Self-moving device control method and self-moving device

Abstract

The invention discloses a self-moving equipment control method and self-moving equipment, and the method comprises the steps: controlling the self-moving equipment to work in a working region, and avoiding a non-working region when the non-working region is recognized, so as to continue to work in the working region; receiving a positioning signal indicating the current position condition of the self-moving equipment; according to the positioning signal, whether the self-moving device is located in a motion warning area is judged; if yes, a strategy of the self-moving device in the motion warning area is adjusted, so that the self-moving device is prevented from entering the non-working area; wherein the motion warning area represents an area near the non-working area. According to the method, the automation degree of the self-moving equipment can be improved, interference of a user is reduced, the experience feeling of the user is improved, the situation that the self-moving equipment falls or sinks into a pit repeatedly is reduced, and the safety performance of product use is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical tools, and in particular to a motion control method for a self-moving device and the self-moving device. Background Art

[0002] Self-moving devices are widely used, bringing convenience to people's lives and work. Among them, taking a lawn mower as an example, a lawn mower is a self-moving device used to mow lawns, vegetation, etc.

[0003] At present, the self-moving device may encounter gray areas during operation, specifically places where the boundaries of certain lawns are not obvious or non-working areas that are not easy to find, such as steps or slopes covered with grass; or pools or pits with lush grass around them; areas with high front lawns, steps, and wood chips around them; areas with high grass on the edges of lawns, steps, or wood chips in front where the grass height is too high, and tall grass grows, etc. At this time, due to the limitations of the self-moving device's judgment, these situations may cause the self-moving device to be unable to make accurate judgments, and believe that the current direction of travel can still continue to move, resulting in situations such as falling from a height or falling into a pit (such as falling from a step, or falling into a puddle), or getting stuck on the surface of a slope, or repeated falling or falling into a certain pit, and being unable to continue working. There are problems such as poor flexibility, low intelligence, poor user experience, and potential safety hazards. Summary of the invention

[0004] One of the purposes of the present invention is to provide a motion control method for a self-moving device, so as to solve the technical problem that the self-moving device enters or repeatedly enters a non-working area due to the inability to accurately determine the non-working area.

[0005] One of the purposes of the present invention is to provide a self-moving device.

[0006] In order to achieve one of the above-mentioned purposes of the invention, the present invention provides a method for controlling a self-moving device, including controlling the self-moving device to operate in a working area, and avoiding the non-working area when a non-working area is identified, so as to continue to operate in the working area; receiving a positioning signal indicating the current position of the self-moving device; judging whether the self-moving device is located in a motion warning area according to the positioning signal; and if so, adjusting the strategy of the self-moving device in the motion warning area to avoid the self-moving device from entering the non-working area; wherein the motion warning area represents an area near the non-working area.

[0007] As a further improvement of an embodiment of the present invention, the strategy includes a determination threshold for identifying the non-working area; the "strategy for adjusting the self-moving device in the motion warning area to avoid the self-moving device from entering the non-working area" includes: adjusting the determination threshold; obtaining the working environment parameters of the self-moving device and comparing them with the determination threshold to identify the non-working area; controlling the self-moving device to avoid the non-working area.

[0008] As a further improvement of an embodiment of the present invention, the "obtaining the working environment parameters of the self-moving device and comparing them with the determination threshold to identify the non-working area" includes: obtaining an image of the area near the self-moving device; obtaining the proportion of a preset color in the image, and comparing it with the determination threshold; when the proportion of the preset color is greater than the determination threshold, judging that the nearby area is a non-working area.

[0009] As a further improvement of an embodiment of the present invention, the "obtaining the working environment parameters of the self-moving device and comparing them with the determination threshold to identify the non-working area" includes: obtaining an image of the area near the self-moving device; obtaining the width of a preset color in the image, and comparing it with the determination threshold; when the width of the preset color is greater than the determination threshold, judging that the nearby area is a non-working area.

[0010] As a further improvement of an embodiment of the present invention, the strategy further includes: motion parameters of the self-moving device, and / or the frequency of obtaining working environment parameters of the self-moving device and comparing them with the determination threshold.

[0011] As a further improvement of an embodiment of the present invention, the motion parameters of the self-moving device include: the moving speed of the self-moving device.

[0012] As a further improvement of an embodiment of the present invention, the "receiving a positioning signal indicating the current position of the self-moving device" specifically includes: when driving the self-moving device to move in the working area and perform the first task, receiving a positioning signal indicating the current position of the self-moving device in real time; the "determining whether the self-moving device is located in the motion warning area based on the positioning signal" specifically includes: parsing the positioning signal to obtain the first position coordinates; determining whether the first position coordinates fall within the motion warning area to determine whether the self-moving device is located in the motion warning area.

[0013] As a further improvement of an embodiment of the present invention, before "determining whether the self-moving device is located in the motion warning area according to the positioning signal", the method also includes: driving the self-moving device to move in the area to be worked and performing the second task, and receiving in real time the positioning signal indicating the current position of the self-moving device; when it is detected that the self-moving device is in a restricted motion state, parsing the current positioning signal to obtain the second position coordinates; or, accepting the position information representing the non-working area input by the user to obtain the second position coordinates; updating the working map according to the second position coordinates; wherein the working map at least includes the spatial information of the area to be worked, and wherein the position indicated by the second position coordinates is located in the non-working area.

[0014] As a further improvement of an embodiment of the present invention, before the "updating the working map according to the second location coordinates", the method also includes: the self-mobile device sends a message or an alarm signal to notify the user, and asks the user whether the second location coordinates need to be marked. If so, continue with the "updating the working map according to the second location coordinates"; if not, send a message to remind the user to perform rectification operations on the area marked by the second location coordinates to prevent the self-mobile device from entering or re-entering the area.

[0015] As a further improvement of an embodiment of the present invention, the "updating the working map according to the second position coordinates" specifically includes: in the working map, marking the second coordinate position as a motion restricted coordinate, and marking a circular area with the motion restricted coordinate as the center and the preset restricted distance as the radius as the motion warning area, to obtain an updated working map; or, in the working map, marking the second coordinate position as a motion restricted coordinate, and marking a polygonal area with the motion restricted coordinate as the geometric center and the preset lateral offset and the preset longitudinal offset as the side length as the motion warning area, to obtain an updated working map.

[0016] In order to achieve one of the above-mentioned purposes of the invention, the present invention also provides a self-moving device, including a memory and a processor; the memory stores a computer program; the processor executes the steps of any one of the self-moving device motion control methods by calling the computer program stored in the memory.

[0017] Compared with the prior art, the present invention can dynamically adjust the strategy of the self-moving device in the motion warning area by judging the positional relationship between the current positioning signal of the self-moving device and the motion warning area, thereby reducing the probability that the self-moving device cannot continue to work due to misjudgment due to entering the non-working area. This is not only beneficial to improving the automation degree of the self-moving device, improving the intelligence level, reducing user intervention, and improving user experience; in addition, by adjusting the strategy, repeated falls or pits of the self-moving device can be reduced, thereby improving the safety performance of product use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the steps of a method for controlling a mobile device in one embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of some steps of the method for controlling a mobile device in the first embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of some steps of the method for controlling a mobile device in the second embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of some steps of a method for controlling a mobile device in a third embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of some steps of a first embodiment of a method for controlling a mobile device in one embodiment of the present invention.

[0023] Figure 6 It is a partial step diagram of a second embodiment of a method for controlling a mobile device according to an implementation mode of the present invention.

[0024] Figure 7 A schematic diagram of some steps of a third embodiment of a method for controlling a mobile device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0026] It should be noted that the term "comprises" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In addition, the terms "first", "second", "third", "fourth", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0027] During operation, the self-moving device may encounter a non-working area that affects its normal operation, which will not only directly affect whether the self-moving device can work normally, but also affect its safety performance. Therefore, dynamically adjusting the strategy of the self-moving device in the motion warning area is of great practical significance to improving the safety performance of the self-moving device.

[0028] Based on this, the present invention provides a motion control method for a self-moving device, the method comprising: controlling the self-moving device to operate in a working area, and avoiding the non-working area when a non-working area is identified, so as to continue to operate in the working area. Figure 1 As shown, the specific steps include:

[0029] Step S1, receiving a positioning signal indicating the current position of the mobile device.

[0030] Step S2: judging whether the self-moving device is located in a motion warning area according to the positioning signal.

[0031] If yes, the process goes to step S3 to adjust the strategy of the self-moving device in the motion warning area to prevent the self-moving device from entering the non-working area.

[0032] The motion warning area represents an area near the non-working area.

[0033] In this way, according to the real-time positioning signal of the self-moving device and the position of the motion warning area, the strategy of the mobile device in the motion warning area is dynamically adjusted. The calculation method is simple, easy to implement and highly intelligent, avoiding the error caused by determining the position information by visually observing the working area. In addition, the positioning signal allows the user to understand in real time whether the current self-moving device has entered the motion warning area. The data is easy to calculate and process and has high accuracy, which improves the safety performance of product use and enhances the user's experience.

[0034] Optionally, the strategy may include a determination threshold for identifying the non-working area; or may include motion parameters of the self-moving device; or may include a frequency of obtaining working environment parameters of the self-moving device and comparing them with the determination threshold. Of course, any combination of two or all three of the above strategies may also be included, which can be freely selected according to the actual application scenario, and there is no specific limitation on this.

[0035] In this way, by freely selecting the strategy of the self-moving device in the motion warning area, it has strong flexibility, high intelligence and accurate judgment, which is beneficial to improving the working efficiency and safety performance of the self-moving device.

[0036] Specifically, the judgment threshold used by the self-mobile device to identify the non-working area is adjusted. The adjustment here is to choose to increase or decrease the judgment threshold according to the type of the judgment threshold. It can be known that after adjusting the judgment threshold, the judgment standard for the self-mobile device to identify the non-working area will be more stringent, so as to prevent the self-mobile device from misjudging the non-working area due to the unreasonable preset judgment threshold. For the fuzzy area with greater difficulty in judgment, a higher judgment standard is adopted to avoid the misjudgment of the non-working area by the self-mobile device; adjusting the motion parameters of the self-mobile device can refer to the current motion mode of the self-mobile device, and selecting the appropriate motion mode according to different scenarios. Specifically, by adjusting the motion strategy of the self-mobile device, it can specifically include: adjusting its motion speed, selecting to pause or slow down the motion speed for multiple judgments and other operations to control the driving trajectory of the self-mobile device, and by stopping or reducing the speed, the number of judgments of the self-mobile device for the non-working area is relatively increased to avoid it from entering the non-working area; adjusting the frequency of obtaining the working environment parameters of the self-mobile device and comparing them with the judgment threshold, specifically, increasing the frequency, at a higher comparison frequency, the non-working area can be found more timely or more accurately; ensuring that the self-mobile device can complete the task safely and efficiently.

[0037] The motion parameters defined in the present invention may include at least one of the motion direction and the moving speed. In this way, the motion parameters can be freely selected and adjusted according to the actual application scenario, and the motion trend of the self-moving device can be adjusted to adapt to the current position state, which has strong adaptability and great flexibility.

[0038] Specifically, the judgment threshold is a preset value often used to determine whether the current position of the self-moving device or the area ahead allows the self-moving device to continue moving forward. In one embodiment, for a self-moving device equipped with a visual module, the judgment threshold may refer to when the self-moving device is located in the motion warning area, according to the distribution of lawns in the motion warning area, by adjusting the judgment threshold for identifying lawn areas (for example, the judgment threshold for the non-green proportion of lawns in the normal working area is 20%, while the judgment threshold for the warning area may be adjusted to 10%) to control the driving trajectory of the self-moving device to avoid the self-moving device from entering the non-working area.

[0039] Of course, the judgment threshold can also be other parameters. For example, when a self-moving device is equipped with an ultrasonic module, the judgment threshold can be the distance of the obstacle in front measured by ultrasound. When the distance limit condition of the threshold is reached, the self-moving device is commanded to change its motion trajectory to avoid entering the non-working area or hitting the obstacle. At this time, the judgment distance here can be increased manually or by a computer preset ratio to further ensure the safe operation of the self-moving device. For example, in a self-moving device equipped with a magnetic induction module, the magnetic induction intensity of the area or boundary with a magnetic field such as an electronic fence is used as the judgment threshold to determine the distance between the self-moving device and the magnetic field area. Similarly, the magnetic induction intensity judgment threshold here is increased, such as increasing the magnetic induction intensity judgment by 10% or 20% in proportion. Therefore, the selection of the judgment threshold of the present invention can also be adaptively adjusted according to the working environment parameters of the self-moving device.

[0040] In addition, the non-working area defined in the present invention is used to characterize the restricted movement area of ​​the self-moving device, including the actively restricted working area and the passively restricted working area of ​​the self-moving device. In the field of lawn mowing equipment, the actively restricted working area may specifically include the boundary area of ​​the lawn or part of the interior of the lawn, such as concrete floors, etc. These are areas where the self-moving device can move on them but does not need to perform active operations, and the self-moving device should actively avoid these areas; or areas where operations cannot be performed because they are covered with fallen leaves; the passively restricted working area may refer to the self-moving device being restricted in its movement in this area or at this point. The restriction may be a situation where the self-moving device is stuck, overturned, or cannot continue to move. The area may be an area such as a pit, cliff, pool, rockery, or obstacle location.

[0041] In this way, when the self-moving device encounters a situation that affects its normal movement (including but not limited to interference with obstacles and inability to move normally due to gravity), it can be considered that it has entered the non-working area. The judgment method is simple, the actual application scenarios can be single or diverse, and it has strong adaptability.

[0042] In one embodiment, the self-moving device may be an intelligent robot with visual recognition. The situation where the self-moving device enters the restricted motion state may occur in some blurred boundary areas. For example, during the operation of the lawn mowing robot, it may encounter blurred areas where the lawn boundaries are not obvious. The blurred areas may be such as the high lawn in front, steps, areas surrounded by wood chips, lawns in front with too high grass height, steps or areas with tall grass growing on the edges of wood chips. These situations will block or blur the field of vision of the lawn mowing robot, and visual misjudgment will cause the lawn mowing robot to continue moving forward, and then the lawn mowing robot will enter the restricted motion state. In these blurred areas, the lawn mowing robot uses the judgment threshold originally preset for normal lawns, resulting in incorrect judgment, and the erroneous forward movement into the restricted motion area, which in turn leads to passive work restriction.

[0043] Therefore, the present invention proposes a solution, which is to expand the restricted area or the restricted area marked in advance by humans into a motion warning area, and execute an adjusted motion strategy or a method of increasing the judgment threshold in the motion warning area, thereby greatly reducing the probability of the mowing robot misjudging or re-entering the restricted area, and improving the intelligence level of the self-moving device.

[0044] Furthermore, the motion warning area points to an area near the non-working area. In the field of lawn mowing robots, for example, when the non-working area is an area outside the lawn boundary, the motion warning area here points to an area near the lawn boundary or part of the lawn boundary; when the non-working area is a cement ground, the cement ground is an area where mowing is not required, and the motion warning area here points to an area near the cement ground; when the non-working area is an obstacle, the motion warning area points to an area near the obstacle; when the non-working area is a slope or a pit that may get the self-moving device stuck, the motion warning area points to an area near the slope or the pit; when the non-working area is a working area where there is a fuzzy zone that causes the self-moving device to misjudge and become unable to move, the motion warning area points to an area near the fuzzy zone, and the present invention does not impose specific restrictions on this.

[0045] It should be noted that the vicinity here refers to an expansion of the non-working area that is manually demarcated or preset by a computer. The scope of the expansion can be limited according to actual needs or preset in advance. The area after the expansion of the non-working area is set as a motion warning area. It can be known that the motion warning area refers to an area where the self-moving device needs to be more cautious in this area. It can also be considered that the self-moving device is more likely to encounter danger in this area. Therefore, when the self-moving device senses that it has entered the motion warning area through a positioning module or other means, the self-moving device is set to execute an adjusted motion strategy or a method of increasing the judgment threshold to improve the safety factor of the self-moving device.

[0046] like Figure 2 As shown, in the first embodiment provided by the present invention, step S1 may specifically include: step S11, when driving the self-moving device to move in the working area and perform the first task, receiving a positioning signal indicating the current position of the self-moving device in real time. Based on this, step S2 may specifically include:

[0047] Step S21, analyzing the positioning signal to obtain a first position coordinate.

[0048] Step S22, determining whether the first position coordinates fall within the motion warning area, so as to determine whether the self-moving device is located in the motion warning area.

[0049] Further, if yes, jump to the above step S3, and adjust the strategy of the self-moving device in the motion warning area to prevent the self-moving device from entering the non-working area.

[0050] In this way, by obtaining the positioning information of the current position of the self-moving device, the first position coordinates are analyzed and obtained, with high positioning accuracy, fast positioning speed and strong real-time performance; by quickly and accurately judging whether the self-moving device falls into the motion warning area based on the real-time position coordinate information, the strategy can be adjusted in time to reduce the risk factor of damage to the self-moving device and improve the safety performance of the device itself. Of course, there are other technical solutions for judging whether the self-moving device is located in the motion warning area: detecting the movement of the self-moving device through a position sensor, identifying the positional relationship between the self-moving device and the motion warning area, etc., and those skilled in the art can freely choose according to the actual working conditions.

[0051] The first task may refer to driving the self-moving device to perform normal operations in the working area, such as mowing. During the operation of the self-moving device, various positioning technologies such as UWB (Ultra Wide Band) positioning, Wi-Fi positioning, Bluetooth positioning, and radio frequency positioning may be used to obtain the coordinate information of the current position of the self-moving device in real time. The appropriate positioning method may be freely selected according to the actual situation, which will not be elaborated here.

[0052] In other words, the self-moving device control method provided by the present invention (and the self-moving device provided later) can be applied to a waiting area where no work is required, or to a waiting area where work cannot be performed, or to a waiting area where the movement of the self-moving device is restricted, or to a waiting area where any two or three of the above exist at the same time. Of course, the scenarios supported by the technical solution provided by the present invention are not limited to this. When the self-moving device is working in an outdoor space containing cliffs and rubble, or in a closed space, the technical solution provided by the present invention can be implemented to achieve the corresponding effect.

[0053] like Figure 3 As shown, in the second embodiment provided by the present invention, before step S2, the self-moving device motion control method may further include:

[0054] Step S51, driving the self-moving device to move in the area to be worked and perform the second task, and receiving a positioning signal indicating the current position of the self-moving device in real time.

[0055] Step S52: when it is detected that the self-moving device is in a restricted motion state, the current positioning signal is analyzed to obtain a second position coordinate.

[0056] Step S53: updating the work map according to the second position coordinates.

[0057] Furthermore, in step S2, it is determined whether the self-moving device is located in a motion warning area according to the positioning signal.

[0058] If yes, the process jumps to step S3 to adjust the strategy of the self-moving device in the motion warning area to prevent the self-moving device from entering the non-working area.

[0059] The position indicated by the second position coordinate is located in the non-working area; the working map at least includes the spatial information of the area to be worked. In addition, step S1 can be set before step S51, or can be set at any position between step S51 and step S53, or between step S53 and step S2.

[0060] In this way, by obtaining the position coordinates of the mobile device when it is in the non-working area and updating the working map according to the position coordinates, it is helpful to accurately obtain the position of the non-working area in the area to be worked, with high accuracy, real-time and flexibility.

[0061] Among them, for the second task in step S51, it can refer to the self-mobile device switching to the exploration mode and performing a working condition scan in a certain area. Preferably, in order to avoid the occurrence of situations such as falling from a high place, falling into a pit, being stuck on the slope surface, etc. in the self-mobile device, before performing normal operations, the self-mobile device can be driven to perform the second task, and the danger inspection of the area to be worked is carried out. After the inspection, the location of the restricted movement area or the operation danger area where there may be safety hazards is determined, and the corresponding position of the work map is marked, so that the self-mobile device can avoid these areas in subsequent operations. Of course, the second task can also be a conventional work task like the first task, such as mowing, watering and other work tasks. In this way, when performing work tasks such as mowing for the first time or the Nth time, the second position coordinates of the falling or pit state or other restricted movement states such as being unable to work or not needing to work (i.e., being located in a non-working area) are marked at any time, and updated to the work map, so that it is not necessary to conduct a full-area investigation before performing the conventional work tasks actually required, thereby improving work efficiency, updating the non-working area on the work map at any time, and obtaining the motion warning area that needs to be warned.

[0062] Optionally, in a specific example, step S52 can also be replaced by step S52', which accepts the position information representing the non-working area input by the user to obtain the second position coordinates. In this way, the second position coordinates can be directly determined by the position information input by the user, which is intuitive, simple and accurate. Step S52' can be understood as a derivative step of step S52, and the user can freely select step S52 or step S52' according to the actual working conditions, and there is no specific limitation on this.

[0063] In addition, the movement restriction state in step S52 may include: the state where the self-moving device falls from a high place into a pit, or the state where the self-moving device is stuck on a slope surface, or the state where the self-moving device is stuck in a lawn boundary area. Of course, the present invention also includes other scenarios that hinder the movement of the self-moving device, which are not specifically limited. For details, please refer to the definition of the non-working area above.

[0064] Furthermore, when the self-moving device falls into the non-working area, the device may send a notification to inform the user to handle it and ask the user whether to mark the current location. Figure 4 As shown, in the third embodiment provided by the present invention, before step S53, the self-moving device motion control method may further include:

[0065] Step P531, the mobile device sends a message or an alarm signal to notify the user, and asks the user whether the second location coordinates need to be marked.

[0066] If yes, jump to step S53 to update the working map according to the second position coordinates.

[0067] If not, jump to step P532 and send a message to remind the user to make rectification operations on the area indicated by the second position coordinates to prevent the mobile device from entering or re-entering the area.

[0068] In this way, according to the actual needs of the user, the position of the mobile device in the current restricted state can be freely marked or corrected, which has strong adaptability and high intelligence.

[0069] Optionally, the second position coordinates in step S52 can be realized by manual marking or automatic machine marking. Specifically, when the self-moving device is in a restricted state, it issues an alarm notification, such as using a buzzer to sound an alarm or an app notification and other methods to inform the user. After receiving the alarm notification, the user helps the self-moving device to get out of trouble. The machine asks the user whether it is necessary to mark the position or the user judges and marks the position through human-computer interaction, that is, marking the position coordinates as the second position coordinates. Optionally, a lift-off sensor, a cliff sensor or an infrared sensor can also be installed on the self-moving device, and the position coordinates currently in a restricted state are detected by the sensor, and the position coordinates are automatically marked as the second position coordinates. In this regard, the present invention does not make specific restrictions, and the user can freely choose a method suitable for actual needs to obtain the second position coordinates.

[0070] In one embodiment, based on the second position coordinates, regional diffusion can be performed to a certain extent, and a region can be formed according to the coordinate point fitting to improve the generalization recognition ability and robustness of the method. Based on this, in a specific example, step S53 may include: in the working map, marking the second coordinate position as a motion-restricted coordinate, and marking a circular area with the motion-restricted coordinate as the center and the preset restricted distance as the radius as the motion warning area, to obtain an updated working map. In this way, a circular motion warning area is fitted.

[0071] Optionally, in another specific example, step S53 may include: in the working map, marking the second coordinate position as the motion restricted coordinate, and marking a polygonal area as the motion warning area with the motion restricted coordinate as the geometric center and a preset lateral offset and a preset longitudinal offset as the side length, so as to obtain an updated working map, thereby fitting a motion warning area such as a rectangle, square, or other polygonal shape.

[0072] In this way, the motion warning area is determined according to the second position coordinates. The position coordinates are simple to calculate, easy to process and calculate, and can be expressed in real number form. In a smaller area, the error is small and the accuracy is high, which is convenient for determining the motion warning area and improving the accuracy of its range division. It is also possible to freely select any one of the two implementation modes to calculate the motion warning area, which is more flexible and has strong data reliability.

[0073] Among them, the preset restricted distance, preset lateral offset and preset longitudinal offset can be specifically set according to the size of the non-working area actually encountered, and the scale between the working map and the area to be worked, for example, through actual measurement or estimation by human observation, and no specific restriction is made on this; its goal is to make the circular area or polygonal area cover the non-working area, so as to ensure that the subsequent self-moving equipment avoids these non-working areas as much as possible during normal operation.

[0074] It can be understood that the non-working area is not limited to the circular area and the polygonal area, and areas of other shapes can also be used as the non-working area as long as they can cover the range where the movement of the self-moving device is restricted.

[0075] In addition, the motion-restricted coordinates may also be obtained in other ways, such as directly determining the motion-restricted coordinates by manual selection, and the position indicated by the motion-restricted coordinates is located in the non-working area.

[0076] Preferably, during the operation of a self-moving device with GPS positioning, it is possible to monitor in real time whether the self-moving device falls into a motion warning area based on the positioning situation on the working map. After the motion warning area is delineated, it is possible to well judge whether the self-moving device enters the motion warning area, thereby commanding the self-moving device to take evasive action to prevent the self-moving device from entering a non-working area again or multiple times.

[0077] like Figure 4 As shown, in a first embodiment of an implementation mode provided by the present invention, the self-moving device control method may include:

[0078] Step S1, receiving a positioning signal indicating the current position of the mobile device.

[0079] Step S2: judging whether the self-moving device is located in a motion warning area according to the positioning signal.

[0080] If yes, jump to step S31 to adjust the determination threshold.

[0081] Step S32, obtaining the working environment parameters of the mobile device and comparing them with the determination threshold to identify the non-working area.

[0082] Step S33, controlling the self-moving device to avoid the non-working area.

[0083] In this way, by adjusting the judgment threshold and comparing it with the working environment parameters of the self-moving device, the comparison here refers to judging whether the working environment parameters have reached or exceeded the judgment threshold, and the working environment parameters may refer to information about the surrounding environment of the self-moving device obtained in combination with the information module of the self-moving device, such as information obtained by the visual module and the ultrasonic module. It has strong real-time performance and accurate judgment. It can control the movement trajectory of the self-moving device according to the relationship between the actual working environment parameters and the judgment threshold. It has a high degree of intelligence, reduces human intervention, can reduce the probability of the self-moving device entering the non-working area, and improve the safety of product use.

[0084] The working environment parameters of the self-moving device may include the proportion of a preset color or the width of a preset color in the vicinity of the self-moving device. In one embodiment, the self-moving device may be a lawn mower equipped with a visual recognition module, which uses a camera to capture images around the self-moving device, and counts environmental parameters in the image, such as color proportion, color width, lighting information, spatial layout, texture and other parameter information, to further depict the working environment around the device and determine whether the self-moving device is in a normal working state and in the expected working environment.

[0085] It should be emphasized that the motion warning area may include multiple non-working areas. In order to accurately determine whether the area near the current self-moving device is a non-working area, the present invention provides detailed steps for step S32. Specifically, it can be determined by obtaining and based on the working environment parameters of the self-moving device.

[0086] like Figure 5 As shown, in a second embodiment of an implementation of the present invention, the self-moving device control method may include:

[0087] Step S1, receiving a positioning signal indicating the current position of the mobile device.

[0088] Step S2: judging whether the self-moving device is located in a motion warning area according to the positioning signal.

[0089] If yes, the process goes to step S321 to obtain an image of the vicinity of the mobile device.

[0090] Step S322A, obtaining the proportion of a preset color in the image, and comparing it with the determination threshold.

[0091] Step S323A: when the proportion of the preset color is greater than the determination threshold, the nearby area is determined to be a non-working area.

[0092] Step S33, controlling the self-moving device to avoid the non-working area.

[0093] In this way, by comparing the proportion of the preset color with the size of the judgment threshold, the color information in the image can be directly used to detect the non-working area without building a complex image model, which is simple and easy; it only needs to count the proportion of the number of pixels of the preset color in the image, and the calculation amount is small; in addition, the color threshold can be flexibly selected and adjusted according to different image data and application scenarios, which is very flexible.

[0094] like Figure 6 As shown, in a second embodiment of an implementation of the present invention, the self-moving device control method may include:

[0095] Step S1, receiving a positioning signal indicating the current position of the mobile device.

[0096] Step S2: judging whether the self-moving device is located in a motion warning area according to the positioning signal.

[0097] If yes, the process goes to step S321 to obtain an image of the vicinity of the mobile device.

[0098] Step S322B, obtaining the width of a preset color in the image, and comparing it with the determination threshold.

[0099] Step S323B: when the width of the preset color is greater than the determination threshold, the nearby area is determined to be a non-working area.

[0100] Step S33, controlling the self-moving device to avoid the non-working area.

[0101] In this way, by comparing the width of the preset color with the size of the judgment threshold, the color information in the image can be directly used to detect the non-working area, which is simple and easy to implement; it only needs to count the width of the preset color area in the image, with small calculation amount, easy deployment and real-time application; in addition, the width threshold can be flexibly selected and adjusted according to different image data and application scenarios, which is easy to customize and tune.

[0102] Among them, steps S321 to S323A can be understood as derived steps of step S32, and steps S321 to S322A can be arranged as a whole before step S31. Similarly, steps S321 to S323B can also be understood as derived steps of step S32, and steps S321 to S322B can be arranged as a whole before step S31.

[0103] Furthermore, in order to reduce the noise of the image, the present invention can obtain multiple frames of images from the area near the mobile device, and use the multiple frames of images to calculate the average value of the proportions of multiple preset colors; or use the multiple frames of images to calculate the average value of the widths of multiple preset colors, thereby reducing the randomness and errors in a single image capture.

[0104] In a specific example, the "obtaining the proportion of the preset color in the image" part in step S322A may further include: the preset color is all colors other than green, obtaining at least one frame of the detection image taken from the vicinity of the self-mobile device, and statistically obtaining the total number of pixels of the detection image and the number of green pixels in the detection image; calculating the ratio of the number of green pixels to the total number of pixels to obtain the green proportion, and then obtaining the preset color proportion by calculation. When the preset color proportion reaches or exceeds the judgment threshold, it is considered that the front area in the direction of the current mowing device is a non-working area, that is, it is considered that the green proportion value of the front area here is less than the expectation of the self-mobile device, and it is not necessary or should not enter the area. Analyze at the pixel level, and distinguish the non-working area from other areas by identifying the color proportion of the pixels. Of course, the above content can also be understood as a derivative step of step S322A. Specifically, according to the proportion of the preset color and the judgment threshold adjusted after entering the motion warning area, it is further judged whether the vicinity of the self-mobile device is a non-working area to ensure that the self-mobile device avoids the non-working area.

[0105] In another specific example, the "obtaining the width of the preset color in the image" in step S322B may further include: the preset color is a color other than green, obtaining at least one frame of detection image captured from the vicinity of the self-mobile device, calculating the width of the green part of the detection image close to the side of the self-mobile device, and obtaining the non-green width of the image far from the side of the self-mobile device, thereby obtaining the width of the preset color. When the non-green width on the obtained image reaches or exceeds the judgment threshold, the vicinity where the lawn mowing robot is located no longer needs or should not be considered to work, and the vicinity is considered to be a non-working area, and then avoid the non-working area. It should be noted that the width of the preset color here can refer to the actual width size of the width on the image, or it can refer to the proportion of the width of the preset color on the image, and the judgment can be selected according to actual needs. The image part level is analyzed, and the non-working area is distinguished from other areas by judging the distance between the current position of the self-mobile device and the non-working area. The principle is that the larger the non-green width in the image, the farther the current self-mobile device is from the non-working area; conversely, it means that the distance to the non-working area is closer. Of course, the above content can also be understood as a derivative step of step S322B. Further, according to the width of the preset color and the judgment threshold adjusted after entering the motion warning area, it is further determined whether the area near the self-moving device is a non-working area to ensure that the self-moving device avoids the non-working area.

[0106] In this way, any one of the two embodiments can be freely selected to calculate the working environment parameters, which is more flexible, can reduce the subjective arbitrariness of calculating the working environment parameters, and has strong data reliability.

[0107] In a preferred embodiment, the above two specific examples can be used in combination to obtain two sets of working environment parameters. The above two calculation methods can be calibrated with each other, so that the working environment parameters finally obtained are more accurate.

[0108] In a specific example, in the field of lawn mower robots, the visual self-moving device adjusts the motion trajectory of the visual self-moving device by shooting and calculating the green ratio in the detection image, and obtaining the non-green ratio through the green ratio. Assuming that the judgment threshold of the self-moving device is 20% in the non-motion warning area (or normal working area), that is, when the non-green ratio in the captured detection image is greater than 20%, the self-moving device is controlled to avoid the non-working area; and when it is located in the motion warning area, a more stringent judgment standard is set, and the judgment threshold can be adjusted to 10%. At this time, when the non-green ratio is greater than 10%, the self-moving device needs to be controlled to avoid the non-working area. It can be known that in this example, the judgment threshold is lowered, and the requirements of the self-moving device for the green ratio are increased, that is, in the motion warning area, the detection image needs to have a higher green ratio to meet the working condition requirements of the self-moving device. The lowering of the judgment threshold ensures that the self-moving device is more sensitive to the preset non-green. Once the non-green ratio reaches a lower judgment threshold, it is considered that the area near the current lawn mower robot no longer needs to perform the mowing task, and the lawn mower robot is commanded to avoid the non-working area here.

[0109] In another specific example, in the field of lawn mowing robots, the visual self-moving device continuously takes pictures of the front position, and judges whether it is necessary to adjust the motion trajectory of the visual self-moving device according to the non-green width size on the side away from the self-moving device body in the captured image. Assuming that the judgment threshold of the self-moving device is 30cm in the non-motion warning area (or normal working area), that is, when the non-green width size in the captured image is greater than 30cm, the self-moving device is controlled to avoid the non-working area; when it is located in the motion warning area, the judgment threshold is adjusted to 10cm, that is, when the non-green width size in the image is greater than 10cm, the self-moving device needs to be controlled to avoid the non-working area. It can be understood that the lowered judgment threshold makes the self-moving device more sensitive to the non-green width in the image away from the side of the self-moving device, that is, when the non-green width in the image reaches a lower judgment threshold, it triggers the self-moving device to avoid the non-working area.

[0110] The present invention also provides a self-moving device, comprising a memory and a processor; the memory stores a computer program; the processor executes the steps of the self-moving device motion control method described in any of the above technical solutions by calling the computer program stored in the memory.

[0111] In summary, the present invention receives the positioning signal of the current position of the self-mobile device in real time, and when the self-mobile device is located in the motion warning area, dynamically adjusts the strategy of the self-mobile device in the motion warning area, which is not only conducive to improving the automation of the self-mobile device, but also reduces the intervention of users. In addition, by judging the relationship between the working environment parameters of the self-mobile device and the judgment threshold, it is convenient for the self-mobile device to timely know the surrounding environment and adjust the motion trajectory of the self-mobile device in time, which has strong timeliness and high accuracy, can reduce the repeated falls or pits of the self-mobile device, and improve the safety performance of product use.

[0112] In addition, this control method is based on position coordinates for identification and calculation. The calculation method is simple, easy to process, has high data accuracy, small errors, and low costs. It can automatically adjust the motion trajectory according to the relationship between the working environment parameters and the threshold value. It has a high degree of automation, high efficiency, and flexible operation.

[0113] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0114] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling a self-moving device, comprising controlling the self-moving device to operate in a working area, and avoiding the non-working area when a non-working area is identified, so as to continue to operate in the working area, characterized in that: include: Receiving a positioning signal indicating the current position of the mobile device; Determining whether the self-moving device is located in a motion warning area according to the positioning signal; If so, the strategy of the self-moving device in the motion warning area is adjusted to prevent the self-moving device from entering the non-working area, wherein the motion warning area represents an area near the non-working area.

2. The control method according to claim 1, characterized in that: The strategy includes a decision threshold for identifying the non-operating area; The “adjusting the strategy of the self-moving device in the motion warning area to prevent the self-moving device from entering the non-working area” includes: adjusting the determination threshold; Acquiring the working environment parameters of the self-mobile device and comparing them with the determination threshold to identify the non-working area; The self-moving device is controlled to avoid the non-working area.

3. The control method according to claim 2, characterized in that: The "obtaining the working environment parameters of the mobile device and comparing them with the determination threshold to identify the non-working area" includes: Acquire an image of an area near the mobile device; Obtaining a percentage of a preset color in the image, and comparing the percentage with the determination threshold; When the proportion of the preset color is greater than the determination threshold, the nearby area is determined to be a non-working area.

4. The control method according to claim 2, characterized in that: The "obtaining the working environment parameters of the mobile device and comparing them with the determination threshold to identify the non-working area" includes: Acquire an image of an area near the mobile device; Obtaining the width of a preset color in the image, and comparing it with the determination threshold; When the width of the preset color is greater than the determination threshold, the nearby area is determined to be a non-working area.

5. The control method according to claim 2, characterized in that: The strategy also includes: motion parameters of the self-moving device, and / or the frequency of obtaining working environment parameters of the self-moving device and comparing them with the determination threshold.

6. The control method according to claim 5, characterized in that: The motion parameters of the self-moving device include: the moving speed of the self-moving device.

7. The control method according to claim 1, characterized in that: The “receiving a positioning signal indicating the current position of the mobile device” specifically includes: When the self-moving device is driven to move in the working area and perform the first task, a positioning signal indicating the current position of the self-moving device is received in real time; The “determining whether the self-moving device is located in the motion warning area according to the positioning signal” specifically includes: Analyzing the positioning signal to obtain a first position coordinate; It is determined whether the first position coordinates fall within the motion warning area to determine whether the self-moving device is located in the motion warning area.

8. The control method according to claim 1, characterized in that: Before "determining whether the self-moving device is located in a motion warning area according to the positioning signal", the method further includes: Driving the self-moving device to move in the area to be worked and perform the second task, and receiving a positioning signal indicating the current position of the self-moving device in real time; When it is detected that the self-moving device is in a restricted motion state, the current positioning signal is parsed to obtain a second position coordinate; or, Accepting the position information representing the non-working area input by the user to obtain a second position coordinate; According to the second position coordinates, the working map is updated; wherein the working map at least includes the spatial information of the area to be worked, wherein the position indicated by the second position coordinates is located in the non-working area.

9. The control method according to claim 8, characterized in that: Before the step of "updating the working map according to the second position coordinates", the method further includes: The mobile device sends a message or an alarm signal to notify the user and asks the user whether the second location coordinate needs to be marked. If yes, updating the working map according to the second position coordinates; If not, a message is sent to remind the user to perform rectification operations on the area indicated by the second position coordinates to prevent the mobile device from entering or re-entering the area.

10. The control method according to claim 8, characterized in that: The “updating the work map according to the second position coordinates” specifically includes: In the working map, the second coordinate position is marked as the motion restricted coordinate, and a circular area is marked as the motion warning area with the motion restricted coordinate as the center and the preset restricted distance as the radius, to obtain an updated working map; or, In the working map, the second coordinate position is marked as the motion restricted coordinate, and a polygonal area is marked as the motion warning area with the motion restricted coordinate as the geometric center and the preset lateral offset and the preset longitudinal offset as the side length to obtain an updated working map.

11. A self-propelled device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the steps of the control method according to any one of claims 1 to 10 by calling the computer program stored in the memory.

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