Control method of autonomous mobile device, autonomous mobile device, and readable storage medium

Abstract

The application discloses an autonomous mobile device, comprising: a first body section and a second body section connected by a pivot body; the posture of the first body section and / or the posture of the second body section can be changed relative to the pivot body; a posture detection device arranged in at least one of the first body section and the second body section, configured to collect detection information for representing the posture angle of the first body section relative to the second body section; the posture angle comprises at least one of a pitch angle and a roll angle; and a controller in communication connection with the posture detection device, configured to determine the state of the autonomous mobile device according to the detection information. Thus, the state of the autonomous mobile device can be stably and reliably detected by a simple structure, and the layout of the whole machine is not affected.

Description

Technical Field

[0001] This invention relates to the field of autonomous mobile device technology, and in particular to a control method for an autonomous mobile device, an autonomous mobile device, and a computer-readable storage medium. Background Technology

[0002] To ensure the normal operation and safe use of autonomous mobile devices, real-time lift detection is required. Lift detection in autonomous mobile devices, such as automatic lawnmowers, typically relies on a dedicated lift detection module. However, existing lift detection modules suffer from problems such as complex structure, susceptibility to accidental or delayed triggering, and low reliability. Summary of the Invention

[0003] The purpose of this application is to provide a control method for an autonomous mobile device, an autonomous mobile device, and a computer-readable storage medium, so as to at least solve the problems in the related art.

[0004] To achieve the above objectives: In a first aspect, embodiments of this application provide an autonomous mobile device, including: The first fuselage section and the second fuselage section are pivotally connected by a pivot body; the attitude of the first fuselage section and / or the attitude of the second fuselage section can be changed relative to the pivot body; An attitude detection device disposed in at least one of the first fuselage segment and the second fuselage segment is configured to acquire detection information characterizing the attitude angle of the first fuselage segment relative to the second fuselage segment; the attitude angle includes at least one of pitch angle and roll angle; The controller, which is communicatively connected to the attitude detection device, is configured to determine the state of the autonomous mobile device based on the detection information.

[0005] In one embodiment, the controller is configured to determine, based on the detection information, whether the attitude angle of the first fuselage segment relative to the second fuselage segment is greater than or equal to an attitude angle threshold during normal operation. In response to the attitude angle being greater than or equal to the attitude angle threshold during normal operation, it is determined that the autonomous mobile device is in a raised state. In one embodiment, the attitude detection device includes a first inertial measurement unit and a second inertial measurement unit, which are respectively disposed in one of the first fuselage section and the second fuselage section; the detection information includes first attitude data detected by the first inertial measurement unit and second attitude data detected by the second inertial measurement unit. The controller is configured to determine the difference between the first attitude data and the second attitude data; When the difference is greater than or equal to a preset attitude data threshold, the attitude angle is determined to be greater than or equal to the attitude angle threshold during normal operation.

[0006] In one embodiment, the controller is configured to determine that the attitude angle is greater than or equal to the attitude angle threshold during normal operation when the detection state of the attitude detection device is determined to have changed based on the detection information. In one embodiment, the attitude detection device includes a Hall sensor and a magnet, wherein the Hall sensor and the magnet are respectively disposed in one of the first section of the fuselage and the second section of the fuselage; The controller is configured to determine a change in the detection state of the attitude detection device based on the detection information when the Hall sensor changes from being able to detect the magnetic signal emitted by the magnet to not being able to detect the magnetic signal emitted by the magnet, or when the Hall sensor changes from not being able to detect the magnetic signal emitted by the magnet to being able to detect the magnetic signal emitted by the magnet.

[0007] In one embodiment, the center of gravity of at least one of the first fuselage segment and the second fuselage segment does not coincide with the axis of the pivot body in the lateral direction. In one embodiment, relative to the direction of movement of the autonomous mobile device, the first body segment is located in front of the second body segment, and the center of gravity of the second body segment does not coincide with the axis of the pivot body in the lateral direction.

[0008] In one embodiment, the center of gravity of the first fuselage segment does not coincide with the axis of the pivot body in the lateral direction, and the center of gravity of the first fuselage segment and the center of gravity of the second fuselage segment are located on opposite sides of the axis of the pivot body in the lateral direction. In one embodiment, the first section of the body is provided with at least one lifting structure that allows the user to lift the body.

[0009] In one embodiment, the attitude angle threshold during normal operation ranges from 9 to 11 degrees.

[0010] In one embodiment, the autonomous mobile device further includes a drive wheel, a current detection device, an obstacle detection device, and a tilt angle detection device. The current detection device is connected to the drive wheel, and the current detection device, the obstacle detection device, and the tilt angle detection device are communicatively connected to the controller. The drive wheel is configured to move the autonomous mobile device. The current detection device is configured to detect the load current of the drive wheel; The obstacle detection device is configured to detect whether there are obstacles within a preset distance of the autonomous mobile device; The tilt detection device is configured to detect whether the autonomous mobile device is on a slope; The controller is further configured to determine that the autonomous mobile device is in a lifted state when it confirms that the autonomous mobile device is not on a slope, there is an obstacle within a preset distance of the autonomous mobile device, and the load current of the drive wheel is less than a preset current threshold.

[0011] In one embodiment, the first section of the body is located in front of the second section of the body relative to the direction of movement of the autonomous mobile device; the obstacle detection device is disposed in front of the first section of the body. The controller is configured to determine that the autonomous mobile device is in a lifted state when it confirms that the autonomous mobile device is not on a slope, there is an obstacle within a preset distance on the front side of the first section of the body, and the load current of the drive wheel is less than a preset current threshold.

[0012] In one embodiment, the controller is further configured to determine that the autonomous mobile device is in a lifted state if it is confirmed that the autonomous mobile device is on a slope and there is an obstacle within a preset distance on the front side of the first section of the device.

[0013] In one embodiment, when the autonomous mobile device is in a raised state, the controller is further configured to control the cutting mechanism of the autonomous mobile device to stop operating.

[0014] In one embodiment, after controlling the cutting mechanism of the autonomous mobile device to stop operating, the controller is further configured to: After the cutting mechanism has stopped working for a preset period of time, confirm whether the autonomous mobile device has returned to normal working status; If the system returns to normal operation, the autonomous mobile device will continue to operate. Otherwise, the autonomous mobile device will be shut down and an alarm signal will be issued.

[0015] Secondly, embodiments of this application provide a control method for an autonomous mobile device, the autonomous mobile device comprising a first segment and a second segment of the device actively connected, the method comprising: Acquire detection information to characterize the attitude angles of the first fuselage segment relative to the second fuselage segment; the attitude angles include at least one of pitch angle and roll angle; The state of the autonomous mobile device is determined based on the detection information.

[0016] The present application provides a control method for an autonomous mobile device, an autonomous mobile device, and a computer-readable storage medium. The autonomous mobile device includes a first fuselage segment and a second fuselage segment pivotally connected by a pivot body. The attitude of the first fuselage segment and / or the attitude of the second fuselage segment relative to the pivot body can be changed. An attitude detection device disposed in at least one of the first and second fuselage segments is configured to collect detection information characterizing the attitude angles of the first fuselage segment relative to the second fuselage segment. The attitude angles include at least one of pitch angle and roll angle. A controller, communicatively connected to the attitude detection device, is configured to determine the state of the autonomous mobile device based on the detection information. Thus, by using an attitude detection device disposed in at least one of the first and second fuselage segments to collect detection information characterizing the attitude angles of the first fuselage segment relative to the second fuselage segment, and the attitude angles including at least one of pitch angle and roll angle, and then determining the state of the autonomous mobile device based on the detection information, stable and reliable detection of the state of the autonomous mobile device can be achieved through a simple structure without affecting the overall layout of the device. Attached Figure Description

[0017] Figure 1 A schematic diagram of the structure of the autonomous mobile device provided in the embodiments of this application.

[0018] Figure 2 This is a flowchart illustrating the control method for an autonomous mobile device provided in an embodiment of this application. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0020] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0021] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0022] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0023] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0024] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0025] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0026] A smart lawnmower is a robotic gardening tool that maintains lawns. It can autonomously complete the lawn mowing work without the need for direct user control or operation, thus greatly reducing the user's workload.

[0027] Intelligent lawnmowers encounter various working conditions during operation, such as being lifted. In some scenarios, the blades and drive wheels may still be running when the intelligent lawnmower is lifted. To ensure safety, it is crucial to detect whether the intelligent lawnmower is lifted or raised during operation. This allows the intelligent lawnmower to shut off components such as the running blades and drive wheels in a timely manner when lifted or raised, thus preventing injury to the operator.

[0028] Currently, the main method for detecting lifting of smart lawnmowers is to install Hall sensors on the axles or suspension system and magnets at the corresponding housing positions. The change in the relative distance between the Hall sensor and the magnet is then used to detect whether one side of the smart lawnmower's wheel assembly has been lifted.

[0029] However, for two-section smart lawnmowers, due to their unique structure (including the movable connection between the first and second sections), detecting whether a section has been lifted requires multiple lift detection modules (Hall sensors and magnets), which complicates the structure and affects the overall layout. Furthermore, since two-section smart lawnmowers may operate in environments involving crossing obstacles or navigating uneven terrain such as shallow sand, cobblestone paths, and potholes, the reliability of lift detection based on these methods is relatively low.

[0030] In view of this, this embodiment provides an autonomous mobile device, see reference. Figure 1 An autonomous mobile device provided in this application embodiment includes: The first fuselage section 2 and the second fuselage section 3 are pivotally connected by a pivot body 1; the attitude of the first fuselage section 2 and / or the attitude of the second fuselage section 3 can be changed relative to the pivot body 1; An attitude detection device 4, disposed in at least one of the first fuselage section 2 and the second fuselage section 3, is configured to collect detection information for characterizing the attitude angles of the first fuselage section 2 relative to the second fuselage section 3; the attitude angles include at least one of pitch angle and roll angle; The controller 5 is communicatively connected to the attitude detection device 4 and is configured to determine the state of the autonomous mobile device based on the detection information.

[0031] Optionally, since the first fuselage segment 2 and the second fuselage segment 3 are pivotally connected via a pivot body 1, the first fuselage segment 2 and the second fuselage segment 3 are rotatable relative to the pivot body 1. When the first fuselage segment 2 and / or the second fuselage segment 3 rotate relative to the pivot body 1, the attitude of the corresponding first fuselage segment 2 and / or the attitude of the second fuselage segment 2 relative to the pivot body 1 will change. At this time, the attitude detection device 4 collects detection information to characterize the attitude angle of the first fuselage segment 2 relative to the second fuselage segment 3, and then the controller 5 can determine the state of the autonomous mobile device based on the detection information. The state of the autonomous mobile device can include a lifted state and a non-lifted state. The lifted state includes, but is not limited to, being lifted horizontally by lateral means and being lifted horizontally by front and back means. For example, it can also include single-point lifting, that is, lifting the autonomous mobile device from one end point. The autonomous mobile device being lifted horizontally by lateral means lifting the autonomous mobile device horizontally from at least one side, and the autonomous mobile device being lifted horizontally by front and back means lifting the autonomous mobile device horizontally from at least one front and back direction.

[0032] The specific location of the attitude detection device 4 can be determined according to the actual scenario. For example, it can be installed only on the first section of the fuselage 2, only on the second section of the fuselage, or on both sections. The specific location of the attitude detection device 4 can also be determined based on its size. For instance, if the attitude detection device 4 is large, it can be placed away from the pivot 1, while if it is small, it can be placed closer to the pivot 1. In practical applications, the attitude detection device 4 can be a Hall effect magnet, a microswitch, an optical grating, an optocoupler, or other similar components.

[0033] Depending on the attitudes of the first fuselage segment 2 and the second fuselage segment 3, the pitch angle and / or roll angle of the first fuselage segment 2 relative to the second fuselage segment 3 will also differ. (Continue reading...) Figure 1 The pitch angle of the first fuselage segment 2 relative to the second fuselage segment 3 refers to the difference in rotation angle between the first fuselage segment 2 and the second fuselage segment 3 about the lateral axis (Y-axis). The roll angle of the first fuselage segment 2 relative to the second fuselage segment 3 refers to the relative rotation angle between the first fuselage segment 2 and the second fuselage segment 3 about the longitudinal axis (X-axis, i.e., the direction of movement of the autonomous mobile device). Taking the first fuselage segment 2 located in front of the second fuselage segment 3 relative to the direction of movement of the autonomous mobile device as an example, when the first fuselage segment 2 and the second fuselage segment 3 are parallel, the pitch angle of the first fuselage segment 2 relative to the second fuselage segment 3 is zero; if the front of the first fuselage segment 2 tilts upward at this time, the pitch angle of the first fuselage segment 2 relative to the second fuselage segment 3 is a positive pitch angle; if the front of the first fuselage segment 2 tilts downward at this time, the pitch angle of the first fuselage segment 2 relative to the second fuselage segment 3 is a negative pitch angle.

[0034] For example, taking the first section of the device 2 as being located in front of the second section of the device 3 relative to the direction of movement of the autonomous mobile device, when the front of the first section of the device 2 is lifted, the front of the first section of the device 2 tilts upward, so the pitch angle of the first section of the device 2 relative to the second section of the device 3 is a positive pitch angle; correspondingly, when the rear of the second section of the device 3 is lifted, the rear of the second section of the device 3 tilts upward, so the pitch angle of the first section of the device 2 relative to the second section of the device 3 is a negative pitch angle.

[0035] For example, when one side of the first segment 2 of the autonomous mobile device (such as the right front wheel side) is lifted, and the second segment 3 is still on the ground and the ground is flat, the roll angle of the second segment 3 is zero. The first segment 2 deflects around the longitudinal axis (X-axis, i.e., the direction of movement of the autonomous mobile device), thereby creating a roll angle difference between the first segment 2 and the second segment 3. The magnitude of this roll angle is related to the wheelbase on both sides of the first segment 2 and the lifting height. Similarly, when both sides of the first segment 2 of the autonomous mobile device (such as the right front wheel side and the left front wheel side) are lifted, and the lifting heights on both sides are different, the first segment 2 also has a non-zero roll angle relative to the second segment 3.

[0036] In summary, in the autonomous mobile device provided by the above embodiments, by using an attitude detection device disposed in at least one of the first and second fuselage segments, detection information is collected to characterize the attitude angle of the first fuselage segment relative to the second fuselage segment. Then, the state of the autonomous mobile device is determined based on the detection information. In this way, the state of the autonomous mobile device can be stably and reliably detected through a simple structure without affecting the layout of the entire device.

[0037] During normal operation, the attitude of the first segment and / or the second segment of the autonomous mobile device may change relative to the pivot. For example, when crossing obstacles or on uneven terrain such as shallow sand, cobblestone roads, or potholes, the first segment of the autonomous mobile device may twist relative to the second segment. This may lead to misidentification of the normal operating state and the lifted state.

[0038] To improve the accuracy of lift detection, this embodiment pre-determines a normal operating attitude angle threshold based on the attitude angle of the first fuselage segment relative to the second fuselage segment during normal operation. Then, during implementation, the attitude angle of the first fuselage segment relative to the second fuselage segment is compared with this normal operating attitude angle threshold to determine the state of the autonomous mobile device. The normal operating attitude angle threshold represents the maximum attitude angle of the first fuselage segment relative to the second fuselage segment during normal operation or movement. In other words, when the attitude angle of the first fuselage segment relative to the second fuselage segment is less than the normal operating attitude angle threshold, the autonomous mobile device is in a normal operating state.

[0039] In one possible implementation, the controller 5 is configured to determine, based on the detection information, whether the attitude angle of the first fuselage segment 2 relative to the second fuselage segment 3 is greater than or equal to the attitude angle threshold during normal operation. In response to an attitude angle greater than or equal to the attitude angle threshold during normal operation, the autonomous mobile device is determined to be in a raised state.

[0040] Since the detection information can be used to characterize the attitude angle of the first fuselage segment 2 relative to the second fuselage segment 3, it can be determined whether the attitude angle of the first fuselage segment 2 relative to the second fuselage segment 3 is greater than or equal to the attitude angle threshold during normal operation. If the attitude angle is greater than or equal to the attitude angle threshold during normal operation, it is determined that the autonomous mobile device is in a raised state. In this way, accurate and rapid detection of whether the autonomous mobile device is in a raised state can be achieved.

[0041] In one possible implementation, the attitude angle threshold range during normal operation is 9 to 11 degrees. This means the normal attitude angle range is 0-9 degrees. Here, 9 degrees can be -9 degrees or +9 degrees. For example, if upward deflection is considered positive, then in actual measurement, upward deflection is recorded as positive, and downward deflection as negative. Of course, the sensor may or may not distinguish between these values ​​during data acquisition; this is not limited.

[0042] In one possible implementation, the attitude detection device 4 includes a first inertial measurement unit and a second inertial measurement unit, which are respectively disposed in one of the first fuselage section 2 and the second fuselage section 3; the detection information includes first attitude data detected by the first inertial measurement unit and second attitude data detected by the second inertial measurement unit. Controller 5 is configured to determine the difference between the first attitude data and the second attitude data; When the difference is greater than a preset attitude data threshold, the attitude angle is determined to be greater than or equal to the attitude angle threshold during normal operation.

[0043] The inertial measurement unit (IMU) can be used to measure the attitude data of an object, such as three-axis attitude data. Based on the obtained first attitude data and second attitude data, the attitude angle representing the first fuselage segment 2 relative to the second fuselage segment 3 can be determined. For example, in the same coordinate system, the attitude angle representing the first fuselage segment 2 relative to the second fuselage segment 3 can be obtained by calculating the difference between the three-axis attitude data in the first attitude data and the three-axis attitude data in the second attitude data. When calculating the difference between the three-axis attitude data in the first attitude data and the three-axis attitude data in the second attitude data, the difference can be calculated based on the first attitude data and the second attitude data obtained at the same time, or it can be calculated based on the average value of the first attitude data and the average value of the second attitude data within a preset time range; there is no limitation on this.

[0044] After obtaining the difference between the first attitude data and the second attitude data (which represents the attitude angle of the first fuselage 2 relative to the second fuselage 3), it can be compared with a preset attitude data threshold. If it is greater than the preset attitude data threshold, it is confirmed that the attitude angle is greater than or equal to the attitude angle threshold during normal operation, and the autonomous mobile device is considered to be in a raised state.

[0045] Because the attitude of the first and / or second segments of the autonomous mobile device changes relative to the pivot during normal operation—for example, when crossing obstacles or traversing uneven terrain such as shallow sand, cobblestone roads, or potholes—the first segment of the autonomous mobile device will twist relative to the second segment. Therefore, if the difference is less than a preset attitude data threshold, the attitude angle is confirmed to be less than the attitude angle threshold for normal operation, and the autonomous mobile device is considered to be in normal working condition. This reduces the misidentification of normal working condition and lifted state.

[0046] The aforementioned preset attitude data threshold can be the attitude data threshold during normal operation, such as the attitude angle threshold during normal operation. It should be noted that when determining the attitude angle representing the first fuselage segment 2 relative to the second fuselage segment 3 based on the attitude data detected by the inertial measurement unit, the attitude data can be converted to the same coordinate system as the attitude angle before the difference is calculated, or the difference can be calculated first and then converted to the same coordinate system as the attitude angle. This application does not limit the conversion order or conversion method.

[0047] In this embodiment, inertial measurement units are respectively set on the first body and the second body. Since the inertial measurement units can quickly obtain the attitude data of the body, the attitude angle of the first body relative to the second body can be quickly determined by calculating the difference between the two IMUs, so as to accurately and quickly detect whether the autonomous mobile device is in a lifted state.

[0048] It should be noted that the above-mentioned positions of the first inertial measurement unit and the second inertial measurement unit on the machine body are not limited. In this way, the attitude detection device can be flexibly arranged according to the structure of the autonomous mobile device.

[0049] In one possible implementation, the controller 5 is configured to determine that the attitude angle is greater than or equal to the attitude angle threshold during normal operation when the detection state of the attitude detection device 4 is determined to have changed based on the detection information.

[0050] It is understandable that when the detection information can characterize the detection state of the attitude detection device 4, if it is determined from the detection information that the detection state of the attitude detection device 4 has changed, such as the current state being different from the previous detection state, then it can be determined that the attitude angle is greater than or equal to the attitude angle threshold during normal operation. Thus, by using the detection state of the attitude detection device, it can be determined whether the attitude angle of the first fuselage relative to the second fuselage is greater than or equal to the attitude angle threshold, thereby enabling stable and reliable detection of the state of the autonomous mobile device.

[0051] In one possible implementation, the attitude detection device 4 includes a Hall sensor and a magnet, which are respectively disposed in one of the first fuselage section 2 and the second fuselage section 3; The controller 5 is configured to determine the change in the detection state of the attitude detection device 4 when the Hall sensor changes from being able to detect the magnetic signal emitted by the magnet to not being able to detect the magnetic signal emitted by the magnet, or when the Hall sensor changes from not being able to detect the magnetic signal emitted by the magnet to being able to detect the magnetic signal emitted by the magnet, based on the detection information.

[0052] In the case where the attitude detection device 4 includes a Hall sensor and a magnet, and the Hall sensor and the magnet are respectively disposed in one of the first section of the body 2 and the second section of the body 3, if the autonomous mobile device is lifted, that is, the first section of the body 2 and / or the second section of the body 3 is lifted, the state of the magnetic signal detected by the Hall sensor will change (for example, the intensity of the detected magnetic signal gradually weakens until it cannot be detected, or the intensity of the detected magnetic signal gradually strengthens until it exceeds a preset threshold, etc.). Therefore, it can be determined that the detection state of the attitude detection device has changed when the Hall sensor changes from being able to detect the magnetic signal emitted by the magnet to not being able to detect the magnetic signal emitted by the magnet, or when the Hall sensor changes from not being able to detect the magnetic signal emitted by the magnet to being able to detect the magnetic signal emitted by the magnet.

[0053] For example, assuming that the autonomous mobile device is in normal working state, that is, when the autonomous mobile device is not lifted, the Hall sensor can receive the magnetic signal emitted by the magnet within a certain range. That is, it is considered that the autonomous mobile device is not lifted when the Hall sensor can receive the magnetic signal emitted by the magnet. If the Hall sensor does not receive the magnetic signal emitted by the magnet, it means that the detection state of the attitude detection device has changed. At this time, it can be determined that the autonomous mobile device is lifted.

[0054] In addition, the attitude detection device can also be a microswitch. When the on / off state of the microswitch circuit changes (e.g., from on to off, or from off to on), the change in the detection state of the attitude detection device can also be determined, and thus it can be used to determine whether the autonomous mobile device is in a lifted state. This allows for accurate and rapid detection of whether the attitude detection device's detection state has changed, further improving the convenience and reliability of detecting the state of the autonomous mobile device. Of course, the attitude detection device can also be a grating or optocoupler; the method for determining whether the attitude detection device's detection state has changed is similar to that of a microswitch, and will not be elaborated upon here.

[0055] In one possible implementation, the center of gravity of at least one of the first fuselage segment 2 and the second fuselage segment 3 does not coincide with the axis of the pivot body 1 in the lateral direction.

[0056] Among them, the horizontal direction is Figure 1 The direction indicated by the transverse axis (Y-axis) is shown. It can be understood that since the pivotal friction between the first fuselage segment 2 and the second fuselage segment 3, which are pivotally connected by the pivot body 1, is close to zero and negligible, by setting the center of gravity of at least one of the first fuselage segment 2 and the second fuselage segment 3 to not coincide with the axis of the pivot body 1 in the transverse direction, thus ensuring that the center of gravity is eccentric (i.e., deviates from the axis of the pivot body 1), it can be guaranteed that the first fuselage segment 2 and / or the second fuselage segment 3 will automatically deflect when the autonomous mobile device is lifted. This allows the attitude detection device 4 to collect detection information representing the attitude angle of the first fuselage segment 2 relative to the second fuselage segment 3. Specifically, this can be achieved by setting counterweight modules on the first fuselage segment 2 and / or the second fuselage segment 3 to ensure that the center of gravity of at least one of the first fuselage segment 2 and the second fuselage segment 3 does not coincide with the axis of the pivot body 1 in the transverse direction.

[0057] In one possible implementation, the first body segment 2 is located in front of the second body segment 3 relative to the direction of movement of the autonomous mobile device, and the center of gravity of the second body segment 3 does not coincide with the axis of the pivot body 1 in the lateral direction.

[0058] It is understandable that the first body segment 2 is located in front of the second body segment 3, indicating that the second body segment 3 is the rear body of the autonomous mobile device. The center of gravity of the second body segment 3 does not coincide with the axis of the pivot 1 in the lateral direction. This means that the center of gravity of the rear body of the autonomous mobile device needs to be offset so that the second body segment 3 will deflect or twist when the autonomous mobile device is lifted. It should be noted that if the user typically lifts the autonomous mobile device from the first body segment 2, then to ensure that the second body segment 3 automatically deflects when the first body segment 2 is lifted, the center of gravity of the second body segment 3 is preferentially set to not coincide with the axis of the pivot 1 in the lateral direction; that is, the center of gravity of the second body segment 3 deviates from the axis of the pivot 1. If the user prefers to lift the second body segment 3 in actual use, the center of gravity of the first body segment 2 can be set to deviate from the axis of the pivot 1 accordingly. Furthermore, if both the first fuselage segment 2 and the second fuselage segment 3 can be lifted, then the center of gravity of both the first fuselage segment 2 and the second fuselage segment 3 can be set to deviate from the axis of the pivot body 1.

[0059] In some scenarios, if the first segment 2 is located in front of the second segment 3 relative to the direction of movement of the autonomous mobile device, a trimming module can be installed on the first segment 2. This trimming module is typically eccentrically positioned. Therefore, only a counterweight module needs to be installed on the second segment 3 (this counterweight module and the trimming module are located on opposite sides of the axis of the pivot). It can be understood that by installing a counterweight module on the second segment 3, when the first segment 2 is horizontally lifted, the second segment 3 actively twists due to its center of gravity, triggering a lift detection. This detects that the attitude angle of the first segment 2 relative to the second segment 3 is greater than or equal to the attitude angle threshold during normal operation. It should be noted that installing a counterweight module allows for a larger twist angle compared to not installing one. If the twist angle of the second segment 3 can trigger a lift detection without a counterweight module, then installing the module will more likely trigger a lift detection; conversely, if the twist angle of the second segment 3 cannot trigger a lift detection without a counterweight module, the larger twist angle with the module will more likely trigger a lift detection. It should be noted that in some implementations, a counterweight module is not usually added to the second section of the body 3. Instead, the function of the counterweight module is achieved by adjusting the position or number of the power supply module of the autonomous mobile device.

[0060] In one possible implementation, the center of gravity of the first fuselage 2 does not coincide with the axis of the pivot 1 in the lateral direction, and the center of gravity of the first fuselage 2 and the center of gravity of the second fuselage 3 are located on opposite sides of the axis of the pivot 1 in the lateral direction.

[0061] It is understandable that the center of gravity of the first fuselage 2 does not coincide with the axis of the pivot 1 in the lateral direction, indicating that the center of gravity of the front fuselage of the autonomous mobile device needs to be eccentric. The center of gravity of the first fuselage 2 and the center of gravity of the second fuselage 3 are located on opposite sides of the axis of the pivot 1 in the lateral direction, indicating that the eccentricity of the center of gravity of the front fuselage of the autonomous mobile device needs to be different from that of the rear fuselage. In this way, the balance of the autonomous mobile device can be guaranteed on the one hand, and the rear fuselage can automatically deflect or twist when the front fuselage of the autonomous mobile device is lifted, or the front fuselage can automatically deflect or twist when the rear fuselage is lifted.

[0062] In one possible implementation, the first section of the fuselage 2 is provided with at least one lifting structure (not shown in the figure) that allows the user to lift the fuselage.

[0063] The lifting structure is primarily used to partially or entirely raise the first section of the autonomous mobile device's body 2 to accommodate needs such as storage, maintenance, obstacle crossing, or transportation. The lifting structure can be a manual lever, handle, etc., and is not specifically limited here. Furthermore, in some implementations, the second section of the body 3 may also be equipped with at least one lifting structure that allows the user to lift the body.

[0064] In one possible implementation, the autonomous mobile device also includes a drive wheel 6, a current detection device 7, an obstacle detection device 8, and a tilt detection device 9. The current detection device 7 is connected to the drive wheel 6, and the current detection device 7, the obstacle detection device 8, and the tilt detection device 9 are communicatively connected to the controller 5. Drive wheel 6 is configured to move the autonomous mobile device. The current detection device 7 is configured to detect the load current of the drive wheel 6; The obstacle detection device 8 is configured to detect whether there are obstacles within a preset distance of the autonomous mobile device; The tilt detection device 9 is configured to detect whether the autonomous mobile device is on a slope; The controller 5 is also configured to determine that the autonomous mobile device is in a lifted state when it is confirmed that the autonomous mobile device is not on a slope, there are obstacles within a preset distance of the autonomous mobile device, and the load current of the drive wheel is less than a preset current threshold.

[0065] When the drive wheel 6 is in contact with the ground, there will be friction between the drive wheel 6 and the ground. At this time, the load current of the drive wheel 6 needs to be greater than a preset current threshold to overcome the friction and drive the autonomous mobile device to move. However, when the autonomous mobile device is lifted, the drive wheel 6 is not in contact with the ground. At this time, the load current of the drive wheel 6 does not need to be greater than the preset current threshold to make the drive wheel 6 rotate. Therefore, the load current of the drive wheel 6 can be detected to help determine whether the autonomous mobile device is in a lifted state. Depending on the obstacle detection device 8, there are various ways to detect whether there are obstacles within a preset distance of the autonomous mobile device. For example, the obstacle can be identified by the surrounding image of the autonomous mobile device or radar detection data. Optionally, the obstacle detection device 8 can be a camera. When the camera is detected to be blocked, it can be considered that there are obstacles within the preset distance of the autonomous mobile device. The tilt angle detection device 9 can be used to detect the tilt angle of the autonomous mobile device, that is, the angle of the autonomous mobile device relative to the horizontal ground, so as to determine whether the autonomous mobile device is on a slope. Generally, when the tilt angle of the autonomous mobile device is less than a preset angle threshold, it is determined that the autonomous mobile device is not on a slope.

[0066] It should be noted that the above embodiments are illustrated using the example of the drive wheels being located on the front side of the autonomous mobile device. In other scenarios, the drive wheels may be located on the rear side of the autonomous mobile device. Of course, in some embodiments, the autonomous mobile device may include three or four wheels, which may all be drive wheels or some of them may be drive wheels; this is not limited. Preferably, in this embodiment, the autonomous mobile device includes four wheels, and all four wheels are drive wheels.

[0067] It is understandable that when the autonomous mobile device is in a lifted state, such as when it is lifted horizontally back and forth, there will be obstacles such as people on at least one side of the device, and the drive wheels will be suspended in the air. In this case, if the tilt detection device 9 detects that the autonomous mobile device is not on a slope, the obstacle detection device 8 detects that there is an obstacle within a preset distance of the device, and the current detection device 7 detects that the load current of the drive wheel 6 is less than a preset current threshold, then it can be determined that the autonomous mobile device is in a lifted state, i.e., it is being lifted horizontally back and forth. Thus, by determining whether the autonomous mobile device is on a slope, whether there are obstacles within a preset distance, and whether the load current of the drive wheel is less than a preset current threshold, accurate detection of whether the autonomous mobile device is in a lifted state can be achieved, and the detection process is convenient.

[0068] In one possible implementation, the first body segment 2 is located in front of the second body segment 3 relative to the direction of movement of the autonomous mobile device; the obstacle detection device 8 is located in front of the first body segment 2. The controller 5 is configured to determine that the autonomous mobile device is in a lifted state when it is confirmed that the autonomous mobile device is not on a slope, there is an obstacle within a preset distance on the front side of the first section of the body 2, and the load current of the drive wheel 6 is less than a preset current threshold.

[0069] In this configuration, when the first segment 2 is the front section of the autonomous mobile device and the obstacle detection device 8 is located on the front side of the first segment 2, if two users lift the autonomous mobile device horizontally by standing one behind the other, the obstacle detection device 8 on the front side of the first segment 2 will detect an obstacle within a preset distance. Therefore, if the tilt detection device 9 detects that the autonomous mobile device is not on a slope, the obstacle detection device 8 detects an obstacle within a preset distance on the front side of the first segment 2, and the current detection device 7 detects that the load current of the drive wheel 6 is less than a preset current threshold, it can be determined that the autonomous mobile device is in a lifted state, i.e., in a horizontally lifted state. It should be noted that the obstacle detection device 8 can also be located on the rear side of the second segment 3; the corresponding detection process can be referred to the example above. This allows for convenient and accurate detection of whether the autonomous mobile device is in a horizontally lifted state. Furthermore, in some implementations, other sensors can be installed on the device body, allowing for the combined use of detection data from these sensors to assist in determining the state of the autonomous mobile device. For example, a pressure sensor is installed on the rear side of the second section of the fuselage 3. If the autonomous mobile device is not detected to be on a slope, the pressure sensor's detection data is greater than a specified threshold, and the load current of the drive wheel is less than a preset current threshold, then it can be determined that the autonomous mobile device is in a lifted state, that is, the autonomous mobile device is in a horizontally lifted state. Of course, the above is only an illustrative example and is not limited to other implementation scenarios.

[0070] In one possible implementation, the controller 5 is also configured to confirm that the autonomous mobile device is on a slope and that there is an obstacle within a preset distance in front of the first section of the body 2, and to determine that the autonomous mobile device is in a lifted state.

[0071] Among them, the inertial measurement unit can be used to help determine whether the autonomous mobile device is on a slope. If it is on a slope, the load current of the drive wheel is not determined.

[0072] It is understandable that, considering that the load current of the drive wheels of the autonomous mobile device will be smaller on a slope compared to flat ground, when the autonomous mobile device is detected to be on a slope, it is not necessary to determine whether the load current of the drive wheels is less than the preset current threshold. Instead, it is only necessary to detect whether there is an obstacle within a preset distance in front of the first section of the device. If there is an obstacle within the preset distance in front of the first section of the device, it is determined that the autonomous mobile device is in a lifted state.

[0073] In one possible implementation, when the autonomous mobile device is in a raised state, the controller 5 is also configured to control the cutting mechanism (not shown) of the autonomous mobile device to stop working.

[0074] It is understandable that when the autonomous mobile device is in a raised state, in order to effectively prevent or avoid situations where the cutting mechanism of the autonomous mobile device affects user safety, the cutting mechanism of the autonomous mobile device can be controlled to stop working.

[0075] In one possible implementation, after the cutting mechanism controlling the autonomous mobile device stops operating, the controller is further configured to: After the cutting mechanism has stopped working for a preset period of time, confirm whether the autonomous mobile device has returned to normal working status; If the system returns to normal operation, the autonomous mobile device will continue to function. Otherwise, control the autonomous mobile device to shut down and issue an alarm signal.

[0076] It's understandable that the autonomous mobile device might be manually lifted to cross obstacles such as ditches, and then placed back on the ground to continue working. Since the lifted state typically doesn't last longer than a certain duration, after the cutting mechanism stops for a preset time, the system can check if the autonomous mobile device has returned to normal operation. If it has, the system controls the autonomous mobile device to resume operation, i.e., the cutting mechanism resumes operation. If it hasn't returned to normal operation, it indicates the autonomous mobile device may not be properly placed or may require a longer period of time to be lifted. In this case, the system can stop the autonomous mobile device and issue an alarm signal.

[0077] It should be noted that the normal operating state of the autonomous mobile device can refer to the state where the device is not lifted, such as when working on a flat surface or on an uneven surface. The preset duration can be set according to actual needs, such as 10 seconds or 15 seconds, without specific limitations. Issuing an alarm signal can involve controlling the alarm light on the autonomous mobile device or outputting an alarm sound through a speaker or other sound-emitting device. This allows for flexible control of the autonomous mobile device's state, improving its intelligent control performance.

[0078] Based on the same inventive concept as the foregoing embodiments, such as Figure 2 As shown, this embodiment of the invention provides a control method for an autonomous mobile device. The autonomous mobile device includes a first segment and a second segment of the body that are activatingly connected. The method includes: Step S101: Obtain detection information to characterize the attitude angles of the first fuselage segment relative to the second fuselage segment; the attitude angles include at least one of pitch angle and roll angle; Step S102: Determine the status of the autonomous mobile device based on the detection information.

[0079] Optionally, since the first and second fuselage segments can be movably connected via a pivot or similar means, allowing them to rotate relative to the pivot, the attitude of the first and / or second fuselage segments relative to the pivot changes as they rotate. At this time, detection information characterizing the attitude angle of the first fuselage segment relative to the second fuselage segment is acquired, and the state of the autonomous mobile device can be determined based on this information. The state of the autonomous mobile device can include a raised state and a non-raised state. The raised state can include at least one of being horizontally raised laterally and horizontally raised forward and backward.

[0080] It should be noted that the process of obtaining detection information and determining the status of the autonomous mobile device based on the detection information can be referred to the description of the foregoing embodiments, and will not be repeated here.

[0081] In summary, the control method for the autonomous mobile device provided in the above embodiments collects detection information to characterize the attitude angle of the first segment of the fuselage relative to the second segment of the fuselage, and then determines the state of the autonomous mobile device based on the detection information. In this way, the state of the autonomous mobile device can be stably and reliably detected through a simple structure, without affecting the layout of the entire device.

[0082] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer-readable storage medium storing a computer program. The computer-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer-readable storage medium is executed by a processor, it implements the aforementioned control method for an autonomous mobile device. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 2 The description of the illustrated embodiments will not be repeated here.

[0083] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0085] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An autonomous mobile device, characterized in that, include: The first and second fuselage sections are pivotally connected by a pivot body; The attitude of the first fuselage segment and / or the attitude of the second fuselage segment relative to the pivot body can be changed; An attitude detection device disposed in at least one of the first fuselage segment and the second fuselage segment is configured to acquire detection information characterizing the attitude angle of the first fuselage segment relative to the second fuselage segment; the attitude angle includes at least one of pitch angle and roll angle; The controller, which is communicatively connected to the attitude detection device, is configured to determine the state of the autonomous mobile device based on the detection information.

2. The autonomous mobile device according to claim 1, characterized in that, The controller is configured to determine, based on the detection information, whether the attitude angle of the first fuselage segment relative to the second fuselage segment is greater than or equal to the attitude angle threshold during normal operation. In response to the attitude angle being greater than or equal to the attitude angle threshold during normal operation, it is determined that the autonomous mobile device is in a raised state.

3. The autonomous mobile device according to any one of the above descriptions, characterized in that, The attitude detection device includes a first inertial measurement unit and a second inertial measurement unit, which are respectively disposed in one of the first fuselage section and the second fuselage section; the detection information includes first attitude data detected by the first inertial measurement unit and second attitude data detected by the second inertial measurement unit. The controller is configured to determine the difference between the first attitude data and the second attitude data; When the difference is greater than or equal to a preset attitude data threshold, the attitude angle is determined to be greater than or equal to the attitude angle threshold during normal operation.

4. The autonomous mobile device according to any one of the above descriptions, characterized in that, The controller is configured to determine that the attitude angle is greater than or equal to the attitude angle threshold during normal operation when the detection state of the attitude detection device is determined to have changed based on the detection information.

5. The autonomous mobile device according to any one of the above descriptions, characterized in that, The attitude detection device includes a Hall sensor and a magnet, wherein the Hall sensor and the magnet are respectively disposed in one of the first section of the fuselage and the second section of the fuselage; The controller is configured to determine a change in the detection state of the attitude detection device based on the detection information when the Hall sensor changes from being able to detect the magnetic signal emitted by the magnet to not being able to detect the magnetic signal emitted by the magnet, or when the Hall sensor changes from not being able to detect the magnetic signal emitted by the magnet to being able to detect the magnetic signal emitted by the magnet.

6. The autonomous mobile device according to any one of the above descriptions, characterized in that, The center of gravity of at least one of the first fuselage segment and the second fuselage segment does not coincide with the axis of the pivot body in the lateral direction.

7. The autonomous mobile device according to any one of the above descriptions, characterized in that, Relative to the direction of movement of the autonomous mobile device, the first section of the body is located in front of the second section of the body, and the center of gravity of the second section of the body does not coincide with the axis of the pivot body in the lateral direction.

8. The autonomous mobile device according to any one of the above descriptions, characterized in that, The center of gravity of the first fuselage segment does not coincide with the axis of the pivot body in the lateral direction, and the center of gravity of the first fuselage segment and the center of gravity of the second fuselage segment are located on opposite sides of the axis of the pivot body in the lateral direction.

9. The autonomous mobile device according to any one of the above descriptions, characterized in that, The first section of the machine body is provided with at least one lifting structure that allows the user to lift the machine body.

10. The autonomous mobile device according to any one of the above descriptions, characterized in that, The attitude angle threshold ranges from 9 to 11 degrees during normal operation.

11. The autonomous mobile device according to any one of the above descriptions, characterized in that, The autonomous mobile device also includes a drive wheel, a current detection device, an obstacle detection device, and a tilt angle detection device. The current detection device is connected to the drive wheel, and the current detection device, the obstacle detection device, and the tilt angle detection device are communicatively connected to the controller. The drive wheel is configured to move the autonomous mobile device. The current detection device is configured to detect the load current of the drive wheel; The obstacle detection device is configured to detect whether there are obstacles within a preset distance of the autonomous mobile device; The tilt detection device is configured to detect whether the autonomous mobile device is on a slope; The controller is further configured to determine that the autonomous mobile device is in a lifted state when it confirms that the autonomous mobile device is not on a slope, there is an obstacle within a preset distance of the autonomous mobile device, and the load current of the drive wheel is less than a preset current threshold.

12. The autonomous mobile device according to any one of the above descriptions, characterized in that, Relative to the direction of movement of the autonomous mobile device, the first section of the body is located in front of the second section of the body; the obstacle detection device is located in front of the first section of the body; The controller is configured to determine that the autonomous mobile device is in a lifted state when it confirms that the autonomous mobile device is not on a slope, there is an obstacle within a preset distance on the front side of the first section of the body, and the load current of the drive wheel is less than a preset current threshold.

13. The autonomous mobile device according to any one of the above descriptions, characterized in that, When the autonomous mobile device is in the raised state, the controller is also configured to control the cutting mechanism of the autonomous mobile device to stop working.

14. The autonomous mobile device according to any one of the above descriptions, characterized in that, After the cutting mechanism of the autonomous mobile device stops operating, the controller is further configured to: After the cutting mechanism has stopped working for a preset period of time, confirm whether the autonomous mobile device has returned to normal working status; If the system returns to normal operation, the autonomous mobile device will continue to operate. Otherwise, the autonomous mobile device will be shut down and an alarm signal will be issued.

15. A control method for an autonomous mobile device, characterized in that, The autonomous mobile device includes a first segment and a second segment of the body that are actively connected, and the method includes: Acquire detection information to characterize the attitude angles of the first fuselage segment relative to the second fuselage segment; the attitude angles include at least one of pitch angle and roll angle; The state of the autonomous mobile device is determined based on the detection information.

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