Control method, self-moving device and control system of self-moving device

Abstract

The invention provides a control method, self-moving equipment and a control system of the self-moving equipment, and the control method comprises the steps: responding to the situation that the self-moving equipment is located at the joint of a narrow region and a sub-region, planning to pass through the narrow region, and obtaining a working boundary of a working region according to preset map information; expanding the working boundary into the working area to obtain a map expansion boundary; determining the states of the narrow channel according to the map expansion boundary, wherein the states comprise communication and blocking; in response to the occlusion, a coverage path is generated, the coverage path connects the sub-regions, and the self-moving device passes through a narrow region corresponding to the narrow channel according to the coverage path. According to the control method provided by the invention, the coverage path is generated on the blocked narrow channel, so that the risk that the self-moving equipment goes out of the boundary or collides with obstacles outside the boundary in the narrow area is reduced, and the possibility that the self-moving equipment stops due to path searching failure is reduced.

Description

Technical Field

[0001] This application relates to the field of self-moving equipment technology, and more particularly to a control method, a self-moving equipment, and a control system for the self-moving equipment. Background Technology

[0002] With the development of science and technology, self-moving devices are widely used in people's work and life. Taking intelligent lawnmowers as an example, in narrow areas of the work area, the width of the narrow area is relatively narrow, and there may be obstacles such as bushes on both sides of the narrow area. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose a control method, a self-moving device, and a control system for the self-moving device, which can reduce the risk of the device going out of bounds and colliding with others when passing through narrow areas.

[0004] To achieve one of the aforementioned objectives, this application provides a control method applied to a self-moving device that moves and / or works within a working area. The working area includes a sub-area and a narrow area, the minimum width of which is less than a preset width threshold, and the narrow area connects to the sub-area. The control method includes: in response to the self-moving device being located at the connection between the narrow area and the sub-area, and planning to pass through the narrow area, obtaining the working boundary of the working area based on preset map information.

[0005] The working boundary is expanded into the working area to obtain the map expansion boundary;

[0006] The state of the narrow passage is determined based on the map expansion boundary, and the state includes connectivity and closure; wherein the narrow passage is formed by the map expansion boundary and corresponds to the narrow region;

[0007] In response to occlusion, a coverage path is generated, the coverage path connecting the sub-region, and the self-moving device passes through the narrow region corresponding to the narrow channel according to the coverage path.

[0008] As a further improvement to the embodiments of this application, the step of expanding the working boundary into the working area to obtain the map expansion boundary includes:

[0009] Detect the reliability of the current location signal;

[0010] The pre-stored correspondence between the location reliability and the expansion coefficient is invoked based on the reliability of the location signal.

[0011] The corresponding inflation coefficient is matched according to the credibility level, wherein the level of credibility is negatively correlated with the magnitude of the inflation coefficient.

[0012] As a further improvement to the embodiments of this application, the step of determining the state of the narrow passage based on the map expansion boundary, the state including connectivity and closure, includes:

[0013] The narrow passage includes a first boundary and a second boundary that are set opposite to each other;

[0014] Confirm the relative positional relationship between the first and second boundaries;

[0015] In response to the first and second boundaries coinciding and / or intersecting, the state of the narrow passage is confirmed as blocked.

[0016] As a further improvement to the embodiments of this application, the extension direction of the coverage path is the same as the extension direction of the narrow region, and the coverage path is located within the narrow region.

[0017] As a further improvement to the embodiments of this application, the generation of the coverage path includes:

[0018] Obtain the working boundary and generate the central axis of the narrow region;

[0019] The coverage path is planned based on the central axis and the working boundary, and the self-moving device travels back and forth between the narrow area and the sub-area according to the planned coverage path.

[0020] As a further improvement to the embodiments of this application, the control method further includes:

[0021] In response to connectivity, passable areas are identified based on map expansion boundaries and narrow passages;

[0022] Based on the width of the passable area, the movement path of the self-moving device is planned and generated;

[0023] The self-moving device travels back and forth between the sub-regions connected by the narrow passage according to the planned movement path.

[0024] To achieve one of the aforementioned objectives, this application provides a self-moving device, comprising:

[0025] body;

[0026] The mobile module is installed on the fuselage;

[0027] The task execution module is installed in the fuselage;

[0028] A control module, installed on the body, controls the movement module to move the self-moving device and controls the task execution module to perform work tasks;

[0029] The self-moving device is used to move and / or work within a work area, which includes a sub-area and a narrow area, wherein the minimum width of the narrow area is less than a preset width threshold, and the narrow area connects to the sub-area;

[0030] The control module responds to the fact that the self-moving device is located at the connection between the narrow area and the sub-area, and plans to pass through the narrow area, and obtains the working boundary of the working area according to preset map information;

[0031] The control module is used to expand the working boundary into the working area to obtain the map expansion boundary;

[0032] The control module determines the state of the narrow passage based on the map expansion boundary, and the state includes connectivity and closure; wherein, the narrow passage is formed by the map expansion boundary, and the narrow passage corresponds to the narrow area;

[0033] In response to occlusion, the control module generates a coverage path that connects the sub-regions, and the self-moving device passes through the narrow region corresponding to the narrow channel according to the coverage path.

[0034] As a further improvement to the embodiments of this application, an ultrasound module is also included, which remains in a closed state when the self-moving device is in a narrow area.

[0035] As a further improvement to the embodiments of this application, the control module is used to detect the credibility of the current positioning signal, call the preset correspondence between the credibility and the expansion coefficient according to the credibility, and match the corresponding expansion coefficient according to the credibility of the positioning signal, wherein the level of the credibility is negatively correlated with the magnitude of the expansion coefficient.

[0036] To achieve one of the aforementioned objectives, this application provides a control system for a self-moving device, wherein the control system operates any of the control methods described above.

[0037] The control method provided in this application expands the working boundary and plans the passage of the self-moving device through the narrow area according to the state of the narrow channel after expansion. It generates a coverage path on the closed narrow channel, so that the self-moving device passes through the narrow area along the coverage path. This reduces the risk of the self-moving device going out of bounds or colliding with obstacles outside the boundary in the narrow area, and also reduces the possibility of the self-moving device stopping due to failure to find a path. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the working area of ​​a self-moving device in related technologies.

[0039] Figure 2This is a schematic diagram of the expansion treatment of the working area;

[0040] Figure 3 A flowchart illustrating the control method provided in some embodiments of this application;

[0041] Figure 4 A schematic diagram of the coverage path of a self-moving device provided for some embodiments of this application;

[0042] Figure 5 A schematic diagram illustrating the working area expansion process of a self-moving device provided in other embodiments of this application;

[0043] Figure 6 A schematic diagram illustrating the working area expansion process of a self-moving device provided in other embodiments of this application;

[0044] Figure 7 A schematic diagram of the working area of ​​a self-moving device provided for other embodiments of this application;

[0045] Figure 8 A schematic diagram illustrating the working area expansion process of a self-moving device provided in other embodiments of this application;

[0046] Figure 9 A schematic flowchart of the expansion process in the control method provided in some embodiments of this application;

[0047] Figure 10 A schematic diagram of the process for confirming blockage in a control method provided in some embodiments of this application;

[0048] Figure 11 A flowchart illustrating the path planning process in a control method provided in some embodiments of this application;

[0049] Figure 12 A schematic diagram of the response connectivity in the control method provided in some embodiments of this application;

[0050] Figure 13 A schematic diagram of the skeleton lines in the working area of ​​a self-moving device provided in some embodiments of this application;

[0051] Figure 14 A schematic diagram of the working area of ​​a self-moving device provided for other embodiments of this application;

[0052] Figure 15 A schematic diagram of a self-moving device provided for some embodiments of this application;

[0053] Figure 16 A schematic diagram of a self-moving device provided for some embodiments of this application.

[0054] Reference numerals: 100, self-moving device; 101, sub-region; 102, narrow region; 103, shaded area; 104, obstacle; 105, expansion area; 110, coverage path; 111, outer boundary; 112, inner boundary; 120, narrow passage; 121, first boundary; 122, second boundary; 123, third boundary; 130, skeleton line. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0056] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0057] Self-moving devices are robots that integrate all necessary components, such as positioning modules, sensors, controllers, and batteries, and can independently complete certain tasks without external human input or control during operation. Examples of self-moving devices include automatic vacuum cleaners, intelligent lawnmowers, and automatic trimmers. These devices automatically move across the ground or surfaces in their work area to perform tasks such as cleaning, mowing, or snow removal.

[0058] refer to Figure 1As shown, in related technologies, a self-moving device 100, such as a lawnmower, typically includes a body and a movement module, a task execution module, and a control module mounted on the body. The movement module drives the lawnmower to move, the task execution module performs the mowing task, and the control module controls the lawnmower to move and operate along a preset path. After completing its work in one sub-area 101, the lawnmower needs to move through a narrow area 102 to another sub-area 101 for mowing. During this process, it needs to search for a path and track the target area. Positioning technologies such as GPS (Global Positioning System) or visual SLAM (Simultaneous Localization and Mapping) are used to ensure the device stays within the boundaries of the narrow area 102 during movement. Alternatively, sensors such as ultrasonic sensors, lidar, and cameras are used to assist in obstacle avoidance, improving the mobility of the device in the narrow area 102.

[0059] The inventors discovered that the current RTK (Real Time Kinematic) positioning technology used for real-time dynamic positioning of the self-moving device 100 has several drawbacks. When the self-moving device 100 passes through a narrow area 102, if a shadow area 103 appears in the narrow area 102, or if the narrow area is located within a shadow area (where the shadow area refers to the location where the positioning signal quality of the self-moving device does not meet the requirements), the self-moving device may go out of bounds due to positioning offset when walking along the edge or close to the boundary through the narrow area. Furthermore, there may be obstacles 104 such as bushes on both sides of the narrow area 102. If the self-moving device 100 walks close to the edge in the narrow area 102, it may frequently trigger obstacle avoidance strategies, leading to the risk of collision and shutdown of the self-moving device 100.

[0060] Based on this, this application provides a control method to solve the above-mentioned technical problems.

[0061] refer to Figures 3 to 6 As shown, some embodiments of this application provide a control method applied to a self-moving device 100. The self-moving device 100 moves and / or works within a working area. The working area includes a sub-region 101 and a narrow region 102. The minimum width of the narrow region 102 is less than a preset width threshold. The narrow region 102 is connected to the sub-region 101. The control method includes:

[0062] Step S1: In response to the self-moving device 100 being located at the connection point between the narrow area 102 and the sub-area 101, and planning to pass through the narrow area 102, the working boundary of the working area is obtained according to the preset map information; wherein, the connection point refers to the position in the sub-area 101 where the distance from the narrow area 102 is less than a distance threshold, and the distance threshold is set according to actual needs, such as a distance threshold of 1 meter or 1.5 meters, etc.

[0063] Step S2: Expand the working boundary into the working area to obtain the map expansion boundary;

[0064] Step S3: Determine the state of the narrow passage 120 based on the map expansion boundary. The state includes connectivity and closure. The narrow passage 120 is formed by the map expansion boundary and corresponds to the narrow region 102.

[0065] Step S4: In response to the state of the narrow channel 120 being blocked, a coverage path 110 is generated, which connects the sub-region 101. The self-moving device 100 passes through the narrow region corresponding to the narrow channel 120 according to the coverage path 110.

[0066] The control method of this application expands the working boundary and plans the self-moving device 100 to pass through the narrow area 102 according to the state of the narrow passage 120 after expansion. A coverage path 110 is generated on the closed narrow passage 120, and the self-moving device 100 passes through the narrow area 102 along the coverage path 110. This reduces the risk of the self-moving device 100 going out of bounds or colliding with obstacles outside the boundary in the narrow area 102, and also reduces the possibility of the self-moving device 100 stopping due to pathfinding failure.

[0067] Specifically, an expansion zone 105 is formed by expanding the working boundary into the working area. That is, the expansion zone corresponds to the area of ​​pixels that differ from the original map after the working boundary has been expanded. The expansion zone 105 is typically a restricted area, and its width is the expansion distance. For example, the expansion distance is one times the device width, and a preset width threshold is twice the device width, where the device width refers to the maximum width of the outer contour of the self-moving device 100.

[0068] If the minimum width of the narrow area 102 is greater than one times the fuselage width but less than two times the fuselage width, the narrow passage 120 will be in a blocked state after the working boundary corresponding to the narrow area 102 is expanded. Although the expanded area 105 is a restricted area, the priority of the self-moving device 100 in the coverage path 110 is higher than the priority of being restricted in the expanded area 105. Therefore, even if the expanded area 105 completely covers the narrow area 102, the self-moving device 100 can still pass along the coverage path 110.

[0069] Optionally, the preset width threshold can be set to other values ​​as needed.

[0070] Optionally, each sub-region 101 is independent of each other, and the number of sub-regions 101 can be more than two. The narrow region 102 can connect several independent sub-regions 101 together at the same time to realize the transfer of the self-moving device 100 from one sub-region 101 to another sub-region 101. The smart lawnmower does not perform lawn mowing operations in the narrow region 102.

[0071] Optional, see reference Figure 7 , Figure 8 As shown, in other embodiments, the sub-regions 101 may not be independent of each other. For example, each sub-region 101 may be a different component of the same working area. Specifically, the working boundary of the working area includes an outer boundary 111 and an inner boundary 112. Obstacles 104, such as trees and pits, exist in the working area. The outer boundary 111 includes the boundary of the sub-region 101, and the inner boundary 112 includes the boundary of the obstacle 104. The working boundary expands into the working area; that is, the boundary of the sub-region 101 expands inward by a certain distance, while the boundary of the obstacle 104 expands outward by the same amount. The intelligent lawnmower performs mowing operations in the narrow area 102.

[0072] In addition, refer to Figure 14 As shown, in some other embodiments, the working area includes a sub-region 101 and a narrow region 102, which are connected.

[0073] Optionally, in some other implementations, the selection or labeling of narrow regions can also be obtained through morphological erosion and dilation operations. For example, the maximum width of the fuselage is selected as the boundary of the original map for erosion, and the processed image is then dilated. Regions with widths less than two fuselage widths lose their corresponding boundary information due to the erosion operation, and their original boundaries cannot be recovered after a subsequent dilation operation. Therefore, the new boundary obtained after the erosion and dilation operation differs from the original working boundary, and the corresponding difference is extracted as a narrow region. Regions connected by these narrow regions are then selected as corresponding sub-regions. In some specific implementations, the width of the erosion and dilation can also be other values, but in principle, it should be greater than the maximum width of the fuselage.

[0074] refer to Figure 4 , Figure 5 , Figure 6 , Figure 9 As shown, in some embodiments of this application, step S2 includes:

[0075] Step S21: Detect the reliability of the current positioning signal;

[0076] Step S22: Based on the reliability of the positioning signal, call the pre-stored preset correspondence between the positioning reliability and the expansion coefficient;

[0077] Step S23: Match the corresponding expansion coefficient according to the credibility of the positioning signal, where the higher the credibility, the lower the expansion coefficient.

[0078] Specifically, the self-moving device 100 can detect the reliability of the positioning signal. The reliability of the positioning signal is negatively correlated with the expansion coefficient, while the expansion coefficient is positively correlated with the expansion distance. That is, the higher the reliability of the positioning signal, the lower the expansion coefficient and the smaller the expansion distance. Therefore, when the reliability of the positioning signal is high, the expansion distance is small to increase the completion rate of the self-moving device 100 in the working area; conversely, a larger expansion distance is required to prevent the self-moving device 100 from exceeding the boundary.

[0079] When the self-moving device 100 encounters an area with low reliability of the positioning signal, it increases the expansion distance by matching the corresponding expansion coefficient, so that the self-moving device 100 can move as centrally as possible. Even if the narrow channel 120 is blocked after the working boundary expansion processing, the self-moving device 100 can move along the coverage path 110, thereby reducing the risk of the device going out of bounds due to poor positioning signal quality.

[0080] The reliability of the positioning signal is expressed as a percentage of its quality, illustrating the relationship between the reliability of the positioning signal and the preset expansion coefficient.

[0081] refer to Figure 4 , Figure 8 As shown, in some embodiments, if the quality percentage of the positioning signal of the self-moving device 100 does not meet the set positioning signal quality threshold, then the location of the self-moving device 100 is determined to be a shadow area, and the expansion coefficient and expansion distance during the working boundary expansion process are taken to the maximum value. The specific value of the expansion distance is one times the width of the body or expanded to 1.5 meters.

[0082] refer to Figure 6 As shown, in some other embodiments, when the quality percentage of the positioning signal of the self-moving device 100 is at its maximum value, the expansion coefficient and expansion distance during the working boundary expansion process are taken to their minimum values, and the expansion distance is set to 10 to 13 centimeters depending on the model.

[0083] refer to Figure 5 As shown, in some other embodiments, when the quality percentage of the positioning signal of the self-moving device 100 is between the positioning signal quality threshold and the maximum value, the expansion distance of the working boundary expansion is also between its maximum and minimum values.

[0084] In the embodiments provided in this application, the self-moving device obtains the positioning accuracy of its current location when it is at the junction of a narrow area and a sub-area and plans to pass through the narrow area. Through this method, the self-moving device can confirm the specific boundary information of the narrow passage corresponding to the narrow area before entering it, thereby planning the route in advance and passing through the narrow area as quickly as possible. This reduces the risk of the self-moving device going out of bounds or colliding with boundaries when operating in shadowed areas, and also avoids the problem of the passage being blocked after the narrow area is expanded, leading to route search failure and potentially causing the self-moving device to stop. In some other embodiments, the self-moving device can also detect the quality of the positioning signal in real time to obtain the corresponding expansion coefficient, thereby obtaining a more accurate map expansion boundary, enabling the self-moving device to achieve better path planning coverage in narrow areas.

[0085] refer to Figure 5 , Figure 6 , Figure 10 As shown, in some embodiments, step S3 includes:

[0086] Step S31: The narrow passage 120 includes a first boundary 121 and a second boundary 122 that are set opposite to each other; confirm the relative positional relationship between the first boundary 121 and the second boundary 122;

[0087] Step S32: In response to the first boundary 121 and the second boundary 122 coinciding and / or intersecting, confirm that the narrow passage 120 is in a blocked state.

[0088] In the process of expanding the working boundary, the state of the narrow channel 120 can be determined efficiently and accurately based on the relative positional relationship between the dynamically moving first boundary 121 and the second boundary 122. In the connected state, there is no need to perform the next step of generating a coverage path.

[0089] For example, if the first boundary 121 and the second boundary 122 are two parallel lines, then during the expansion process of the working boundary, when the first boundary 121 and the second boundary 122 coincide or coincide and then stagger, the state of the narrow channel 120 is confirmed to be blocked.

[0090] For example, if the first boundary 121 and the second boundary 122 are two non-parallel straight lines or curves, then during the expansion process of the working boundary, when the first boundary 121 and the second boundary 122 intersect or partially overlap, the state of the narrow channel 120 is confirmed to be blocked.

[0091] refer to Figure 14As shown, in some other embodiments, the narrow region 102 is connected to a sub-region 101. The narrow region 102 includes a first boundary 121, a second boundary 122, and a third boundary 123. The first boundary 121 and the second boundary 122 are arranged opposite to each other. The minimum width between the first boundary 121 and the second boundary 122 is less than a preset width threshold, specifically twice the width of the fuselage or other values ​​as needed. The ends of the first boundary 121 and the second boundary 122 that are away from the narrow region 102 are connected by the third boundary 123.

[0092] In some other implementations, the number of boundaries of the narrow region may be greater than three, including a first boundary and a second boundary set opposite to each other, and the minimum width between the first boundary and the second boundary is less than a preset width threshold.

[0093] refer to Figure 4 As shown, in some embodiments, in step S4, the extension direction of the coverage path 110 is the same as the extension direction of the narrow region 102, and the coverage path 110 is located within the narrow region 102.

[0094] When the narrow passage 120 is blocked, the self-moving device 100 travels along the coverage path 110 in the narrow area 102, and the direction of travel is the same as the extension direction of the narrow area 102. The path planning is safe and reasonable, reducing the risk of encountering equipment going out of bounds or colliding.

[0095] refer to Figure 11 As shown, in some embodiments, generating the coverage path in step S4 includes:

[0096] Step S41: Obtain the working boundary of the working area and generate the central axis of the narrow area 102;

[0097] Step S42: Plan the coverage path according to the central axis and working boundary. The self-moving device 100 travels back and forth between the narrow area 102 and the sub-area 101 according to the planned coverage path.

[0098] For details, please refer to Figure 13 As shown, in step S41, based on the working boundary, the Zhang-Suen thinning algorithm (skeleton extraction algorithm) is used to extract the skeleton line 130 of the entire working area. The skeleton line is specifically used to represent the structural features and topological relationships of the area. The skeleton line 130 includes the central axis located in the narrow area 102. The central axis is used as the basis for the self-moving device 100 to plan its path. The self-moving device 100 travels back and forth between the narrow area 102 and its connected sub-area 101.

[0099] Specifically, the width of the central axis is one grid cell on the map.

[0100] When the narrow passage 120 is blocked, the central axis of the narrow area 102 is extracted by an algorithm based on the working boundary. Then, the self-moving device 100 plans a path based on the central axis. The central axis ensures that the device can travel along the central path in the narrow area 102, reducing the risk of going out of bounds and colliding during the movement of the self-moving device 100.

[0101] refer to Figure 5 , Figure 6 , Figure 12 As shown, in some embodiments, the control method further includes:

[0102] Step S51: In response to the state of the narrow passage 120 being connected, the passable area is confirmed based on the map expansion boundary and the narrow passage 120;

[0103] Step S52: Based on the width of the passable area, plan and generate the movement path of the mobile device 100;

[0104] Step S53: The self-moving device 100 travels back and forth to the sub-region 101 connected by the narrow passage 120 according to the planned movement path.

[0105] For example, such as Figure 6 As shown, when the width of the passable area is greater than the preset width, the self-moving device 100 travels back and forth between the two sub-areas 101 and the narrow area 102 along a "bow" shaped path.

[0106] For example, such as Figure 5 As shown, when the width of the passable area is less than or equal to the preset width, the self-moving device 100 can travel along the edge, skeleton line, or multiple paths in a sub-area 101. After completing the work in a sub-area 101, it can travel through the narrow passage 120 to another sub-area 101 and perform the work along the edge, skeleton line, or multiple paths.

[0107] refer to Figure 15 As shown, an embodiment of this application provides a self-moving device, comprising:

[0108] body;

[0109] The mobile module is installed in the main body;

[0110] The task execution module is installed in the machine body;

[0111] The control module, installed on the machine body, controls the movement module to move the self-moving device and controls the task execution module to perform work tasks;

[0112] The self-moving device is used to move and / or work within a work area, including sub-areas and narrow areas, where the minimum width of the narrow area is less than a preset width threshold, and the narrow area connects to the sub-areas.

[0113] The control module operates the control methods described in any of the above embodiments. The principle of the control method can be referred to the implementation method described above, and will not be repeated here.

[0114] The self-moving device provided in this application, through the control module controlling the movement module and the task execution module, can move and / or work along the coverage path in a closed, narrow passage, reducing the risk of going out of bounds or colliding with obstacles outside the boundary in a narrow area, and reducing the possibility of downtime due to pathfinding failure.

[0115] refer to Figure 16 As shown, in some embodiments, the self-moving device also includes an ultrasound module that remains switched off when the self-moving device is in a confined area.

[0116] The ultrasonic module mainly uses ultrasonic waves to measure distances to avoid obstacles. When the self-moving device is in a narrow area, the ultrasonic module remains off to prevent the ultrasonic module from intervening in the control when the self-moving device is close to the boundary, which would cause the planned path to get stuck at the boundary, resulting in the device jamming or stopping.

[0117] The present application provides a control system for a self-moving device that operates the control methods described in any of the above embodiments. The principle of the control method can be referred to the implementation of the above control method, and will not be repeated here.

[0118] The control system for the self-moving device provided in this application controls the self-moving device to pass through a narrow area. By expanding the working boundary, the system determines the state of the narrow channel after expansion and generates a coverage path on the closed narrow channel, enabling the self-moving device to walk along the coverage path and move through the narrow area to a sub-area, thereby reducing the risk of going out of bounds or colliding with obstacles outside the boundary in the narrow area.

[0119] It should be noted that "a certain body" or "a certain part" can be a portion of the corresponding "component," meaning that "a certain body" or "a certain part" is integrally formed and manufactured with the "other parts of the component"; or it can be an independent component that can be separated from the "other parts of the component," meaning that "a certain body" or "a certain part" can be manufactured independently and then combined with the "other parts of the component" to form a whole. The expression of "a certain body" or "a certain part" in this application is only one embodiment for ease of reading, and is not intended to limit the scope of protection of this application. Any technical solution that includes the above features and has the same function should be understood as an equivalent technical solution of this application.

[0120] It should be noted that some embodiments of this application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.

[0121] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; under the concept of this application, the above embodiments or technical features of different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0122] The embodiments described herein are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments described herein should be included within the protection scope of this application.

Claims

1. A control method applied to a self-moving device, the self-moving device moving and / or working within a working area, the working area comprising a sub-region and a narrow region, the minimum width of the narrow region being less than a preset width threshold, the narrow region connecting the sub-region, characterized in that, The control method includes: In response to the self-moving device being located at the junction of the narrow area and the sub-area, and planning to pass through the narrow area, the working boundary of the working area is obtained according to preset map information; The working boundary is expanded into the working area to obtain the map expansion boundary; The state of the narrow passage is determined based on the map expansion boundary, and the state includes connectivity and closure; wherein the narrow passage is formed by the map expansion boundary and corresponds to the narrow region; In response to the narrow channel being blocked, a coverage path is generated, the coverage path connecting the sub-region, and the self-moving device passes through the narrow region corresponding to the narrow channel according to the coverage path.

2. The control method according to claim 1, characterized in that, The process of expanding the working boundary into the working area to obtain the map expansion boundary includes: Detect the reliability of the current location signal; The pre-stored correspondence between the confidence level and the expansion coefficient is invoked based on the confidence level of the positioning signal. The corresponding inflation coefficient is matched according to the credibility level, wherein the level of credibility is negatively correlated with the magnitude of the inflation coefficient.

3. The control method according to claim 1, characterized in that, The state of the narrow passage is determined based on the map expansion boundary, the state including connectivity and closure, including: The narrow passage includes a first boundary and a second boundary that are set opposite to each other; Confirm the relative positional relationship between the first and second boundaries; In response to the first and second boundaries coinciding and / or intersecting, the state of the narrow passage is confirmed as blocked.

4. The control method according to claim 1, characterized in that, The coverage path extends in the same direction as the narrow region, and the coverage path is located within the narrow region.

5. The control method according to claim 1, characterized in that, The generated coverage path includes: Obtain the working boundary and generate the central axis of the narrow region; The coverage path is planned based on the central axis and the working boundary, and the self-moving device travels back and forth between the narrow area and the sub-area according to the planned coverage path.

6. The control method according to claim 1, characterized in that, The control method further includes: In response to the narrow passage being connected, a passable area is determined based on the map expansion boundary and the narrow passage. Based on the width of the passable area, the movement path of the self-moving device is planned and generated; The self-moving device travels back and forth between the sub-regions connected by the narrow passage according to the planned movement path.

7. A self-moving device, comprising: body; The mobile module is installed on the fuselage; The task execution module is installed in the fuselage; A control module, installed on the body, controls the movement module to move the self-moving device and controls the task execution module to perform work tasks; The self-moving device is used for moving and / or working within a work area, comprising a sub-region and a narrow region, wherein the minimum width of the narrow region is less than a preset width threshold, and the narrow region connects to the sub-region; characterized in that, The control module responds to the fact that the self-moving device is located at the connection between the narrow area and the sub-area, and plans to pass through the narrow area, and obtains the working boundary of the working area according to preset map information; The control module is used to expand the working boundary into the working area to obtain the map expansion boundary; The control module determines the state of the narrow passage based on the map expansion boundary, and the state includes connectivity and closure; wherein, the narrow passage is formed by the map expansion boundary, and the narrow passage corresponds to the narrow area; In response to occlusion, the control module generates a coverage path that connects the sub-regions, and the self-moving device passes through the narrow region corresponding to the narrow channel according to the coverage path.

8. The self-moving device according to claim 7, characterized in that, It also includes an ultrasound module, which remains switched off when the self-moving device is in a confined area.

9. The self-moving device according to claim 7, characterized in that, The control module is used to detect the credibility of the current positioning signal, call the pre-stored preset correspondence between the credibility and the expansion coefficient according to the credibility, and match the corresponding expansion coefficient according to the credibility. The level of the credibility is negatively correlated with the magnitude of the expansion coefficient.

10. A control system for a self-moving device, characterized in that, The control system operates the control method as described in any one of claims 1-6.

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