Operating methods, computer equipment, and storage media for self-moving devices

Abstract

This application relates to the field of mobile control technology and provides a method for operating a self-moving device, a computer device, and a storage medium. The method includes: after acquiring a target working sub-area, a movement path, and a work path, controlling the self-moving device to move from a starting position along the movement path to the starting point of the target working sub-area; performing work in the target working sub-area along the work path from the starting point; and after reaching the end point of the target working sub-area, completing the work and returning to the target position along the movement path. By setting the movement path at least partially within the target working sub-area and on one side of the work area, this application can reduce the time occupied in the work area during operation. At the same time, by setting the size of the target working sub-area to be less than or equal to the maximum working coverage area determined by the self-moving device based on its battery life, the working time of the self-moving device and the reliability and stability of the work area can be guaranteed, thereby improving the working efficiency of the self-moving device.

Description

Technical Field

[0001] This application belongs to the field of mobile control technology, and in particular relates to an operating method, computer equipment, and storage medium for a self-moving device. Background Technology

[0002] With the increasing pursuit of efficiency and automation, self-moving equipment is being used in more and more fields to reliably complete designated tasks and meet the needs of various aspects of work production. However, traditional self-moving equipment suffers from low work efficiency due to the instability of working time and working area, as well as the long time it occupies the working area. Summary of the Invention

[0003] This application provides an operating method, computer device, and storage medium for a self-moving device, which can improve the working efficiency of the self-moving device.

[0004] In a first aspect, this application provides a method for operating a self-moving device, which may include:

[0005] The system acquires a target working sub-region, a movement path, and a work path; the target working sub-region is located within the work area, the movement path is at least partially located within the target working sub-region, and the movement path is located on one side of the work area; the start and end points of the work path are both located within the movement path; the area of ​​the target working sub-region is less than or equal to the maximum working coverage area of ​​the self-mobile device; the maximum working coverage area of ​​the self-mobile device is determined based on the battery life of the self-mobile device.

[0006] The self-moving device is controlled to move from the starting position along the moving path to the starting point, and after performing work on the target work sub-area along the working path, it returns to the target position along the moving path after reaching the endpoint, so as to complete the work task on the target work sub-area.

[0007] Secondly, embodiments of this application provide an operating device for a self-moving device, which may include:

[0008] The acquisition module is used to acquire a target working sub-area, a movement path, and a work path; the target working sub-area is located within the work area, the movement path is at least partially located within the target working sub-area, and the movement path is located on one side of the work area; the start and end points of the work path are both located within the movement path; the area of ​​the target working sub-area is less than or equal to the maximum working coverage area of ​​the self-moving device; the maximum working coverage area of ​​the self-moving device is determined based on the battery life of the self-moving device.

[0009] The drive module is used to control the self-moving device to move from the starting position along the movement path to the starting point, and to perform work on the target work sub-area along the work path. After reaching the end point, it returns to the target position along the movement path to complete the work task on the target work sub-area.

[0010] Thirdly, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0011] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0012] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method described in the first aspect above.

[0013] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect, and will not be repeated here.

[0014] The beneficial effects of this application compared with the prior art are as follows: In this application, after obtaining the target working sub-area, the movement path, and the operation path, the self-moving device is controlled to move from its starting position along the movement path to the starting point of the target working sub-area. From the starting point, it performs operations within the target working sub-area along the operation path. After reaching the end point of the target working sub-area, the operation is completed, and the device returns to the target position along the movement path. By setting the movement path at least partially within the target working sub-area and on one side of the work area, this application can reduce the time spent occupying the work area during operation. Simultaneously, by setting the size of the target working sub-area to be less than or equal to the maximum working coverage area determined by the self-moving device based on its battery life, the problem of the self-moving device returning to charge due to insufficient battery power is avoided. Furthermore, this ensures the working time of the self-moving device and the reliability and stability of the work area, improving the working efficiency of the self-moving device. It also has strong usability and practicality. Attached Figure Description

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 This is a flowchart illustrating the operating method of the self-moving device provided in an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the operating scenario of the self-moving device provided in the embodiments of this application;

[0018] Figure 3 This is a flowchart illustrating the method for determining the target working sub-region provided in an embodiment of this application;

[0019] Figure 4 This is a schematic diagram of the work area division provided in an embodiment of this application;

[0020] Figure 5 This is a schematic diagram illustrating the determination of the maximum working coverage area provided in an embodiment of this application;

[0021] Figure 6 This is a schematic diagram illustrating the determination of the job path provided in an embodiment of this application;

[0022] Figure 7 This is a schematic diagram of the operating device of the self-moving device provided in the embodiments of this application;

[0023] Figure 8 It is a structural diagram of the computer device provided in an embodiment of the present application. Detailed Implementation

[0024] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0025] With the development of technology, self-moving devices have become a new type of tool widely used in various fields of production and life. In certain specific fields and work environments, self-moving devices can improve work efficiency and safety. For example, in the field of environmental greening, lawn mowing robots are used to manage large lawns; in the field of mine clearance and detection, mine-clearing robots are used to complete mine clearance tasks; and in the field of home appliances, sweeping robots or floor cleaning robots are used to complete environmental cleaning tasks.

[0026] Currently, the working environment of self-moving devices is complex and diverse. Traditional self-moving devices require a lot of manpower and may have defects such as unreasonable work area planning and long and unstable occupation of the work area, resulting in low work efficiency of self-moving devices.

[0027] Taking lawn mowing robots as an example, lawn mowing robots are equipped with high-speed rotating blades during operation, which poses certain risks. It is necessary to ensure the safety of the work area while the lawn mowing robot is in operation. Traditional lawnmowers, when operating in large areas, divide the entire work area into multiple sub-areas. While working in one sub-area, the robot monitors its battery level. When the battery is low, it returns to the charging dock to recharge, then returns to the point where it was interrupted to continue the remaining work until the sub-area is completed. Returning to the charging dock and returning to the interruption point may involve passing through areas that have already been worked on. Alternatively, after completing a sub-area, it returns to the charging dock or starting position, waiting for the next opportunity to continue working in the next sub-area. When moving from the charging dock or starting position to the next sub-area, it may also pass through previously completed sub-areas. Therefore, for large lawns, the unreasonable division of work areas and the instability of the lawnmower's working time—such as when and where it returns to the charging dock or when it returns to the interruption point—mean that the lawnmower may randomly pass through or appear in certain areas of the lawn. Consequently, users cannot determine the lawnmower's operational status or the safety of the work area, requiring significant manpower for tracking.

[0028] Furthermore, when a lawnmower robot finishes working in one sub-area, it may need to pass through the previous sub-area to work in the next sub-area, thus continuing to occupy the previous sub-area. This results in a longer occupation time in some working areas during the management of a large lawn, leading to lower overall work efficiency and a lower safety factor during operation.

[0029] To address the aforementioned deficiencies, this application provides an operational method for an automated mobile device. By planning and setting the work area and working time using an automated device, and performing operations according to the set path and working mode, the stability of the working time and work area can be guaranteed, the time occupied in the work area can be reduced, and the overall work efficiency can be improved.

[0030] This application provides a method for operating a self-moving device. The specific process of implementing this method is described below through embodiments of this application.

[0031] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the operating method for a self-moving device provided in this application. Figure 1 As shown, the method includes the following steps:

[0032] S101, obtain the target working sub-region, movement path, and job path.

[0033] In some embodiments, the executing entity of the method may be a self-moving device, a computer device integrated on a self-moving device, or a computer device that communicates with and controls the self-moving device via wired or wireless means. This application uses a self-moving device as an example to illustrate the executing entity.

[0034] Please see Figure 2 , Figure 2 This is a schematic diagram of the operating scenario of the self-moving device provided in the embodiments of this application. For example... Figure 2 As shown, the working area of ​​the self-moving device can include a sub-area of ​​executed tasks, a waiting-to-work area, and a movement path. The movement path can be located on one side of the waiting-to-work area, which includes the target sub-area where the task will be performed. A portion of the movement path can be located within the target sub-area; for example, one side of a section of the movement path may be within the corresponding target sub-area. Each target sub-area includes the start and end points of the task, which can be located within the movement path, for example, on one side of a section of the movement path, within the target sub-area.

[0035] Accordingly, the starting position of the work area can be the charging location of the self-moving device. When the self-moving device needs to enter the target work sub-area to perform operations, the movement path from the starting position to the starting point of the target work sub-area can be recorded as the round-trip distance corresponding to the current target work sub-area. In each target work sub-area, the self-moving device plans a corresponding work path based on its corresponding round-trip distance and the power consumption generated in the target work sub-area, ensuring that the endpoint of the work path is also within the movement path area. The work path can also take other forms. Figure 2 This is merely an example illustration, for example, based on the current Figure 2 The view can also be a trajectory that starts from the starting point and moves to the side away from the movement path, and works in the left and right directions; when the work path is a back-and-forth work trajectory in the left and right directions, the end point of the work path can also return to the starting point; that is, there are no specific restrictions on the work path and the end point of the target work sub-area, and it can be set based on the maximum work coverage area that can be achieved by the self-moving device on a single charge.

[0036] Wherein, the area of ​​the target working sub-region is less than or equal to the area of ​​the maximum working coverage sub-region of the self-moving device, such as Figure 2As shown, the maximum working coverage sub-region includes the target working sub-region. For example, when a portion of the movement path is entirely within the corresponding target working sub-region, the area of ​​the target working sub-region is equal to the area of ​​the maximum working coverage sub-region. Conversely, when only one side of a portion of the movement path is partially within the corresponding target working sub-region, the area of ​​the target working sub-region is smaller than the area of ​​the maximum working coverage sub-region. The width of the movement path can be set based on the operating width of the self-moving device and the area corresponding to the target working sub-region.

[0037] For example, the area of ​​the maximum working coverage sub-region can be determined based on the battery life of the self-mobile device, or based on the battery life and the round-trip distance between the target working sub-region and the starting position.

[0038] It should be noted that, Figure 2 This is merely an example illustrating one way to plan the work area when a self-moving device is operating. For work areas of different shapes, flexible planning can also be made based on the self-moving device's battery life, the area of ​​the target work sub-area, and the movement path. Based on the division of the movement path, the stability of the work sub-areas where the work has already been performed is ensured; based on the calculation of the maximum work coverage area of ​​the maximum work coverage sub-area, the relative stability of the area to be worked is ensured; and based on the self-moving device's battery life, the maximum work coverage area is determined, ensuring the timeliness of each target work sub-area and improving the efficiency of operating the entire work area.

[0039] For example, Figure 2 As shown, the target working sub-area is located within the area to be worked, and the movement path is at least partially located within the target working sub-area, and the movement path is located on one side of the area to be worked; the start and end points of the work path are both located within the movement path; the area of ​​the target working sub-area is less than or equal to the maximum working coverage area of ​​the self-moving device; the maximum working coverage area of ​​the self-moving device is determined based on the battery life of the self-moving device.

[0040] For example, before the self-moving device performs operations on the work area, it can first map the entire work area. For instance, the self-moving device receives control from other mobile terminals and can move around the boundary of the work area and record boundary information and obstacle location information, or obtain the boundary and obstacle location information of the work area entered by the user on the map, or the boundary information and obstacle location information recorded around the boundary of the work area sent by other mobile positioning devices.

[0041] When tracking boundaries, the self-moving device can build a map based on the acquired boundary information, obtaining a complete map of the entire working area. For example, it can determine the location and overall size of the map based on the tracked trajectory, and determine the location of obstacles in the map through visual positioning.

[0042] For example, mapping algorithms implemented by mobile devices include, but are not limited to, overlay raster mapping algorithms, counting mapping algorithms, or truncated signed distance function (TSDF) based mapping algorithms.

[0043] In some embodiments, after the mobile device completes mapping, the range of commonly used working areas can be divided according to the map shape features corresponding to the current working area.

[0044] For example, a self-moving device can delineate an edge path as a commonly used work area based on the acquired boundary information of the work area and the corresponding map shape features, for example... Figure 2 The path trajectory shown can be traversed within the area; or, after mapping, the self-mobile device can display the map corresponding to the work area to the user via its screen, allowing the user to directly manipulate the map and delineate frequently used work areas; or, after mapping, the self-mobile device can transmit the map to the user terminal via wired or wireless means, and receive the frequently used work areas set by the user from the user terminal; or, after mapping, the self-mobile device can receive frequently used work areas determined by other mobile devices on the map via wired or wireless means, such as remote-controlled robots or handheld positioning devices, and the determined frequently used work areas can be areas selected by the user on the map by the remote-controlled robot or areas determined by the user through a handheld positioning device; or, after determining the initial frequently used work areas based on the map's boundary information and shape features, the self-mobile device can receive adjustment information input by the user, adjust the initial frequently used work areas according to the adjustment information, and obtain the final determined frequently used work areas.

[0045] In some embodiments, the self-moving device can also segment the work area based on the boundary information of the work area, obstacle location information, information of the finally determined commonly used work areas, and its own range information (or battery level), dividing the work area into various sub-work areas in the established map, for example... Figure 4 Figure (a) shows working sub-region 1, working sub-region 2, working sub-region 3, and the movement path (common working area) located on one side of the working sub-region.

[0046] Among them, such as Figure 2As shown, the starting and ending points of the segmented work sub-areas are located within the commonly used work area. The self-moving device can complete the process from the starting position to the starting point of the work sub-area, complete the work in the work sub-area according to the work path, and return to the starting position or charging dock within the maximum battery capacity of the self-moving device.

[0047] For example, after the self-mobile device performs region segmentation, it can also receive adjustment information input by the user for each work sub-region. Based on the adjustment information, the work area is re-segmented. For example, the adjustment information could be information to increase the overlapping area between two adjacent work sub-regions to ensure that the self-mobile device performs more complete work at the boundary between two work sub-regions, improve work coverage, and avoid leaving unfinished areas at the boundary between adjacent completed work sub-regions. The adjustment information could also be information to adjust the boundary of a commonly used work area that is at least partially located within a work sub-region. For example, if a commonly used work area is divided along the first boundary of the work area, and this first boundary is curved, the second boundary of the commonly used work area may be adjacent to or partially located within a work sub-region. The adjustment information could also be used to adjust the second boundary of the commonly used work area to be a curve parallel to the first boundary. Figure 4 As shown in Figure (c). No specific limitations are made on the user's adjustment information here; the self-moving device can directly or indirectly receive the user's adjustment information input for region segmentation.

[0048] For example, after determining the segmented work sub-areas, the self-moving device receives a work plan input by the user. This work plan can be a set of tasks to be completed within a certain time unit, such as completing the work of one work area or several work sub-areas within a day. The self-moving device then periodically completes the work of the corresponding area according to the work plan and the work path of each work sub-area.

[0049] It should be noted that the aforementioned work area can be an outdoor lawn area to be maintained, an indoor floor to be swept, or a mine-laying area to be tested, etc. Figure 2 This example merely illustrates the positional relationship and segmentation of the working sub-regions and frequently used working areas, and is not intended to limit them. The segmentation can be determined based on the actual application and the shape characteristics of the working areas. For example, the positional relationship between the working sub-regions and frequently used working areas can also be as follows: Figure 4 The positional relationship between the common work area and the work sub-area corresponding to movement path 1 or movement path 2 shown in Figure (b) is as follows, or as... Figure 4 The positional relationship between the commonly used work area and the work sub-area is shown in Figure (c).

[0050] S102, control the self-moving device to move from the starting position along the moving path to the starting point, and after performing work on the target work sub-area along the work path, return to the target position along the moving path after reaching the end point, so as to complete the work task on the target work sub-area.

[0051] In some embodiments, the mobile device stores a map of the work area, and after dividing the map, it obtains the location information of each work sub-area and the location information of the movement path, as well as the starting point information and the work path corresponding to each work sub-area.

[0052] For example, such as Figure 2 As shown, the self-moving device moves from the starting position of the work area to the starting point of the target work sub-area along the moving path, based on the location information of the target work sub-area and the location information of the moving path, as well as the starting point information and the work path corresponding to the target work sub-area. After performing the work in the target work sub-area along the working path, it returns to the target position along the moving path after reaching the end point of the target work sub-area, so as to complete the work task in the target work sub-area.

[0053] Through the embodiments of this application, the self-moving device can map the work area based on the boundary information and obstacle location information of the work area, and divide the work sub-areas and frequently used work areas based on the built map, so that the division of the work area and the corresponding operation status of each work sub-area are more stable. At the same time, each work sub-area is divided based on the maximum battery power of the self-moving device, and the work is completed periodically according to the preset work plan, which can improve the overall work progress completion efficiency, reduce the time occupied by the work sub-areas with completed work, and improve the safety during the operation process.

[0054] Based on the overall implementation process of the above-mentioned self-moving device operation method, the following section further introduces the specific calculation process of the self-moving device for the working sub-region and the movement trajectory.

[0055] Please see Figure 3 , Figure 3 This is a flowchart illustrating a method for determining a target working sub-region according to an embodiment of this application. In some embodiments, before obtaining the target working sub-region, the method may further include the following steps:

[0056] S301 determines the maximum working coverage area based on the remaining battery power of the self-moving device;

[0057] For example, the battery life of a self-moving device can represent the relationship between the total battery power of the self-moving device after one charge and the battery range. The self-moving device can correspond to different battery ranges in different working areas, and the battery power consumed corresponding to the maximum battery range is taken as the battery life of the self-moving device.

[0058] For example, the self-moving device calculates the power consumption of the self-moving device during real-time movement based on the route to be moved in the work area, the speed curve of the route, the first parameters related to the self-moving device itself during movement, and the second parameters obtained when the self-moving device is mapping. Based on the power consumption, the maximum distance that the self-moving device can move is determined according to the percentage of power consumption. The maximum working coverage area is determined based on the maximum distance that can be moved in the work area.

[0059] It should be noted that since self-moving devices can cover a certain width during movement (such as the width of a lawnmower's blade), the maximum working coverage area can be determined by the distance that the battery can support during operation.

[0060] S302, determine the target working sub-region based on the maximum working coverage area of ​​the self-moving device.

[0061] For example, considering the shape characteristics of the work area and the maximum working coverage area M supported by the battery life of the self-mobile device, the work area can be divided into sub-regions of equal area. Then, by combining the planned movement path and work trajectory of the self-mobile device, the sub-regions are compensated and adjusted to obtain a single working sub-region, such as... Figure 5 In Figure (a), the M1 work sub-region is shown. The movement path corresponding to the frequently used work area can partially lie within this work sub-region. The size of the frequently used work area within this work sub-region can be determined based on the work trajectory and the maximum work coverage area. For example... Figure 2 In the process, the starting point and ending point of the target working sub-area need to both fall within the commonly used working area. If the middle part of the working trajectory does not pass through the commonly used working area, the ending point of the working trajectory cannot fall within the commonly used working area under the remaining battery power. In this case, it may be necessary to increase the area of ​​the working trajectory that passes through the commonly used working area and reduce the lateral expansion of the working trajectory so that the ending point of the working trajectory falls within the commonly used working area.

[0062] For example, the next working sub-region M2 adjacent to working sub-region M1 is determined in the same way; when dividing working sub-region M2, it is also necessary to calculate the round-trip distance between the starting point and the starting position of this working sub-region, such as... Figure 5 As shown in Figure (b), when determining the area of ​​the M2 working sub-region based on the maximum working coverage area M, the area corresponding to the round-trip distance from B to B2 needs to be added to the area of ​​the M2 working sub-region. This process is repeated to determine each subsequent working sub-region within the remaining working areas.

[0063] For example, if there are obstacles in the work area, the area of ​​the actual divided work sub-region is M. nAdd the area occupied by the obstacle; where M n This represents the area of ​​the nth working subregion in the nth calculation.

[0064] By using the above method, the work sub-area is divided based on the maximum working coverage area supported by the self-mobile device's battery life. The divided work sub-area is then compensated and adjusted in conjunction with the self-mobile device's planned movement path and work trajectory to obtain the target work sub-area. This allows for more accurate division of the work area. At the same time, determining the maximum working mileage based on the self-mobile device's battery life makes the occupation time of the work sub-area controllable, reducing the occupation time of the work sub-area and allowing the self-mobile device to operate at full capacity with its maximum battery life, thereby improving the overall work efficiency of the work area.

[0065] In some embodiments, determining the maximum working coverage area based on the battery life of the self-mobile device includes:

[0066] Obtain the starting position and battery level of the self-moving device; based on the starting position and movement path, determine the starting point of the work path and the round-trip distance from the starting point to the starting position in the area to be worked; determine the maximum working distance of the self-moving device based on the round-trip distance and battery level; determine the maximum working coverage area based on the maximum working distance and the single working width of the self-moving device.

[0067] For example, the range information of a self-mounted mobile device is typically a mapping between remaining battery power and travel distance. This mapping determines the distance the self-mounted device can travel with a given remaining battery power. The self-mounted device may store a fixed value for this range information. Alternatively, the self-mounted device may have a function related to parameters such as the altitude of the target area, mapping the remaining battery power to the travel distance through this function. Or, during the mapping process, the self-mounted device may calculate the corresponding range information with a given battery power by collecting a second parameter and its own first parameter.

[0068] For example, power consumption can be calculated based on the working distance, and the corresponding calculation function can be expressed as u = F(x,y,z), where x can represent the route the self-moving device needs to travel, y can represent the speed curve corresponding to the route, z can represent the first parameter of the self-moving device itself and the second parameter obtained during the mapping process, and u can represent the power consumption or percentage of power consumed by the self-moving device to perform this movement. This calculation function can be an equivalent power consumption function, which calculates the percentage of power consumption corresponding to the current working distance based on the correspondence between power consumption characteristics and the first parameter related to the self-moving device's power, as well as the correspondence between power consumption characteristics and indicators such as driving range, for different stages of the self-moving device's movement.

[0069] For example, the first parameter may include the weight of the self-moving device, the motor torque-speed-power curve of the self-moving device, the battery life curve, tire parameters, kinematic model, static power consumption, etc., which can be directly read from the status specification parameters of the self-moving device. The second parameter may include the terrain, slope, ground friction, and altitude information of the working area, etc., which can be collected by the self-moving device through a camera device or positioning device during the mapping process.

[0070] Correspondingly, when determining the maximum working distance based on the round-trip distance and battery life, the maximum working distance of the mobile device under the current battery life can be determined by the inverse operation of the above calculation function. Furthermore, by combining the single working width of the mobile device with the single working width, the maximum working distance can be multiplied by the single working width to obtain the maximum working coverage area.

[0071] In some embodiments, determining the maximum operating distance of the self-mobile device based on round-trip distance and battery life includes:

[0072] The round-trip power consumption of the self-moving device from the starting position to the starting point and back to the target position is determined based on the round-trip distance; the maximum available power for operation of the self-moving device is determined based on the remaining battery power and the round-trip power consumption; the power consumption per unit time and the movement speed of the self-moving device in the operation state are obtained; the maximum operation distance is determined based on the power consumption per unit time, the movement speed, and the maximum available power for operation of the self-moving device in the operation state.

[0073] For example, obtaining the power consumption and movement speed of a mobile device per unit time in an operational state includes:

[0074] For a given moment t0 during the motion process, the motion speed of the self-moving device is decomposed onto the corresponding wheels based on the target path, the terrain information obtained from mapping, and the robot's kinematic model. In this embodiment, the target path may include the path from the initial position to the starting point of the working sub-region, the path from the end point of the working sub-region back to the initial position, and the path traversed by the work trajectory within the working sub-region; the terrain information obtained from mapping may include the ground slope, ground friction, and altitude information corresponding to the target path.

[0075] Based on the robot's weight, ground friction, tire parameters, and altitude information, the torque and speed of each motor in the sub-mobile device are calculated.

[0076] For example, at a certain moment t0 during the motion process, the self-moving device is subjected to the friction force of the ground and the power of the wheels moving forward; according to formulas (1) to (4), the torque corresponding to each motor can be calculated, and the corresponding expressions of formulas (1) to (4) are as follows:

[0077] a=F / m (1)

[0078] F = F m -f-mg*sinθ (2)

[0079] f=k*f0 (3)

[0080] F m =L / r (4)

[0081] Where a is the acceleration of the self-moving device at the current time t0, which can be obtained through an accelerometer; F is the net force acting on the self-moving device at the current time t0; m is the mass of the self-moving device, which can be obtained by reading the specifications of the self-moving device; F m The driving force for the wheel's forward movement corresponds to the current speed of the motor and can be read directly; f is the ground friction force; θ is the ground slope, which can be obtained during mapping; g is the acceleration due to gravity; f0 is the standard friction force corresponding to the standard field and standard tires; k is the compensation coefficient; L is the motor torque; and r is the wheel radius.

[0082] For example, during the mapping process, when the self-moving device is in uniform motion, the acceleration is 0. The current friction force f can be calculated according to formula (2). Based on f and f0, the compensation coefficient k can be obtained through formula (3).

[0083] Correspondingly, different tires correspond to different standard friction forces f0. These standard friction forces can also change with the tire's usage time. The pattern of change can be measured based on a standard laboratory environment or obtained through a lookup table.

[0084] For example, at the current time t0, based on the running speed v of the self-moving device... c The rotational speeds of the right and left wheel motors are calculated using a kinematic model decomposition. This inverse kinematic model of a two-wheeled differential self-moving device allows for the calculation of the wheel's linear velocity based on the device's speed. The calculation formula is expressed as follows:

[0085]

[0086] Among them, v r The linear velocity v of the right wheel motor is represented by the following expression: l This represents the linear velocity of the left wheel motor. v c ω represents the velocity of the center point of the self-moving device; ω represents the angular velocity of the self-moving device's own rotation; d ab This indicates the distance between the left and right wheels of the self-moving device.

[0087] The rotational speeds of the left and right wheels are calculated using formulas (6) and (7); the expressions for formulas (6) and (7) are as follows:

[0088] ω r =v r / (π*D) (6)

[0089] ω l =v l / (π*D) (7)

[0090] Where D represents the diameter of the wheels of the self-moving device; π is pi; ω r ω represents the rotational speed of the right wheel motor. l This represents the rotational speed of the left wheel motor.

[0091] Then, based on the rotational speeds of the left and right wheel motors and the relationship between motor power and rotational speed, the power of each motor is calculated. The relationship between motor power and rotational speed can be obtained directly from the manufacturer's preset information on the self-equipped device, or by obtaining a torque-speed-power curve through a torque-speed-power test experiment. Based on the preset torque-speed-power curves, the power of each motor is calculated, which may include the power P of the left wheel motor. l And the power P of the right wheel motor r .

[0092] Based on the power of each motor and the static power consumption of the self-moving device, the total system current I corresponding to the entire self-moving device at the current time t0 can be calculated. The calculation formula is shown in the figure below:

[0093] I = (P) l +P r ) / U+I s (8)

[0094] Where U is the current operating voltage; I s This is the system's static power consumption, which is a fixed value that can be read from the system's internal parameters.

[0095] By performing the above logical calculations on each stage of the self-moving device's entire motion process, and integrating the power of the self-moving device at each moment, the power consumption (absolute value) for each motion stage and the entire motion process can be obtained.

[0096] The motion of the self-moving device can include stages of uniform acceleration, uniform velocity, uniform deceleration, and stopping. The system discretizes each motion stage according to a certain computation cycle, for example, 50 Hz, meaning one computation cycle is 20 ms. For each computation cycle, the acceleration *a* and velocity *v* of the current self-moving device are determined according to the motion stage.c Based on the aforementioned calculation method, the current I0 corresponding to the self-moving device in the current calculation cycle is obtained. The calculation is performed for each calculation cycle of each movement stage in the entire movement process. Then, the current of the entire movement process is summed to obtain the power consumption (absolute value) cap of the entire movement process.

[0097] Finally, based on battery life, calculate the percentage of power consumed. The calculation formula is expressed as follows:

[0098] cap_percentage=cap / cap_max (9)

[0099] Here, cap_percentage represents the percentage of power consumed; cap_max represents the battery's full charge capacity.

[0100] For example, the full charge capacity of a battery can be calculated as follows: the full charge capacity C of the self-moving device when it leaves the factory, and the number of battery cycles N (i.e. the number of cycles when it reaches 80% C). That is, if the current number of battery cycles n is known, then the current full charge capacity of the battery is: cap_max = C * (1 - 0.2 / N * n).

[0101] For example, based on the above calculation method, the power consumption (or percentage of power consumption) and movement speed of the self-moving device per unit time can be calculated; thus, the corresponding power consumption can be calculated for different movement stages. For example, the round-trip power consumption corresponding to the movement stages of the self-moving device from the starting position to the starting point and from the starting point back to the target position can be calculated based on the round-trip distance; and the maximum available power for operation of the self-moving device can be obtained by subtracting the round-trip power consumption from the remaining battery power; and then the maximum working distance can be calculated based on the power consumption per unit time, movement speed, and maximum available power for operation of the self-moving device in the working state.

[0102] In one possible implementation, the self-moving device stores a mapping table between battery life and working distance, and can query the maximum working distance corresponding to the battery life when it is the maximum available working power.

[0103] In some embodiments, determining a target working sub-region based on the maximum working coverage area of ​​the self-mobile device includes:

[0104] Based on the starting point, maximum working coverage area, and movement path, determine the maximum working coverage sub-region from the area to be worked; along the direction of the movement path, divide the maximum working coverage sub-region according to the width of a single operation to obtain multiple unit working regions; the width of a unit working region is less than or equal to the width of a single operation, and the movement path is at least partially located on one side of the unit working region; when the number of unit working regions is not even, adjust the maximum working coverage sub-region according to a preset adjustment strategy to obtain the target working sub-region; when the number of unit working regions is even, use the maximum working coverage sub-region as the target working sub-region.

[0105] For example, since there may be a round trip distance between the initial position and the starting point, based on the starting point, a maximum working coverage sub-region with an area less than or equal to the maximum working coverage area is determined within the area to be worked. This maximum working coverage sub-region is then divided along the movement path according to the width of a single operation, as shown in Figure (a), resulting in multiple unit working areas. The width of a single operation corresponds to the actual working width achievable by the self-moving device. The width of a unit working area may be adjusted based on the number of unit working areas that can be divided from the maximum working coverage sub-region, thus ensuring that the width of a unit working area is less than or equal to the width of a single operation. Figure 6 As shown in Figure (f), the number of unit operation areas after the division based on the single operation width is odd. In order to ensure that the movement path is at least partially located on one side of the unit operation area, the number of unit operation areas needs to be even. In order to ensure that the battery life is sufficient, the initially divided unit operation areas need to be reduced to obtain a reduced unit operation area with a width smaller than the single operation width.

[0106] like Figure 6 As shown in Figures (a) and (b), when the number of unit work areas is even, the work path is planned directly, and the maximum work coverage sub-area is taken as the target work sub-area; when the number of unit work areas is not even (it may be odd or there may be areas smaller than the width of a single operation), the maximum work coverage sub-area is adjusted according to the preset adjustment strategy to obtain the target work sub-area.

[0107] In some embodiments, determining the maximum working coverage sub-region from the area to be worked within, based on the starting point, the maximum working coverage area, and the movement path, includes:

[0108] Obtain the boundary information of the area to be worked on; the boundary information includes the terminal boundary of the area to be worked on; generate a boundary distance mapping relationship based on the distance between the terminal boundary of the area to be worked on and the movement path; the terminal boundary is the boundary on the side of the area to be worked on that is far away from the movement path; determine the maximum working coverage sub-area in the area to be worked on based on the starting point, the movement path, and the boundary distance mapping relationship.

[0109] For example, Figure 4 As shown in Figure (d), when the boundary of the work area (the area corresponding to work sub-area 2 and work sub-area 3) is an irregular curved boundary, the distance between the terminal boundary on the side away from the movement path and the movement path can include the distances corresponding to each segment of the work trajectory, such as the first distance and the second distance. When the terminal boundary is an irregular curve or a broken line and is not parallel to the other opposite boundary, the distances corresponding to each segment of the work trajectory are also different. For example, the first distance and the second distance may be different. Therefore, a boundary distance mapping relationship is established between the terminal boundary and this distance.

[0110] For example, Figure 4 As shown in Figure (d), when the boundary of the movement path is also an irregular curve or polygonal boundary, the movement distance of the self-moving device from the starting position to the starting point of the working sub-region 2 and the movement distance from the ending point back to the starting position can be a straight-line movement distance or a curved movement distance, such as... Figure 4 The first and second movement distances are shown in Figure (d). In the movement path, when the movement distance from the start to the end point of the working sub-region 2 is small, it can be ignored, and only the round-trip movement distance from the initial position to the start point is calculated; or, when the work trajectory near the side of the movement path is located within the movement path, the distance from the start to the end point is directly calculated into the maximum working coverage sub-region. The maximum working coverage sub-region is determined based on the boundary distance mapping relationship in the working sub-region 2, the first movement distance, and the second movement distance.

[0111] It should be noted that, Figure 4 The range corresponding to the maximum working coverage sub-region shown in Figure (d) is only illustrative and is not limited to the range of the maximum working coverage sub-region. For example, it may also be the range of the region excluding part of the movement path.

[0112] By using the above methods, the maximum working coverage sub-area of ​​the self-moving device can be more accurately determined based on the boundary information or shape characteristics of the area to be worked on, ensuring the reliability of the self-moving device's work progress under a specific battery life.

[0113] In some embodiments, when the number of unit work areas is not even, the maximum work coverage sub-area is adjusted according to a preset adjustment strategy to obtain the target work sub-area, including:

[0114] When the number of unit work areas is 2n+λ, the area covered by 2n unit work areas is determined as the target work sub-region, where 0≤λ<2; or, the area of ​​the unit work area is reduced or the overlap area between two adjacent unit work areas is increased so that the maximum work coverage sub-region can be divided by an even number of unit work areas.

[0115] For example, such as Figure 6 As shown in Figures (a) and (b), when an even number of work areas are divided based on the work width of the self-moving device, the corresponding work path can be determined based on the central axis of each work area; as shown in Figures (a) and (b), when an even number of work areas are divided based on the work width of the self-moving device, the corresponding work path can be determined based on the central axis of each work area; Figure 6 As shown in Figure (c), when the number of segmented work units is odd, the area covered by the area after reducing one work unit is used as the area of ​​the target work sub-region, as follows. Figure 6 As shown in Figure (d); or increase the overlap area between two adjacent work units so that the maximum work coverage sub-region can be divided by an even number of work units, such as... Figure 6 As shown in Figure (e); or reduce the area of ​​the unit work area so that the maximum work coverage sub-region can be divided by an even number of unit work areas, such as Figure 6 As shown in Figure (f).

[0116] By using the above method, it can be ensured that the start and end points of each work sub-area are located within the commonly used work area. This allows the self-moving device to travel back and forth between the starting position and the work sub-area based solely on the movement path, reducing the time occupied in the already worked area when working on other areas to be worked on. This ensures the stability of the work route, improves work efficiency, and ensures safety when working on the entire work area.

[0117] In some embodiments, before obtaining the job path, the method further includes:

[0118] The central axis of each unit work area is used as the sub-path of the self-moving device within the unit work area; starting from the unit work area where the starting point is located, the beginning and end of the sub-paths of each unit work area are connected to obtain the work path of the self-moving device.

[0119] For example, such as Figure 6 As shown in Figure (a), for a working sub-region M, the working sub-region can be divided into an even number of unit working regions based on the unit working width of the self-moving device. The central axis of each unit working region is used as the path, and then the paths of each unit working region are connected end-to-end to plan the robot's motion path, as shown in Figure (a). Figure 6 As shown in Figure (b) of the document.

[0120] In some embodiments, obtaining the movement path includes:

[0121] Receive the movement path input by the user; or, determine the movement path based on the starting position or target position of the self-moving device relative to the work area, such that the movement path is located on one side of the work area and the target position is located on the movement path.

[0122] For example, the mobile device can delineate a commonly used work area along one edge as a movement path based on the acquired boundary information of the work area and the corresponding map shape features; or, after the mobile device builds the map, it can display the completed map on the screen, receive user-inputted movement path delineation instructions, and generate area information corresponding to the movement path; or it can receive movement path information fed back by the user from other mobile devices via wired or wireless means. Alternatively, the movement path can be determined based on the position of the starting or target position relative to the work area; for example, if the starting position is at the endpoint of a boundary in the overall work area, the movement path can be delineated along that boundary, such as... Figure 5 The movement path 1 shown in Figure (b) is as follows: If the starting position is at the midpoint of a boundary, then the movement path is divided along that boundary or another boundary connected to that boundary, such as... Figure 4 The movement path 2 is shown in Figure (b). The location of the charging dock can be either the initial position or the target position.

[0123] Through the embodiments of this application, after obtaining the target working sub-area, the movement path, and the operation path, the self-moving device is controlled to move from the starting position along the movement path to the starting point of the target working sub-area. From the starting point, it performs operations in the target working sub-area along the operation path. After reaching the end point of the target working sub-area, the operation is completed and it returns to the target position along the movement path. By setting the movement path at least partially in the target working sub-area and on one side of the area to be worked, this application can reduce the time occupied in the working area during the operation. At the same time, by setting the size of the target working sub-area to be less than or equal to the maximum working coverage area determined by the self-moving device based on the battery life, the working time (battery life) of the self-moving device and the reliability and stability of the working area can be guaranteed, thereby improving the working efficiency of the self-moving device.

[0124] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0125] Figure 7 This diagram illustrates the structural block diagram of the operating device of the self-moving device provided in the embodiments of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0126] Reference Figure 7The operating device of the self-moving device includes:

[0127] The acquisition module 71 is used to acquire a target working sub-area, a movement path, and a work path; the target working sub-area is located within the work area, the movement path is at least partially located within the target working sub-area, and the movement path is located on one side of the work area; the start and end points of the work path are both located within the movement path; the area of ​​the target working sub-area is less than or equal to the maximum working coverage area of ​​the self-moving device; the maximum working coverage area of ​​the self-moving device is determined based on the battery life of the self-moving device.

[0128] The drive module 72 is used to control the self-moving device to move from the starting position along the movement path to the starting point, and to perform work on the target work sub-area along the work path. After reaching the end point, it returns to the target position along the movement path to complete the work task on the target work sub-area.

[0129] Through the embodiments of this application, after obtaining the target working sub-area, the movement path, and the operation path, the self-moving device is controlled to move from the starting position along the movement path to the starting point of the target working sub-area. From the starting point, it performs operations in the target working sub-area along the operation path. After reaching the end point of the target working sub-area, the operation is completed and it returns to the target position along the movement path. By setting the movement path at least partially in the target working sub-area and on one side of the area to be worked, this application can reduce the time occupied in the working area during the operation. At the same time, by setting the size of the target working sub-area to be less than or equal to the maximum working coverage area determined by the self-moving device based on the battery life, the working time (battery life) of the self-moving device and the reliability and stability of the working area can be guaranteed, thereby improving the working efficiency of the self-moving device.

[0130] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0131] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0132] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0133] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the above-described method embodiments.

[0134] Figure 8 This is a schematic diagram of the structure of a computer device 8 provided in an embodiment of this application. For example... Figure 8 As shown, the computer device 8 of this embodiment includes: at least one processor 80 ( Figure 8 Only one is shown in the diagram), memory 81, and computer program 82 stored in said memory 81 and executable on said at least one processor 80, wherein the processor 80 executes said computer program 82 to implement the steps in the above embodiments.

[0135] The computer device 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will understand that... Figure 8 The computer device 8 is merely an example and does not constitute a limitation on the computer device 8. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0136] The processor 80 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0137] In some embodiments, the memory 81 may be an internal storage unit of the computer device 8, such as a hard disk or memory of the computer device 8. In other embodiments, the memory 81 may be an external storage device of the computer device 8, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 8. Furthermore, the memory 81 may include both internal and external storage units of the computer device 8. The memory 81 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0138] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process of the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0139] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0140] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0141] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for operating a self-moving device, characterized in that, The method includes: The system acquires a target working sub-region, a movement path, and a work path; the target working sub-region is located within the work area, the movement path is at least partially located within the target working sub-region, and the movement path is located on one side of the work area; the start and end points of the work path are both located within the movement path; the area of ​​the target working sub-region is less than or equal to the maximum working coverage area of ​​the self-mobile device; the maximum working coverage area of ​​the self-mobile device is determined based on the battery life of the self-mobile device. The self-moving device is controlled to move from the starting position to the starting point along the moving path, and after performing work on the target work sub-area along the work path, it returns to the target position along the moving path after reaching the end point, so as to complete the work task on the target work sub-area. The process of determining the target working sub-region includes: dividing the working area into sub-regions based on the maximum working coverage area supported by the battery life of the self-mobile device; and compensating and adjusting the divided sub-regions in combination with the planned movement path and work trajectory of the self-mobile device to obtain the target working sub-region. The self-moving device's planned movement path and work trajectory compensate for and adjust the divided sub-regions, including: If the endpoint of the work trajectory is not within the movement path under the current battery level, the area through which the work trajectory passes under the movement path is adjusted; or, the overlapping area of ​​adjacent work trajectories is adjusted based on the width of a single operation, so that the endpoint of the work trajectory falls within the movement path.

2. The method as described in claim 1, characterized in that, Before obtaining the target working sub-region, the method further includes: The maximum working coverage area is determined based on the battery life of the self-mobile device; The target working sub-region is determined based on the maximum working coverage area of ​​the self-moving device.

3. The method as described in claim 2, characterized in that, Determining the maximum working coverage area based on the battery life of the self-mobile device includes: Obtain the starting position and remaining battery level of the self-moving device; Based on the starting position and the movement path, determine the starting point of the work path and the round-trip distance from the starting point to the starting position in the area to be worked. The maximum operating distance of the self-mobile device is determined based on the round-trip distance and the remaining battery power. The maximum working coverage area is determined based on the maximum working distance and the single working width of the self-moving device.

4. The method as described in claim 3, characterized in that, Determining the maximum operating distance of the self-mobile device based on the round-trip distance and the remaining battery power includes: The round-trip power consumption of the self-moving device from the starting position to the starting point and back to the target position is determined based on the round-trip distance. The maximum available operating power of the self-moving device is determined based on the remaining battery capacity and the round-trip power consumption. Obtain the power consumption and movement speed of the self-moving device per unit time in the working state; The maximum working distance is determined based on the power consumption per unit time, movement speed, and maximum available power for the self-moving device in the working state.

5. The method as described in claim 2, characterized in that, Determining the target working sub-region based on the maximum working coverage area of ​​the self-mobile device includes: Based on the starting point, the maximum working coverage area, and the movement path, determine the maximum working coverage sub-region from the area to be worked; Along the direction of the movement path, the maximum work coverage sub-region is divided according to the width of a single operation to obtain multiple unit operation areas; the width of the unit operation area is less than or equal to the width of the single operation, and the movement path is at least partially located on one side of the unit operation area; When the number of unit work areas is not even, the maximum work coverage sub-area is adjusted according to a preset adjustment strategy to obtain the target work sub-area; When the number of unit work areas is even, the largest work coverage sub-area is used as the target work sub-area.

6. The method as described in claim 5, characterized in that, The step of determining the maximum working coverage sub-region from the area to be worked based on the starting point, the maximum working coverage area, and the movement path includes: Obtain the boundary information of the area to be worked on; the boundary information includes the terminal boundary of the area to be worked on. A boundary distance mapping relationship is generated based on the distance between the terminal boundary of the area to be worked on and the movement path; the terminal boundary is the boundary of the area to be worked on that is away from the movement path. The maximum working coverage sub-region is determined in the area to be worked based on the starting point, the movement path, and the boundary distance mapping relationship.

7. The method as described in claim 5, characterized in that, When the number of unit work areas is not even, the maximum work coverage sub-region is adjusted according to a preset adjustment strategy to obtain the target work sub-region, including: When the number of the unit work areas is At that time, determine The area covered by each of the aforementioned unit work areas is defined as the target work sub-area, wherein... ;or, Reduce the area of ​​the unit work area or increase the overlap area between two adjacent unit work areas so that the maximum work coverage sub-region can be divided by an even number of unit work areas.

8. The method as described in claim 5, characterized in that, Before obtaining the job path, the method further includes: The central axis of each unit work area is used as the sub-path of the self-moving device within the unit work area; Starting from the unit work area where the starting point is located, the first and last ends of the sub-paths of each unit work area are connected to obtain the work path of the self-moving device.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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