding positioning interruption.

[0066] Therefore, after the first running mode is exited, the network RTK function is preferentially enabled for positioning, which can quickly restore a high-precision working state, and when the network RTK function is abnormal, the position sensor is enabled to work, ensuring the continuity of the working process and avoiding task stagnation or omission of a working area due to positioning failure, thereby further improving the integrity and stability of the working of the automatic walking device.

[0067] In some embodiments, the working method further comprises: when it is detected that the network RTK function exits an abnormal state, the network RTK function is controlled to exit the dormant mode and enter the working mode to obtain a first positioning result by positioning through the network RTK function, and the automatic walking device works based on the first positioning result.

[0068] In some embodiments, the working method further comprises: when it is detected that the network RTK function exits an abnormal state, the network RTK function is controlled to exit the dormant mode and enter the working mode to obtain a first positioning result by positioning through the network RTK function, and the automatic walking device works based on the first positioning result.

[0069] Therefore, once the network RTK function returns to normal, it can be switched to working mode to avoid the cumulative error of the position sensor positioning affecting the accuracy of subsequent operations and ensure the consistency of the overall operation quality.

[0070] Please see Figure 8 , Figure 8 The diagram below shows the structural block diagram of a robot in some embodiments of this application. In some embodiments, the robot 200 includes a walking device 210, a position sensor 220, a processor 230, and a memory 240. The walking device 210 is used to control the walking of the robot 200, the position sensor 220 is used for positioning, and the robot 200 is also positioned via a network RTK function. The memory 240 stores a computer program, and the processor 230 runs the computer program to perform the work method as described in any of the foregoing embodiments.

[0071] The robot 200 can be a lawnmower robot, suitable for automatic lawnmowing operations on outdoor lawns (such as home yard lawns, public green space lawns, etc.). The walking device 210 is the mobile execution mechanism of the lawnmower robot, electrically connected to the processor 230. It drives the lawnmower robot to move along a preset operation path or a real-time planned path according to the walking control signals (such as forward, backward, turning, start, stop, speed adjustment, etc.) output by the processor 230, adapting to the terrain features of different lawns. The position sensor 220 may specifically include a visual positioning module and a wheel speed positioning module, both electrically connected to the processor 230: the visual positioning module collects feature points of the surrounding environment (such as lawn boundaries, obstacle outlines, landmarks, etc.) through a camera, and calculates its real-time position through preset algorithms such as image matching and feature point tracking; the wheel speed positioning module monitors the number of rotations of the drive wheels and, in combination with preset wheel diameter parameters, calculates the robot's displacement, and then derives the real-time coordinate information. The processor 230 is electrically connected to components such as the walking device 210, position sensor 220, and memory 240, and can realize logic such as switching between sleep mode and working mode of network RTK function, starting and stopping position sensor, and alternating triggering of positioning operation.

[0072] When the robot 200 is a lawnmower robot, it also includes at least a lawnmower device and a human-machine interaction module. The lawnmower device is electrically connected to the processor 230. The processor 230 can determine the current working area, the untouched area, and the area already worked based on positioning data, and then control the start and stop of the lawnmower device to adapt to the mowing needs of different lawns. The human-machine interaction module is electrically connected to the processor 230. Users can use this module (such as physical buttons, a touch screen, or a mobile terminal APP with wireless communication connection) to issue operation commands to start / exit the first operating mode and set preset parameters (such as a first preset duration, a first preset distance, a second preset duration, a second preset distance, etc.).

[0073] Thus, when the mowing robot is working on the outdoor lawn, the steps of the foregoing working method are as follows: Step 1: After the mowing robot is started, the processor 230 calls the computer program of the working method from the memory 240, and if a working instruction to start the first running mode is received, the processor 230 controls the robot 200 to enter the first running mode, first starts the network RTK function to enter the working mode, synchronously controls the timing module to start timing or the distance measuring module to start counting the first moving distance, simultaneously receives the satellite positioning signal and acquires the positioning correction data from the network RTK server at a first frequency, processes the correction data and the current satellite positioning signal to obtain the first positioning result each time the correction data is acquired, and the traveling device 210 and the mowing device carry out the work based on the first positioning result.

[0074] Step 2: When the first working time length counted by the timing module reaches the first preset time length, or the first moving distance counted by the distance measuring module reaches the first preset distance, the processor 230 controls the network RTK function to enter the dormant mode, synchronously starts the position sensor 220 to work to acquire the second positioning result, and the robot 200 continues the work based on the second positioning result, while the timing module starts counting the second working time length or the distance measuring module starts counting the second moving distance.

[0075] Step 3: When the second working time length counted by the timing module reaches the second preset time length, or the second moving distance counted by the distance measuring module reaches the second preset distance, the processor 230 controls the timing module to clear or the distance measuring module to reset the counting data, switches back to the working mode of the network RTK function again, and repeats the positioning alternate process of steps 1 and 2 until a working instruction to exit the first running mode is received or a preset working task is completed, and the robot 200 exits the first running mode.

[0076] Step 4: After the first running mode is exited, the processor 230 controls the network RTK function to enter the working mode and continues the work based on the first positioning result; if it is detected that the network RTK function is in an abnormal state, controls the network RTK function to enter the dormant mode, starts the position sensor 220 to acquire the second positioning result to maintain the work; when it is detected that the network RTK function exits the abnormal state, switches back to the working mode of the network RTK function to restore the work based on the first positioning result.

[0077] Thus, when the robot 200 is a mowing robot, by executing the foregoing working method, the network traffic consumption can be reduced while the mowing work is ensured through the alternate positioning of the network RTK function and the position sensor, and the demand of flexible control of the user can be met through the man-machine interaction module, thereby improving the user experience of the mowing robot.

[0078] Please refer to Figure 9 ,Figure 9 This is another structural block diagram of the robot in some embodiments of this application. In some embodiments, the robot 200 further includes a communication module 250, which is used to establish a connection with a mobile terminal, wherein the robot 200 receives work instructions issued by the mobile terminal through the communication module 250.

[0079] The communication module 250 is electrically connected to the processor 230 and is used to establish a wireless communication connection (such as Bluetooth, Wi-Fi, etc.) with a mobile terminal (such as a smartphone, tablet, etc.). The robot 200 receives various operation instructions from the mobile terminal through the communication module 250, including but not limited to instructions to start the first operating mode, exit the first operating mode, or adjust preset parameters (first preset duration, first preset distance, second preset duration, second preset distance, etc.).

[0080] Specifically, when a user initiates an operation through the accompanying application (APP) on the mobile terminal, the instruction is transmitted to the processor 230 via the communication module 250. After parsing the instruction, the processor 230 executes the corresponding control logic. For example, after receiving the instruction to start the first operating mode, it starts the alternating positioning operation of network RTK and position sensor.

[0081] In some embodiments, the communication module 250 can also realize bidirectional communication between the robot 200 and the mobile terminal, that is, to feed back the working status of the robot 200 (such as the current positioning mode and the network RTK working status) to the mobile terminal for the user to monitor in real time.

[0082] Thus, the wireless communication module expands the robot's control methods, allowing users to remotely issue commands without close contact with the automated walking device, thereby improving ease of use.

[0083] Please see Figure 10 , Figure 10 The diagram below shows the structure of a robot system in some embodiments of this application. In some embodiments, the robot system 300 includes a mobile terminal 310 and a robot 200 as described in any of the foregoing embodiments. The mobile terminal 310 is used to issue a work instruction to start / exit a first operating mode, and the robot 200 is used to execute the work instruction issued by the mobile terminal 310.

[0084] Thus, the robot system 300 communicates with the robot 200 through the mobile terminal 310 to remotely issue work instructions, allowing users to complete the entire control process without close contact with the equipment.

[0085] In some embodiments, the user can issue a work instruction to the robot 200 through the mobile terminal 310, and the robot 200 can autonomously perform a work operation in a preset work area in response to starting a work flow after receiving the instruction through the communication module. The robot 200 can plan a complete mowing path based on preset map information, and realize real-time acquisition of its own position through network RTK function and / or position sensor, and the processor can dynamically adjust the motion parameters of the robot 200 based on the positioning result to control the robot 200 to move along the planned work path, so as to ensure full coverage of the work in the work area and accuracy of the path execution.

[0086] In some embodiments, a computer program is stored in the computer readable storage medium, and the computer program is used to execute the work method according to any one of the preceding embodiments when called by the processor.

[0087] For example, the work method executed by the computer program when called by the processor includes: when the automatic walking device receives the work instruction for exiting the first running mode, and / or the automatic walking device completes the preset work task, the automatic walking device exits the first running mode.

[0088] Other steps of the work method executed by the computer program when called by the processor can be referred to the foregoing related description, and will not be described here.

[0089] The processor can be the processor 230 of the robot.

[0090] The processor can be a single-chip microcomputer, a microcontroller, a microprocessor, a digital signal processor, a central processing unit, etc.

[0091] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0092] In addition, the processor executing the method steps in each embodiment in the present application can integrate a plurality of functional units to respectively execute each step, or each functional unit can exist physically alone, for example, the robot 200 includes a plurality of controllers and the like functional units to respectively execute corresponding method steps. Each functional unit included in the robot 200 can be realized in the form of hardware, or in the form of a software program module.

[0093] The integrated functional units, if realized in the form of software program modules and sold or used as independent products, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application, essentially or the part that contributes to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned memory and computer readable storage medium include: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0094] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0095] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0096] The above has described the embodiments of the present application in detail, and the principle and implementation manner of the present application have been described by applying specific examples; the above embodiment descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for a person of ordinary skill in the art, according to the idea of the present application, the specific implementation manner and application range can be changed; in conclusion, the content of the present description should not be understood as a limitation of the present application.

Claims

1. A working method applied to an automated walking device, wherein, The automated walking device includes a position sensor, and the automated walking device can be positioned via network RTK function or the position sensor. The operating method includes: During the operation of the automated walking device, the device is controlled to perform a first positioning operation. This first positioning operation includes: controlling the network RTK function to enter a working mode, performing positioning via the network RTK function to obtain a first positioning result, and enabling the automated walking device to perform operations based on this first positioning result; and The automatic walking device is controlled to perform a second positioning operation, which includes: controlling the network RTK function to enter a sleep mode, and obtaining a second positioning result by performing positioning through the position sensor, so that the automatic walking device performs operations based on the second positioning result; Specifically, after performing the first positioning operation for a first preset duration or moving a first preset distance, the second positioning operation is started, and after performing the second positioning operation for a second preset duration or moving a second preset distance, the first positioning operation is performed again. Specifically, when the network RTK function is in the working mode, the automatic walking device obtains positioning correction data from the network RTK server at a first frequency; when the network RTK function is in the sleep mode, the automatic walking device stops obtaining positioning correction data from the network RTK server or obtains positioning correction data from the network RTK server at a second frequency, wherein the first frequency is greater than the second frequency.

2. The operating method according to claim 1, characterized in that, The operating method also includes: During the operation of the automatic walking device, when a work instruction to start the first operating mode is received, the automatic walking device is controlled to enter the first operating mode. When the automatic walking device enters the first operating mode, the automatic walking device is controlled to perform the first positioning operation. After performing the first positioning operation for a first preset time or moving a first preset distance, the second positioning operation is started. After performing the second positioning operation for a second preset time or moving a second preset distance, the first positioning operation is performed again.

3. The operating method according to claim 1, characterized in that, The automated walking device also includes a timing module, wherein controlling the network RTK function to enter a working mode, and obtaining a first positioning result by performing positioning through the network RTK function, includes: The network RTK function is controlled to enter the working mode, and the timing module is controlled to start timing to obtain the first working duration of the network RTK function; Receive satellite positioning signals sent by the satellite positioning system and obtain positioning correction data from the network RTK server at a first frequency; Each time positioning correction data is acquired, a first positioning result is obtained based on the currently received satellite positioning signal and the positioning correction data; Based on the first positioning result, the automatic walking device is controlled to operate until the first working time reaches the first preset time.

4. The operating method according to claim 3, characterized in that, After the first working time reaches the first preset time, the working method further includes: Reset the time of the timing module to zero.

5. The operating method according to claim 1, characterized in that, The automated walking device further includes a timing module, wherein obtaining the second positioning result by positioning through the position sensor includes: The position sensor is controlled to operate so as to obtain a second positioning result by positioning through the position sensor, and the timing module is controlled to start timing to obtain the second working duration of the position sensor; Based on the second positioning result, the automatic walking equipment is controlled to operate until the second working time reaches the second preset time.

6. The operating method according to claim 5, characterized in that, After the second working time reaches the second preset time, the operation method further includes: Reset the time of the timing module to zero.

7. The operating method according to claim 1, characterized in that, The automated walking device also includes a ranging module. The step of controlling the network RTK function to enter a working mode, and obtaining a first positioning result through the network RTK function, includes: The network RTK function is controlled to enter the working mode, and the ranging module is controlled to count the first movement distance of the automatic walking device during the operation of the network RTK function. Receive satellite positioning signals sent by the satellite positioning system and obtain positioning correction data from the network RTK server at a first frequency; Each time positioning correction data is acquired, a first positioning result is obtained based on the currently received satellite positioning signal and the positioning correction data; Based on the first positioning result, the automatic walking device is controlled to operate until the first moving distance counted by the ranging module reaches the first preset distance.

8. The operating method according to claim 1, characterized in that, The automated walking device further includes a ranging module, wherein obtaining a second positioning result by positioning through the position sensor includes: The position sensor is controlled to operate so as to obtain a second positioning result by positioning through the position sensor, and the ranging module is controlled to count the second movement distance of the automatic walking device during the operation of the position sensor; Based on the second positioning result, the automatic walking device is controlled to operate until the second moving distance counted by the ranging module reaches the second preset distance.

9. The operating method according to claim 2, characterized in that, When the automatic walking device is in the first operating mode, the first positioning operation and the second positioning operation are executed alternately until the automatic walking device exits the first operating mode.

10. The operating method according to claim 2, characterized in that, The operating method also includes: When the automatic walking device receives a work instruction to exit the first operating mode, and / or when the automatic walking device completes a preset work task, the automatic walking device exits the first operating mode.

11. The operating method according to claim 10, characterized in that, After the automated walking device exits the first operating mode, the operation method further includes: The network RTK function is controlled to enter the working mode so as to obtain a first positioning result by positioning through the network RTK function, and the automatic walking device performs operations based on the first positioning result; When the network RTK function is detected to be in an abnormal state, the network RTK function is controlled to enter a sleep mode, and the position sensor is controlled to work so as to obtain a second positioning result through the position sensor. The automatic walking device performs operations based on the second positioning result.

12. The operating method according to claim 11, characterized in that, The operating method also includes: When the abnormal state of the network RTK function is detected, the network RTK function is controlled to exit the sleep mode and enter the working mode to obtain a first positioning result through the network RTK function, and the automatic walking device performs operations based on the first positioning result.

13. A robot, characterized in that, The robot includes a walking device, a position sensor, a processor, and a memory. The walking device is used to control the robot's walking, the position sensor is used for positioning, and the robot also performs positioning via a network RTK function. The memory stores a computer program, and the processor runs the computer program to perform the work method as described in any one of claims 1-12.

14. The robot according to claim 13, characterized in that, The robot also includes a communication module for establishing a connection with a mobile terminal, wherein the robot receives work instructions from the mobile terminal through the communication module.

15. A robot system, characterized in that, The system includes a mobile terminal and a robot as described in any one of claims 13-14, wherein the mobile terminal is used to issue a work instruction to start / exit a first operating mode, and the robot is used to execute the work instruction issued by the mobile terminal.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is used by a processor to execute the working method as described in any one of claims 1-12.

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