Control method and device of self-moving equipment and storage medium

Abstract

The invention relates to a control method and device of a self-moving device and a storage medium, the self-moving device is configured to move and / or work in a working area, the working area comprises a first area and a second area, the first area is provided with a first transition label, and the control method comprises the following steps: controlling the self-moving device to move along the boundary of the first area, keeping the first side of the self-moving equipment close to the boundary of the first area; when the self-moving device detects the first transition label and the second area is located on the first side of the self-moving device, the self-moving device is controlled to turn towards the direction where the first side is located and move towards the second area; and when the self-moving device detects the first transition label and the second area is located on the second side of the self-moving device, controlling the self-moving device to continue to move along the boundary of the first area. According to the technical scheme, the self-moving equipment can be prevented from going out of the limit due to transition errors, and the coverage rate of an actual working area is increased.

Description

Technical Field

[0001] The present application relates to the technical field of garden equipment, and in particular to a control method, device and storage medium for a self-moving device. Background Art

[0002] With the gradual popularization of intelligent devices in daily life, autonomous devices (such as automatic lawn mowers for garden repairs and sweeping robots for home floor cleaning) are also popular among users.

[0003] Autonomous devices typically move and / or operate within a work area. For example, an autonomous lawn mower can drive across a user's lawn and perform cutting operations, significantly reducing labor costs.

[0004] The work area often includes multiple sub-areas, and mobile devices need to move between these sub-areas to complete the work tasks of the entire work area. Summary of the Invention

[0005] The present application provides a control method, device and storage medium for a self-moving device, which can prevent the self-moving device from going out of bounds due to transition errors and improve the coverage of the actual working area.

[0006] To solve the above technical problems, the present application provides a control method for a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, wherein the working area includes a first area and a second area, and the first area is provided with a first transition label. The control method includes:

[0007] controlling the self-moving device to move along a boundary of the first area, and keeping a first side of the self-moving device close to the boundary of the first area;

[0008] When the self-moving device detects the first transition tag and the second area is located on a first side of the self-moving device, controlling the self-moving device to turn toward the direction of the first side and move to the second area;

[0009] When the self-moving device detects the first transition label and the second area is located on a second side of the self-moving device, the self-moving device is controlled to continue moving along the boundary of the first area.

[0010] In some embodiments, after controlling the mobile device to move along the boundary of the first area, the control method further includes:

[0011] When the mobile device detects the first transition tag, obtaining expected transition posture information of the mobile device turning toward the direction of the first side, and obtaining reference transition posture information corresponding to the first transition tag and turning toward the second area;

[0012] Based on the expected transition posture information and the reference transition posture information, the relative position relationship between the self-moving device and the second area is determined, and the type of the relative position relationship includes that the second area is located on the first side of the self-moving device and the second area is located on the second side of the self-moving device.

[0013] In some embodiments, obtaining the expected transition posture information of the mobile device turning toward the direction of the first side includes:

[0014] Obtaining current position information of the mobile device;

[0015] The expected transition posture information is determined according to the current posture information and the preset posture information.

[0016] In some embodiments, the second region is provided with a second transition tag used in pair with the first transition tag, and obtaining reference transition pose information corresponding to the first transition tag and turning toward the second region includes at least one of the following:

[0017] Obtaining first historical transition posture information corresponding to the first transition tag, and using the first historical transition posture information as reference transition posture information corresponding to the first transition tag for turning toward the second area, wherein the first historical transition posture information corresponding to the first transition tag is recorded when the mobile device detects the first transition tag and turns;

[0018] Obtain the second historical transition posture information corresponding to the second transition tag, process the second historical transition posture information, and determine the reference transition posture information corresponding to the first transition tag for turning toward the second area. The second historical transition posture information corresponding to the second transition tag is recorded when the mobile device detects the second transition tag and turns.

[0019] In some embodiments, the method further comprises:

[0020] When the self-mobile device detects the first transition tag and fails to obtain reference transition posture information corresponding to the first transition tag for turning toward the second area, controlling the self-mobile device to turn toward the direction of the first side;

[0021] The posture information after the turn is recorded as reference transition posture information corresponding to the first transition tag for turning to the second area.

[0022] In some embodiments, after controlling the mobile device to turn toward the first side and move toward the second area, the method further includes:

[0023] The posture information after the mobile device turns is recorded as reference transition posture information corresponding to the first transition tag for turning to the second area.

[0024] In some embodiments, determining the relative position relationship between the mobile device and the second area based on the expected transition posture information and the reference transition posture information includes:

[0025] When the expected transition posture information and the reference transition posture information satisfy a preset relationship, the second area is located on the first side of the self-moving device;

[0026] When the expected transition posture information and the reference transition posture information do not conform to a preset relationship, the second area is located on a second side of the self-moving device.

[0027] In some embodiments, the self-moving device includes an IMU sensor, and the position information of the self-moving device is determined based on the steering angle of the self-moving device represented by data from the IMU sensor.

[0028] In some embodiments, before determining the relative position relationship between the mobile device and the second area based on the expected transition pose information and the reference transition pose information, the method further includes:

[0029] Determine whether a time difference between a moment when the first transition tag is detected by the mobile device and a moment when the reference transition posture information corresponding to the first transition tag is recorded is greater than a preset threshold;

[0030] When the time difference is greater than a preset threshold, the mobile device is controlled to turn toward the direction of the first side, and the posture information of the mobile device after turning is recorded as reference transition posture information for turning toward the second area corresponding to the first transition label.

[0031] In some embodiments, the method further comprises:

[0032] When the self-mobile device moves and / or works in the current working area, identifying the width of the current working area;

[0033] When the width of the current working area is less than or equal to a preset width threshold, the self-mobile device is guided to search for a transition label based on a field of view close to a boundary of the first side.

[0034] The present application also provides a control method for a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, wherein the working area includes a first area and a second area, and the first area is provided with a first transition label. The control method includes:

[0035] controlling the self-moving device to move along a boundary of the first area, and keeping a first side of the self-moving device close to the boundary of the first area;

[0036] When the self-mobile device detects the first transition tag and determines that the transition direction is correct based on the reference transition posture information corresponding to the first transition tag, controlling the self-mobile device to turn toward the direction of the first side and move to the second area;

[0037] When the self-mobile device detects the first transition tag and determines that a transition direction is incorrect according to the reference transition posture information corresponding to the first transition tag, the self-mobile device is controlled to continue moving along the boundary of the first area.

[0038] In some embodiments, the reference transition pose information corresponding to the first transition tag includes reference transition pose information corresponding to the first transition tag turning toward the second area.

[0039] In some embodiments, after the mobile device detects the first transition tag, the method further includes:

[0040] Acquire expected transition pose information of the mobile device turning toward the direction of the first side and the reference transition pose information;

[0041] Whether the transition direction is correct is determined according to the expected transition posture information and the reference transition posture information.

[0042] In some embodiments, judging whether the transition direction is correct based on the expected transition posture information and the reference transition posture information includes:

[0043] When the expected transition posture information and the reference transition posture information meet a preset relationship, the transition direction is determined to be correct.

[0044] When the expected transition posture information and the reference transition posture information do not conform to a preset relationship, the judgment result is that the transition direction is incorrect.

[0045] The present application also provides a control device for a self-moving device, the device comprising a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the steps of any of the above-described control methods for the self-moving device.

[0046] The present application also provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method of any of the above-mentioned self-mobile equipment are implemented.

[0047] The control method, device and storage medium of the self-moving device of the present application, the self-moving device is configured to move and / or work in a working area, the working area includes a first area and a second area, the first area is provided with a first transition label, and the control method includes: controlling the self-moving device to move along the boundary of the first area, and keeping the first side of the self-moving device close to the boundary of the first area; when the self-moving device detects the first transition label and the second area is located on the first side of the self-moving device, controlling the self-moving device to turn in the direction of the first side and move to the second area; when the self-moving device detects the first transition label and the second area is located on the second side of the self-moving device, controlling the self-moving device to continue moving along the boundary of the first area. The present application determines whether to transition based on the relative position relationship between the second area and the self-moving device, which can avoid the self-moving device from transitioning out of bounds due to errors and improve the coverage of the actual working area.

[0048] The control method, device and storage medium of the self-moving device of the present application are as follows: the self-moving device is configured to move and / or work in a working area, the working area includes a first area and a second area, the first area is provided with a first transition tag, and the control method includes: controlling the self-moving device to move along the boundary of the first area, and keeping the first side of the self-moving device close to the boundary of the first area; when the self-moving device detects the first transition tag and determines that the transition direction is correct based on the reference transition posture information corresponding to the first transition tag, controlling the self-moving device to turn in the direction of the first side and move to the second area; when the self-moving device detects the first transition tag and determines that the transition direction is incorrect based on the reference transition posture information corresponding to the first transition tag, controlling the self-moving device to continue moving along the boundary of the first area. The present application determines whether the transition direction is correct based on the reference transition posture information corresponding to the first transition tag, which can avoid the self-moving device from transitioning out of bounds due to an error, thereby improving the coverage rate of the actual working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be clearly obtained through the following detailed description of specific embodiments that can implement the present invention, combined with the description of the accompanying drawings.

[0050] The same reference numerals and symbols are used in the drawings and the description to designate the same or equivalent elements.

[0051] Figure 1 A schematic structural diagram of a self-moving device provided in some embodiments of the present application.

[0052] Figure 2 A module diagram of a self-mobile device provided for some embodiments of the present application.

[0053] Figure 3 A flowchart of a method for controlling a self-mobile device provided in some embodiments of the present application.

[0054] Figures 4 to 8 A schematic diagram of the state of transition from a mobile device provided in some embodiments of the present application.

[0055] Figure 9 A schematic diagram of the state of transition from a mobile device provided in some other embodiments of the present application.

[0056] Figure 10 A flowchart of a control method for a mobile device provided in some other embodiments of the present application. DETAILED DESCRIPTION

[0057] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure. The embodiments provided in this specification may be combined with each other.

[0058] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0059] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0061] The embodiments provide a self-moving device, a control method, and a computer-readable storage medium. The self-moving device may be an autonomous smart device, such as an autonomous lawn mower, an autonomous vacuum cleaner, an autonomous mop, or an autonomous snow blower. The self-moving device can automatically move within a specified work area and perform corresponding tasks, or it can return to a docking station along the boundary of the work area for docking or charging.

[0062] This embodiment provides a self-moving device, such as Figure 1 and Figure 2 As shown, the self-mobile device includes a body 100 , an imaging sensor 200 , a position sensor 500 , and a control circuit 600 .

[0063] Specifically, the body 100 includes a drive device 700, which is used to drive the body 100 on the work surface according to received drive commands. The drive device 700 generally includes rollers and a motor that drives the rollers. The rollers may include a driving wheel and a driven wheel. The rollers may be distributed on both sides of the body 100, with one or two rollers on each side.

[0064] The body 100 also includes a working module, which is used to perform specific work tasks. For example, if the self-moving device is an automatic lawn mower, the working module includes mowing blades, a cutting motor, and other components. It may also include auxiliary components such as a mowing height adjustment mechanism to optimize or adjust the mowing effect. For example, if the self-moving device is an automatic vacuum cleaner, the working module includes a vacuum motor, a vacuum port, a vacuum tube, a vacuum chamber, a dust collection device, and other working components used to perform the vacuuming task.

[0065] The body 100 may also include an energy module, which is used to provide energy for various operations of the self-mobile device. The energy module may include a rechargeable battery and a charging connection structure, wherein the charging connection structure is usually a charging electrode sheet, which can be used in conjunction with a charging electrode sheet set at a docking station to charge the self-mobile device.

[0066] The body 100 further includes a memory 400 , which is used to store data generated by sensors or control circuits, or to pre-store data for use by the control circuits.

[0067] The body 100 further includes a position sensor 500 , which may include an inertial sensor IMU or an odometer ODO installed on the driving device 700 , etc., for obtaining a relative position according to the movement of the body 100 .

[0068] In addition to the above modules, the body 100 may also include a shell for accommodating and installing each module, a control panel for user operation, etc. It may also include various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, light sensors, etc. The above sensors can assist the mobile device in determining the working environment to execute the corresponding program.

[0069] The control circuit 600 is the core component of the self-moving device, which is used to control the automatic movement and operation of the self-moving device. The functions it performs include controlling the start or stop of the working module, controlling the movement of the drive device 700, judging the power level of the energy module and timely controlling the self-moving device to return to the docking station for automatic docking and charging, and executing corresponding programs based on the data of the environmental sensor.

[0070] Reference Figure 1 and Figure 2 The self-propelled device includes an imaging sensor 200 connected to the body 100 and configured to capture an image in the forward direction of the body 100. The image is at least partially an image of the work surface in the forward direction. The captured image is within a field of view 210 of the imaging sensor 200. The imaging sensor 200 may be a camera or a laser radar commonly used in the industry.

[0071] Typically, the imaging sensor 200 is mounted near the front upper portion of the fuselage 100, preferably centered, with its viewing angle facing forward and downward to capture images of the work surface. Its field of view 210 can be adjusted based on actual needs. A larger field of view 210 captures more images in the forward direction of the fuselage 100, and vice versa. The forward direction of the fuselage 100 can be various, such as normal forward movement, backward movement, and turning. In this embodiment, the forward direction of the fuselage refers to the normal forward direction, i.e., the direction of the fuselage's central axis.

[0072] The shape and area of ​​a self-propelled device's working area aren't always regular. Often, the work area consists of multiple sub-areas. For example, a lawn mower's sub-areas are often separated by non-grass areas. Some sub-areas are regular in shape and moderate in size, while others are irregular in shape or very small. Self-propelled devices often struggle to operate within irregularly shaped or very small sub-areas, resulting in missed grass and low coverage of the actual work area. Even if a self-propelled device can operate within such sub-areas, the irregular shape or small area makes it difficult for the device to turn or move from one area to another. Even the slightest mistake can lead to the wrong direction of steering or missing the transition point, causing the device to repeatedly circle, stop, or exceed the boundaries of the work area.

[0073] In order to solve the technical problem of how to improve the cutting coverage and accurately perform the transition and improve user satisfaction, this embodiment provides a control method for a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, the working area includes a first area and a second area, and the first area is provided with a first transition label, such as Figure 3 As shown, the control method includes:

[0074] S1, controlling the mobile device to move along the boundary of the first area, and keeping a first side of the mobile device close to the boundary of the first area;

[0075] S2, when the mobile device detects the first transition tag and the second area is located on the first side of the mobile device, controlling the mobile device to turn toward the direction of the first side and move to the second area;

[0076] S3: When the mobile device detects the first transition tag and the second area is located on the second side of the mobile device, control the mobile device to continue moving along the boundary of the first area.

[0077] The first transition tag is located between a first boundary of the first region and a second boundary of the first region. In some embodiments, the distance between the first transition tag and the first boundary and the distance between the first transition tag and the second boundary are both less than a threshold. Optionally, the distance between the transition tag and the boundary is the distance from the center of the transition tag to the boundary. Optionally, the first transition tag uses radio frequency identification (RFID), but is not limited thereto.

[0078] Transition tags indicate the transition location of the mobile device. If a transition tag is detected during a transition, the mobile device will turn and move to another sub-area, thus moving to the next sub-area. Requirements for setting transition tags include a certain distance from the sub-area boundary, for example, 50-60 cm.

[0079] The first area is a narrow sub-area with a relatively small distance between its boundaries. Since the setting of the first transition tag needs to meet certain conditions, the first transition tag, which should only be close to one side of the boundary, is relatively close to the boundaries on both sides of it. Therefore, when the self-moving device moves on the other side of the boundary, it is also easy to detect the first transition tag. In this case, if the self-moving device directly turns or transitions upon detecting the first transition tag, it will turn or transition at the wrong position, thereby moving to the wrong sub-area (unable to move to the specified sub-area in sequence) or moving outside the boundary.

[0080] In some embodiments, after the work in the first area is completed, the self-mobile device transitions; when the self-mobile device detects the first transition tag, if the second area (the area to be worked on) is located on the first side of the self-mobile device, the self-mobile device turns and moves.

[0081] In some embodiments, the self-moving device moves along the right edge, that is, the self-moving device always keeps the boundary on the right side (first side) of the self-moving device when moving; in this case, after the work in the first area is completed, when the self-moving device detects the first transition label, if the second area (area to be worked) is located on the right side of the self-moving device, the self-moving device turns right and moves to the second area.

[0082] In some embodiments, when the self-mobile device detects the first transition tag, if the second area (area to be worked on) is located on the second side of the self-mobile device, it continues to move along the boundary of the first area, that is, no transition is performed.

[0083] In some embodiments, the mobile device moves along the right edge, that is, the mobile device always keeps the boundary on the right side of the mobile device during movement. In this case, after the first area is completed and the mobile device detects the first transition tag, if the second area (the area to be worked on) is on the left side of the mobile device, the mobile device continues to move along the boundary of the first area without transitioning. This can avoid turning or transitioning at the wrong location.

[0084] In some embodiments, the control method of the embodiments of the present application is also applicable when the self-moving device moves along the left edge; in this case, the first side is the left side and the second side is the right side.

[0085] In some embodiments, the mobile device is controlled to turn toward the first side and move toward the second area. The mobile device may be controlled to turn immediately, or controlled to move forward a certain distance before turning.

[0086] In some embodiments, the relative position relationship between the mobile device and the second area is determined based on the posture information.

[0087] In some embodiments, the posture information includes posture information calculated in real time and historically stored posture information.

[0088] The control method provided in some embodiments is not only applicable to the transition process of the self-moving device in a small area, but can also be applied to the transition process of the self-moving device in various other areas.

[0089] In some embodiments, after step S1 controls the mobile device to move along the boundary of the first area, the control method further includes:

[0090] When the first transition tag is detected by the mobile device, expected transition posture information of the mobile device turning toward the direction of the first side is obtained, and reference transition posture information corresponding to the first transition tag and turning toward the second area is obtained;

[0091] The relative position relationship between the self-moving device and the second area is determined based on the expected transition posture information and the reference transition posture information. The type of the relative position relationship includes that the second area is located on the first side of the self-moving device and the second area is located on the second side of the self-moving device.

[0092] In some embodiments, the expected transition pose information when the mobile device turns toward the direction of the first side is used to indicate the expected pose of the mobile device after turning toward the direction of the first side. In this case, only the expected transition pose information is obtained, and the mobile device does not turn.

[0093] In some embodiments, the reference transition pose information corresponding to the first transition tag for turning toward the second region is used to represent the pose of the mobile device after turning toward the second region, serving as a reference value for the expected transition pose information. The reference transition pose information can be historically collected and stored data or a pre-set fixed value.

[0094] In some embodiments, obtaining expected transition pose information when the mobile device turns toward the direction of the first side includes:

[0095] Get the current posture information from the mobile device;

[0096] Determine the expected transition pose information based on the current pose information and the preset pose information.

[0097] In some embodiments, the current posture information of the mobile device is the current angle information of the body of the mobile device.

[0098] In some embodiments, the current posture information of the self-mobile device is determined based on the current angle information of the body of the self-mobile device and the information of boundary angle identification. In some embodiments, the current angle information of the body of the self-mobile device is corrected based on the information of boundary angle identification so that the current posture information of the self-mobile device is parallel to the boundary as the current posture information of the self-mobile device.

[0099] Optionally, the preset pose information is, for example, 90°. Assuming the current pose information is 90° and the right turn increases the angle, the expected transition pose information is the current pose information plus the preset pose information, for example, 180°. It should be noted that the process of determining the expected transition pose information does not change the current angle information of the mobile device.

[0100] In some embodiments, the second region is provided with a second transition tag used in pair with the first transition tag, and obtaining reference transition pose information corresponding to the first transition tag and turning toward the second region includes at least one of the following:

[0101] Obtaining first historical transition pose information corresponding to the first transition tag, and using the first historical transition pose information as reference transition pose information for turning toward the second area corresponding to the first transition tag, wherein the first historical transition pose information corresponding to the first transition tag is recorded when the mobile device detects the first transition tag and turns;

[0102] Obtain the second historical transition posture information corresponding to the second transition tag, process the second historical transition posture information, determine the reference transition posture information corresponding to the first transition tag for turning toward the second area, and record the second historical transition posture information corresponding to the second transition tag when the mobile device detects the second transition tag and turns.

[0103] In some embodiments, the first transition tag and the second transition tag form a pair of transition tags. When the transition position is accurate, when the second transition tag is detected in the second area, turning from the second area to the first side will enter the first area. When the first transition tag is detected in the first area, turning from the first area to the first side will enter the second area. Thus, a transition between two adjacent areas is achieved.

[0104] In some embodiments, the first historical transition posture information and the second historical transition posture information are recorded after the mobile device detects the transition tag and completes the transition.

[0105] In some embodiments, first historical transition pose information corresponding to the first transition tag is obtained and used as reference transition pose information for the first transition tag corresponding to the transition to the second region. In other words, if the first transition tag itself has reference transition pose information, it is used directly.

[0106] In some embodiments, the second historical transition pose information corresponding to the second transition tag is obtained and processed to determine the reference transition pose information corresponding to the first transition tag, which is the transition toward the second region. In other words, if the first transition tag itself does not have corresponding reference transition pose information, but the second transition tag used in conjunction with it does have historical transition pose information, then this information will be processed and used.

[0107] In some embodiments, the first and second historical transition pose information are the same angle with opposite signs, such as -180° and 180°. Therefore, the second historical transition pose information can be processed by changing its sign or adding 360°. In this way, as long as one of the first and second transition tags has corresponding historical transition pose information, that historical transition pose information can be used by the other paired transition tag.

[0108] In some embodiments, the control method further includes:

[0109] When the mobile device detects the first transition tag and fails to obtain reference transition posture information corresponding to the first transition tag for turning toward the second area, controlling the mobile device to turn toward the direction of the first side;

[0110] The posture information after the turn is recorded as the reference transition posture information for turning to the second area corresponding to the first transition tag.

[0111] In some embodiments, if the reference transition pose information corresponding to the first transition tag for turning toward the second area is not obtained, this may be because the first transition tag itself does not correspond to the reference transition pose information, or because neither the first transition tag nor the second transition tag corresponds to the reference transition pose information. In this case, the mobile device is controlled to turn toward the direction of the first side, and the pose information after the turn is recorded as the reference transition pose information corresponding to the first transition tag.

[0112] In some embodiments, after step S2 controls the mobile device to turn toward the direction of the first side and move to the second area, the method further includes:

[0113] The posture information after the mobile device turns is recorded as the reference transition posture information corresponding to the first transition tag for turning to the second area.

[0114] In some embodiments, when the first transition tag itself corresponds to reference transition posture information, the posture information recorded this time is used to update the reference transition posture information in the historical record; when the first transition tag itself does not correspond to reference transition posture information, the posture information recorded this time is stored as the reference transition posture information.

[0115] In some embodiments, determining the relative position relationship between the mobile device and the second area based on the expected transition pose information and the reference transition pose information includes:

[0116] When the expected transition posture information and the reference transition posture information meet a preset relationship, the second area is located on the first side of the self-moving device;

[0117] When the expected transition posture information and the reference transition posture information do not conform to a preset relationship, the second area is located on the second side of the self-moving device.

[0118] In some embodiments, the expected transition posture information and the reference transition posture information meet a preset relationship, indicating that the expected transition posture information matches the reference transition posture information. Only then can the transition be performed. For example, if the absolute value of the difference between the expected transition posture information and the reference transition posture information is less than 90°, it is determined that the second area is located on the first side of the self-moving device and the transition is allowed. If it is greater than 90°, it is determined that the second area is located on the second side of the self-moving device and the transition is not allowed. Taking the expected transition posture information as 180° as an example, if the reference transition posture information is 180°, the difference is 0, which is less than 90°, and the transition is allowed. If the reference transition posture information is -180°, the difference is 360°, which is greater than 90°, and the transition is not allowed.

[0119] In some embodiments, the self-moving device includes an IMU (Inertial Measurement Unit) sensor, and the position information of the self-moving device is determined according to the steering angle of the self-moving device represented by data from the IMU sensor.

[0120] In some embodiments, the position information of the mobile device may be determined using a SLAM (Simultaneous Localization And Mapping) method.

[0121] In some embodiments, before determining the relative position relationship between the mobile device and the second area based on the expected transition pose information and the reference transition pose information, the method further includes:

[0122] Determine whether a time difference between a moment when the mobile device detects the first transition tag and a moment when the reference transition posture information corresponding to the first transition tag is recorded is greater than a preset threshold;

[0123] When the time difference is greater than a preset threshold, the mobile device is controlled to turn toward the direction of the first side, and the posture information of the mobile device after turning is recorded as reference transition posture information corresponding to the first transition tag for turning toward the second area.

[0124] In some embodiments, the recording time of the reference transition posture information corresponding to the first transition tag is the time when the first transition tag and / or the second transition tag last recorded the historical transition posture information. According to the method for obtaining the reference transition posture information of turning to the second area corresponding to the first transition tag as described above, the recording time of the reference transition posture information corresponding to the first transition tag can be the recording time of the second historical transition posture information corresponding to the second transition tag, or it can be the recording time of the first historical transition posture information corresponding to the first transition tag. Since the first transition tag and the second transition tag constitute a pair of transition tags, as long as one of the transition tags records new posture information, its recording time is also considered to be the recording time of the reference transition posture information corresponding to the first transition tag.

[0125] In some embodiments, when determining the posture information of the self-mobile device according to the steering angle of the self-mobile device represented by the data of the IMU sensor, since the IMU will have a cumulative drift error, a long time will cause the IMU error to be large and easy to misjudge. In some embodiments, the preset threshold is, for example, 30 minutes. Therefore, when it is judged that the time difference between the moment when the self-mobile device detects the first transition tag and the recording moment of the reference transition posture information corresponding to the first transition tag is greater than the preset threshold, the recorded reference transition posture information is no longer used, that is, the relative position relationship between the self-mobile device and the second area is no longer determined based on the expected transition posture information and the reference transition posture information, but the self-mobile device is controlled to turn directly to the direction where the first side is located. In this case, the posture information after the self-mobile device turns is re-recorded as the reference transition posture information corresponding to the first transition tag turning to the second area to update the reference transition posture information.

[0126] In some embodiments, when the position information of the self-mobile device is determined using SLAM (Simultaneous Localization And Mapping), the above-mentioned time difference determination is not necessary.

[0127] In some embodiments, the control method further includes:

[0128] When the mobile device moves and / or works in the current working area, the width of the current working area is identified;

[0129] When the width of the current working area is less than or equal to a preset width threshold, the mobile device is guided to search for a transition label based on a field of view close to a boundary of the first side.

[0130] In some embodiments, the width of the current working area is identified through data collected by the imaging device. When the width of the current working area is less than or equal to a preset width threshold, that is, when it is a relatively narrow area, the function of visually guiding the search for transition labels is only based on the field of view close to the boundary of the first side, which can avoid finding the wrong transition label, thereby improving the accuracy of finding the transition label.

[0131] In some embodiments, combined Figures 4 to 8 As shown, the mobile device 900 is set to the right edge. When the mobile device 900 moves along the border, the border is always located on the right side of the mobile device 900. Figure 4 This is a schematic diagram of a state when a mobile device 900 detects a transition tag 800 in a first area; Figure 5 It indicates that the mobile device continues to move forward a certain distance after detecting the transition tag, such as 40cm. Figure 6 It shows that the self-moving device turns right to transition. The steering angle is fixed or it keeps turning right until the self-moving device is perpendicular to the boundary. Each time the transition occurs, the posture information after the steering is recorded or refreshed as the reference transition posture information. Figure 7 It indicates that the mobile device moves forward until it enters the second area; Figure 8 It shows that the self-moving device moves along the edge in the second area.

[0132] In some embodiments, combined Figure 9 As shown, the self-mobile device is set to the right edge, where Figure 9 The middle right sub-area is relatively small, and the transition labels in the right sub-area are close to the boundaries on both sides. When the device moves to the right edge, the transition labels may be detected when it moves to these two boundaries. Figure 9 As shown, when the mobile device detects a transition tag while moving along boundary 81, it transitions rightward to another sub-area. If the mobile device detects a transition tag while moving along boundary 82, it continues moving along boundary 82; if it turns right at this point, it would exceed the boundary of the working area. Thus, applying the control method of this embodiment can prevent the mobile device from going outside the boundary.

[0133] The control method, device and storage medium of the self-moving device of the present application, the self-moving device is configured to move and / or work in a working area, the working area includes a first area and a second area, the first area is provided with a first transition label, and the control method includes: controlling the self-moving device to move along the boundary of the first area, and keeping the first side of the self-moving device close to the boundary of the first area; when the self-moving device detects the first transition label and the second area is located on the first side of the self-moving device, controlling the self-moving device to turn in the direction of the first side and move to the second area; when the self-moving device detects the first transition label and the second area is located on the second side of the self-moving device, controlling the self-moving device to continue moving along the boundary of the first area. The present application determines whether to transition based on the relative position relationship between the second area and the self-moving device, which can avoid the self-moving device from transitioning out of bounds due to errors and improve the coverage of the actual working area.

[0134] In addition, an embodiment is provided, which is a control method for a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, the working area includes a first area and a second area, and the first area is provided with a first transition label, such as Figure 10 As shown, the control method includes:

[0135] S10, controlling the mobile device to move along the boundary of the first area, and keeping the first side of the mobile device close to the boundary of the first area;

[0136] S20, when the mobile device detects the first transition tag and determines that the transition direction is correct based on the reference transition posture information corresponding to the first transition tag, controlling the mobile device to turn toward the direction of the first side and move to the second area;

[0137] S30: When the mobile device detects the first transition tag and determines that the transition direction is incorrect according to the reference transition posture information corresponding to the first transition tag, control the mobile device to continue moving along the boundary of the first area.

[0138] In some embodiments, the reference transition pose information corresponding to the first transition tag includes reference transition pose information corresponding to the first transition tag turning toward the second area.

[0139] In some embodiments, after detecting the first transition tag from the mobile device, the method further includes:

[0140] Obtaining expected transition pose information and reference transition pose information when the mobile device turns toward the direction of the first side;

[0141] Determine whether the transition direction is correct based on the expected transition pose information and the reference transition pose information.

[0142] In some embodiments, judging whether the transition direction is correct based on the expected transition pose information and the reference transition pose information includes:

[0143] When the expected transition posture information and the reference transition posture information meet the preset relationship, the transition direction is judged to be correct;

[0144] When the expected transition posture information and the reference transition posture information do not conform to a preset relationship, the judgment result is that the transition direction is incorrect.

[0145] In some embodiments, determining whether the transition direction is correct is the same as the method for determining the relative positional relationship between the mobile device and the second area in the previous embodiment, and will not be repeated here.

[0146] The implementation process of the following steps is the same as that of the previous embodiment.

[0147] In some embodiments, obtaining expected transition pose information when the mobile device turns toward the direction of the first side includes:

[0148] Get the current posture information from the mobile device;

[0149] Determine the expected transition pose information based on the current pose information and the preset pose information.

[0150] In some embodiments, the second region is provided with a second transition tag used in pair with the first transition tag, and obtaining reference transition pose information corresponding to the first transition tag and turning toward the second region includes at least one of the following:

[0151] Obtaining first historical transition pose information corresponding to the first transition tag, and using the first historical transition pose information as reference transition pose information for turning toward the second area corresponding to the first transition tag, wherein the first historical transition pose information corresponding to the first transition tag is recorded when the mobile device detects the first transition tag and turns;

[0152] Obtain the second historical transition posture information corresponding to the second transition tag, process the second historical transition posture information, determine the reference transition posture information corresponding to the first transition tag for turning toward the second area, and record the second historical transition posture information corresponding to the second transition tag when the mobile device detects the second transition tag and turns.

[0153] In some embodiments, the method further comprises:

[0154] When the mobile device detects the first transition tag and fails to obtain reference transition posture information corresponding to the first transition tag for turning toward the second area, controlling the mobile device to turn toward the direction of the first side;

[0155] The posture information after the turn is recorded as the reference transition posture information for turning to the second area corresponding to the first transition tag.

[0156] In some embodiments, after controlling the mobile device to turn toward the direction of the first side and move to the second area, the method further includes:

[0157] The posture information after the mobile device turns is recorded as the reference transition posture information corresponding to the first transition tag for turning to the second area.

[0158] In some embodiments, the self-moving device includes an IMU sensor, and the position information of the self-moving device is determined based on the steering angle of the self-moving device represented by data from the IMU sensor.

[0159] In some embodiments, before determining the relative position relationship between the mobile device and the second area based on the expected transition pose information and the reference transition pose information, the method further includes:

[0160] Determine whether a time difference between a moment when the mobile device detects the first transition tag and a moment when the reference transition posture information corresponding to the first transition tag is recorded is greater than a preset threshold;

[0161] When the time difference is greater than a preset threshold, the mobile device is controlled to turn toward the direction of the first side, and the posture information of the mobile device after turning is recorded as reference transition posture information corresponding to the first transition tag for turning toward the second area.

[0162] In some embodiments, the method further comprises:

[0163] When the mobile device moves and / or works in the current working area, the width of the current working area is identified;

[0164] When the width of the current working area is less than or equal to a preset width threshold, the mobile device is guided to search for a transition label based on a field of view close to a boundary of the first side.

[0165] The control method, device and storage medium of the self-moving device of the present application are as follows: the self-moving device is configured to move and / or work in a working area, the working area includes a first area and a second area, the first area is provided with a first transition tag, and the control method includes: controlling the self-moving device to move along the boundary of the first area, and keeping the first side of the self-moving device close to the boundary of the first area; when the self-moving device detects the first transition tag and determines that the transition direction is correct based on the reference transition posture information corresponding to the first transition tag, controlling the self-moving device to turn in the direction of the first side and move to the second area; when the self-moving device detects the first transition tag and determines that the transition direction is incorrect based on the reference transition posture information corresponding to the first transition tag, controlling the self-moving device to continue moving along the boundary of the first area. The present application determines whether the transition direction is correct based on the reference transition posture information corresponding to the first transition tag, which can avoid the self-moving device from transitioning out of bounds due to an error, thereby improving the coverage rate of the actual working area.

[0166] In addition, an embodiment is also provided, which is a control device for a self-moving device, the device including a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the steps of the control method for the self-moving device as described above.

[0167] In addition, an embodiment is provided, which is a computer storage medium storing a computer program. When the computer program is executed by a processor, the steps of the above method for controlling a mobile device are implemented.

[0168] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, 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.

[0169] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention.

[0170] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, 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.

[0171] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, wherein the working area includes a first area and a second area, wherein: The first area is provided with a first transition label, and the control method includes: controlling the self-moving device to move along a boundary of the first area, and keeping a first side of the self-moving device close to the boundary of the first area; When the self-moving device detects the first transition tag and the second area is located on a first side of the self-moving device, controlling the self-moving device to turn toward the direction of the first side and move to the second area; When the self-moving device detects the first transition label and the second area is located on a second side of the self-moving device, the self-moving device is controlled to continue moving along the boundary of the first area.

2. The method according to claim 1, characterized in that After controlling the mobile device to move along the boundary of the first area, the control method further includes: When the mobile device detects the first transition tag, obtaining expected transition posture information of the mobile device turning toward the direction of the first side, and obtaining reference transition posture information corresponding to the first transition tag and turning toward the second area; Based on the expected transition posture information and the reference transition posture information, the relative position relationship between the self-moving device and the second area is determined, and the type of the relative position relationship includes that the second area is located on the first side of the self-moving device and the second area is located on the second side of the self-moving device.

3. The method according to claim 2, characterized in that The acquiring the expected transition posture information of the mobile device turning toward the direction where the first side is located includes: Obtaining current position information of the mobile device; The expected transition posture information is determined according to the current posture information and the preset posture information.

4. The method according to claim 2, characterized in that The second region is provided with a second transition tag used in pair with the first transition tag, and obtaining reference transition pose information corresponding to the first transition tag and turning toward the second region includes at least one of the following: Obtaining first historical transition posture information corresponding to the first transition tag, and using the first historical transition posture information as reference transition posture information corresponding to the first transition tag for turning toward the second area, wherein the first historical transition posture information corresponding to the first transition tag is recorded when the mobile device detects the first transition tag and turns; Obtain the second historical transition posture information corresponding to the second transition tag, process the second historical transition posture information, and determine the reference transition posture information corresponding to the first transition tag for turning toward the second area. The second historical transition posture information corresponding to the second transition tag is recorded when the mobile device detects the second transition tag and turns.

5. The method according to claim 4, characterized in that The method further comprises: When the self-mobile device detects the first transition tag and fails to obtain reference transition posture information corresponding to the first transition tag for turning toward the second area, controlling the self-mobile device to turn toward the direction of the first side; The posture information after the turn is recorded as reference transition posture information corresponding to the first transition tag for turning to the second area.

6. The method according to claim 2, characterized in that After controlling the mobile device to turn toward the first side and move toward the second area, the method further includes: The posture information after the mobile device turns is recorded as reference transition posture information corresponding to the first transition tag for turning to the second area.

7. The method according to claim 2, characterized in that The determining, based on the expected transition posture information and the reference transition posture information, a relative positional relationship between the self-mobile device and the second area includes: When the expected transition posture information and the reference transition posture information satisfy a preset relationship, the second area is located on the first side of the self-moving device; When the expected transition posture information and the reference transition posture information do not conform to a preset relationship, the second area is located on a second side of the self-moving device.

8. The method according to any one of claims 2 to 7, characterized in that The self-moving device includes an IMU sensor, and the position information of the self-moving device is determined according to the steering angle of the self-moving device represented by data of the IMU sensor.

9. The method according to any one of claims 2 to 7, characterized in that Before determining the relative position relationship between the mobile device and the second area based on the expected transition posture information and the reference transition posture information, the method further includes: Determine whether a time difference between a moment when the first transition tag is detected by the mobile device and a moment when the reference transition posture information corresponding to the first transition tag is recorded is greater than a preset threshold; When the time difference is greater than a preset threshold, the mobile device is controlled to turn toward the direction of the first side, and the posture information of the mobile device after turning is recorded as reference transition posture information for turning toward the second area corresponding to the first transition label.

10. The method according to claim 1, characterized in that The method further comprises: When the self-mobile device moves and / or works in the current working area, identifying the width of the current working area; When the width of the current working area is less than or equal to a preset width threshold, the self-mobile device is guided to search for a transition label based on a field of view close to a boundary of the first side.

11. A method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, wherein the working area includes a first area and a second area, wherein: The first area is provided with a first transition label, and the control method includes: controlling the self-moving device to move along a boundary of the first area, and keeping a first side of the self-moving device close to the boundary of the first area; When the self-mobile device detects the first transition tag and determines that the transition direction is correct based on the reference transition posture information corresponding to the first transition tag, controlling the self-mobile device to turn toward the direction of the first side and move to the second area; When the self-mobile device detects the first transition tag and determines that a transition direction is incorrect according to the reference transition posture information corresponding to the first transition tag, the self-mobile device is controlled to continue moving along the boundary of the first area.

12. A control device for a self-moving device, characterized in that: The device includes a processor and a memory; the memory stores a program, and the program is loaded and executed by the processor to implement the steps of the control method of the self-moving device according to any one of claims 1 to 11.

13. A computer storage medium storing a computer program, wherein: When the computer program is executed by a processor, the steps of the method for controlling a self-mobile device according to any one of claims 1 to 11 are implemented.

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