DE-112025000060-T5 - Intelligent control method and self-driving device

DE112025000060T5DE 112025000060 T5DE112025000060 T5DE 112025000060T5DE-112025000060-T5

Abstract

The present invention relates to an intelligent control method and a self-driving device. When it is detected that the self-driving device is approaching the target boundary before reaching the inflection point of the predetermined planned path, the actual position coordinates of the target marker point, as well as the predetermined position coordinates of the target marker point, are recorded on the virtual map. The target marker point serves to indicate the position at which the self-driving device reaches the target boundary. If the actual position coordinates of the target marker point do not match the predetermined position coordinates, the calibration of the predetermined planned path is activated. This ensures that the self-driving device not only performs its tasks efficiently along the predetermined planned path, but also does not stray outside the boundary due to positional deviations or other reasons.

Inventors

Donghui ZHU

Assignees

Jiangsu Dongcheng M & E Tools Co., Ltd.

Dates

Publication Date: 20260513
Application Date: 20250228
Priority Date: 20240311

Claims (10)

An intelligent control method applied to a self-driving device, characterized in that the method comprises the following steps: S1: Controlling the self-driving device along a predetermined planned path for task performance, wherein the predetermined planned path is defined using a virtual map; S2: During travel along the predetermined planned path: if it is determined that the self-driving device reaches a first target boundary line before reaching a kink in the predetermined planned path, then obtaining the actual position coordinates of a first target marker point as well as the predetermined position coordinates of the first target marker point in the virtual map, wherein the first target marker point serves to indicate the position at which the self-driving device reaches the first target boundary line; S3: Activating a calibration process of the predetermined planned path in the event that the actual position coordinates of the first target marker point do not match the predetermined position coordinates.
Intelligent control method according to Claim 1 , characterized in that the method further comprises: controlling the self-driving device to perform tasks along the calibrated predetermined planned path, and repeating the foregoing S2-S3.
Intelligent control method according to Claim 1 , characterized in that the predetermined planned path includes longitudinal sides and transverse sides, wherein the distance between two adjacent longitudinal sides is set according to the width of the cutter plate of the self-propelled device.
Intelligent control method according to Claim 3 , characterized in that the determination of the distance between two adjacent longitudinal sides according to the width of the cutter plate of the self-propelled device comprises at least the following: The distance between the two adjacent longitudinal sides is in the range (0, D] or the distance between the two adjacent longitudinal sides is in the range (0, 45 cm], where D is the width of the cutter plate of the self-propelled device.
Intelligent control method according to Claim 3 , characterized in that the method further comprises: controlling the self-driving device while it travels along the longitudinal side of the predetermined planned path, so that it travels around the edge of the obstacle when obstacle information is detected, until the self-driving device is again on the longitudinal side of the predetermined planned path, and continuing to drive along the longitudinal side of the predetermined planned path until it touches the first target boundary line.
Intelligent control method according to Claim 3 , characterized in that the calibration processing of the predetermined planned path in S3 comprises the following: While the self-propelled device is moving along the longitudinal side of the predetermined planned path: Performing a calibration processing on the next transverse side of the predetermined planned path, in the event that the actual position coordinates of the first target marker point do not match the predetermined position coordinates.
Intelligent control method according to Claim 6 , characterized in that, after the calibration processing has been carried out on the next transverse side of the predetermined planned path, the intelligent control procedure further comprises the following: controlling the self-driving device along the calibrated transverse side, wherein – if it is determined before reaching the inflection point of the predetermined planned path that the self-driving device has reached a second target boundary line – the actual position coordinates of a second target marker point as well as its predetermined position coordinates are recorded in the virtual map; performing a calibration processing on the next longitudinal side adjacent to the already calibrated transverse side, in the event that the actual position coordinates of the second target marker point do not match the predetermined position coordinates.
Intelligent control method according to Claim 1 , characterized in that the method further comprises: calculating a cutting coverage rate of the self-propelled device within the virtual map; performing a repositioning in the case that the cutting coverage is less than a predetermined value, and controlling the self-propelled device to perform a second cutting task within the partition, wherein the direction of the path of the second cutting task differs from the direction of the path of the first cutting task.
A self-propelled device characterized in that the self-propelled device comprises: a boundary detection device for detecting boundary line signals; a positioning device for outputting real-time position information of the self-propelled device; a control unit electrically connected to the boundary detection device and the positioning device, which performs the following operations: controlling the self-propelled device along a predetermined planned path for task completion, the predetermined planned path being set using a virtual map; while traveling along the predetermined planned path: if it is detected that the self-propelled device reaches a first target boundary line before reaching a kink in the predetermined planned path, then obtaining the actual position coordinates of a first target marker point as well as the predetermined position coordinates of the first target marker point in the virtual map, the first target marker point being used to indicate the position at which the self-propelled device reaches the first target boundary line; activating a calibration process of the predetermined agreed planned path, in the event that the actual position coordinates of the first target marker point do not match the predetermined position coordinates.
A self-propelled device comprising a memory and a processor, characterized in that the memory serves to store computer execution instructions; the processor is configured to execute the computer execution instructions stored in the memory, so that the self-propelled device can perform the intelligent control procedure according to one of the Claims 1 until 8 executes.

Description

Technical field The present invention relates to the field of robotics, in particular an intelligent control method and a self-driving device. State of the art With the continuous development of computer and communication technologies, self-driving devices such as smart lawnmowers are increasingly being used for maintaining home lawns and mowing large grassy areas. They significantly simplify the work for users and free them from laborious and time-consuming tasks. Most smart lawnmowers use an inertial navigation system. As the smart lawnmower follows a predetermined path on a virtual map to perform its mowing task, drift occurs in the inertial navigation system over time due to factors such as wheel slippage. This leads to a steadily increasing positional deviation. The lawnmower is already moving outside the physical boundary before it reaches the target position at the virtual boundary. This creates unmowed areas, reducing the lawnmower's efficiency and simultaneously increasing the risk of damage to the lawnmower (e.g., from collisions). Content of the invention In light of this, it is necessary to propose an intelligent control method to solve the problem that, due to positional deviations and other reasons during route planning, smart lawnmowers go outside the physical boundary, creating unmowed areas and reducing work efficiency. This invention provides an intelligent control method applied to a self-driving device, the method comprising the following steps: S1: Controlling the self-driving device along a predetermined planned path for task execution, wherein the predetermined planned path is determined using a virtual map; S2: During travel along the predetermined planned path: if it is determined that the self-propelled device reaches a first target boundary line before reaching a kink in the predetermined planned path, then obtain the actual position coordinates of a first target marker point as well as the predetermined position coordinates of the first target marker point in the virtual map, the first target marker point being used to indicate the position at which the self-propelled device reaches the first target boundary line; S3: Activate calibration processing of the predetermined planned path in the event that the actual position coordinates of the first target marker do not match the predetermined position coordinates. Furthermore, the procedure also includes: controlling the self-driving device to perform tasks along the calibrated predetermined planned path, and repeating the preceding steps S2-S3. Furthermore, the method also includes the following: the predetermined planned path includes longitudinal sides and transverse sides, wherein the distance between two adjacent longitudinal sides is set according to the width of the cutter plate of the self-propelled device. Furthermore, the distance range between two adjacent longitudinal sides is (0, D], where D is the width of the cutter plate of the self-propelled device; alternatively, the distance range between two adjacent longitudinal sides is (0, 45cm). Furthermore, the calibration processing of the predetermined planned path in S3 includes the following: While the self-propelled device is moving along the longitudinal side of the predetermined planned path: Performing a calibration processing on the next transverse side of the predetermined planned path, in the event that the actual position coordinates of the first target marker point do not match the predetermined position coordinates. Furthermore, the control of the self-driving device is performed while it travels along the longitudinal side of the predetermined planned path, so that it travels around the edge of the obstacle when obstacle information is detected, until the self-driving device is again on the longitudinal side of the predetermined planned path, and continues driving along the longitudinal side of the predetermined planned path until it touches the first target boundary line. Furthermore, after completion of the calibration processing for the next transverse side of the predetermined planned path, the intelligent control procedure includes the following: controlling the self-propelled device along the calibrated transverse side, wherein – if it is determined before reaching the inflection point of the predetermined planned path – the self-propelled device has reached a second target boundary line, the actual position coordinates of a second target marker point as well as its predetermined position coordinates are recorded in the virtual map; wherein the second target boundary line intersects the first target boundary line, and the second target marker point indicates the position at which the self-propelled device has reached the second target boundary line. Furthermore, the calibration processing of the predetermined planned path also includes the following: Calculating the position deviation value (D x , D y ) between the actual position coordinate of the target