Mobility control method, control device and storage medium for self-moving devices

Abstract

This application relates to the field of automatic control technology, and provides a method, device, and storage medium for controlling the movement of a self-moving device. The method includes: acquiring the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in a pre-planned overall path where the self-moving device is located; determining the path relationship type between the current sub-path and the next sub-path based on the path direction angle and the endpoint of the current sub-path and the starting point of the next sub-path; determining the moving speed of the self-moving device based on the path relationship type; and controlling the self-moving device to move from the endpoint of the current sub-path to the starting point of the next sub-path based on the moving speed when the distance between the self-moving device and the endpoint of the current sub-path is detected to be within a preset distance range. The solution of this application enables smooth movement of the self-moving device between different paths.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a mobile control method, control device and storage medium for an automatic mobile device. Background Technology

[0002] With the development of technology, self-moving mobile devices such as sweepers and lawnmowers have been widely used in various fields. In practical applications, self-moving mobile devices typically need to complete tasks on multiple paths. After completing the work on one path, the device stops at the end of that path, turns in place, accelerates again, and moves to the next path to continue working. During this process, the movement of the self-moving device is not smooth and may result in dangerous situations such as slipping or getting stuck in mud.

[0003] Therefore, how to achieve smooth movement of self-moving devices between paths has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method, device, and storage medium for controlling the movement of a self-moving device, aiming to enable the self-moving device to move smoothly between paths.

[0005] To achieve the above objectives, this application provides a motion control method for a self-moving device, comprising:

[0006] Obtain the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in the pre-planned total path of the mobile device;

[0007] Based on the included angle of the path direction, and the endpoint of the current sub-path and the starting point of the next sub-path, determine the path relationship type between the current sub-path and the next sub-path;

[0008] The moving speed of the self-moving device is determined based on the path relationship type.

[0009] When it is detected that the distance between the self-moving device and the end point of the current sub-path is within a preset distance range, the self-moving device is controlled to move from the end point of the current sub-path to the starting point of the next sub-path based on the moving speed.

[0010] Furthermore, to achieve the above objectives, this application also provides a control device for a self-moving device, comprising:

[0011] Memory and processor;

[0012] The memory is connected to the processor and is used to store programs;

[0013] The processor is used to implement the steps of the self-moving device control method described above by running a program stored in the memory.

[0014] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to implement the steps of the self-moving device control method described above.

[0015] This application discloses a mobile control method, control device, and storage medium for an automated mobile device. When the automated mobile device moves, it first acquires the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in the pre-planned overall path. Then, based on the path direction angle between the current sub-path and the next sub-path, and the end point of the current sub-path and the start point of the next sub-path, it determines the path relationship type between the current sub-path and the next sub-path. Based on the path relationship type, it determines the moving speed of the automated mobile device. When it is detected that the distance between the automated mobile device and the end point of the current sub-path is within a preset distance range, it controls the automated mobile device to move from the end point of the current sub-path to the start point of the next sub-path based on the moving speed. It determines the actual path turning situation and the moving speed of the automated mobile device from the current sub-path to the next sub-path, so that the automated mobile device can use different moving speeds to move smoothly between different paths according to different path turning situations, avoiding the problem of the automated mobile device slipping during travel, and improving the coverage efficiency of the automated mobile device on the pre-planned overall path. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the steps of a mobile control method for a self-moving device provided in an embodiment of this application.

[0018] Figure 2 It is a schematic diagram of a pre-planned overall route;

[0019] Figure 3 This is a flowchart illustrating the steps of determining the moving speed of the self-moving device based on the path relationship type, according to an embodiment of this application.

[0020] Figure 4This is a flowchart illustrating another step in determining the moving speed of the self-moving device based on the path relationship type, provided in an embodiment of this application.

[0021] Figure 5 This is a flowchart illustrating the steps of another mobile control method for a self-moving device provided in an embodiment of this application.

[0022] Figure 6 This is a schematic block diagram of the structure of a control device for a self-moving device provided in an embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0025] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0027] Embodiments of this application provide a mobile control method, control device, and storage medium for a self-moving device, which enables smooth movement of the self-moving device between different paths.

[0028] Please see Figure 1 , Figure 1 This is a flowchart illustrating the steps of a mobile control method for a self-moving device provided in an embodiment of this application.

[0029] like Figure 1 As shown, the mobile control method for a self-moving device provided in this application includes steps S101 to S104.

[0030] S101. Obtain the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in the pre-planned total path where the mobile device is located.

[0031] Self-moving devices include, but are not limited to, sweepers, lawnmowers, and transport robots, which are controllable devices that can move on their own.

[0032] Typically, when a self-operated mobile device performs a task, the task corresponds to a pre-planned overall path, which includes multiple sub-paths. For example, ... Figure 2 As shown, Figure 2 The pre-planned total path includes multiple sub-paths such as Path 1 and Path 2. During the operation, the self-moving device moves according to the pre-planned total path. It should be noted that the pre-planned total path can be a path generated by the user based on the work area settings, or a path automatically generated by the self-moving device using a path planning algorithm for the work area. The path planning algorithm can be Dijkstra's algorithm, A* algorithm, or D* algorithm, etc., and is not limited here.

[0033] During operation, the self-moving device determines the current sub-path and the next sub-path within the pre-planned overall path, and obtains the path direction angle θ between the current sub-path and the next sub-path. For example, it determines the vector corresponding to each sub-path in the pre-planned overall path, and based on the vectors corresponding to the current sub-path and the next sub-path, determines the path direction angle θ between the current sub-path and the next sub-path based on the geometric relationship between the vectors.

[0034] For example, with Figure 2 Taking the pre-planned total path shown as an example, if the current sub-path in the pre-planned total path where the mobile device is located is path 1, the next sub-path is path 2, the vector corresponding to path 1 is a, and the vector corresponding to path 2 is b, then the path direction angle θ between path 1 and path 2 is determined according to the following formula (1):

[0035]

[0036] Where |a| is the magnitude of vector a, and |b| is the magnitude of vector b.

[0037] S102. Based on the included angle of the path direction and the endpoint of the current sub-path and the starting point of the next sub-path, determine the path relationship type between the current sub-path and the next sub-path.

[0038] For example, different path relationship types include, but are not limited to, arc-shaped line type, path merging type, and polyline type. Among them, the arc-shaped line type refers to two paths with an angle close to 180°, and the line connecting the two paths with an angle close to 90° to each of the two paths. The mobile device can make a U-shaped turn when switching paths, for example... Figure 2 The path relationship type between path 1 and path 2. Polyline type refers to paths where the angle between them is between 0° and 180°. The mobile device makes a polyline turn when switching paths. For example, Figure 2 The path relationship type between path 3 and path 4. Path merging type refers to paths where the angle between them is close to 0°, and the mobile device hardly turns when switching paths. For example, Figure 2 The path relationship type between path 5 and path 6.

[0039] Since the path direction angle between two paths and the relative positions of the end point of the preceding path and the start point of the following path are different in different path relationship types, the path relationship type between the current sub-path and the next sub-path can be determined based on the path direction angle between the current sub-path and the next sub-path, as well as the end point of the current sub-path and the start point of the next sub-path.

[0040] In some embodiments, determining the path relationship type between the current sub-path and the next sub-path based on the path direction angle and the endpoint of the current sub-path and the starting point of the next sub-path may include:

[0041] If the angle between the path direction of the current sub-path and the next sub-path satisfies a first preset angle threshold range, and the angle between the line connecting the end point of the current sub-path and the start point of the next sub-path and the current sub-path satisfies a second preset angle threshold range, then the path relationship type between the current sub-path and the next sub-path is determined to be an arc-shaped line type.

[0042] For example, the first preset angle threshold range can be set to [(θ1-e), (θ1+e)], and the second preset angle threshold range can be set to [(θ2-e), (θ2+e)], where θ1 is the angle corresponding to the current sub-path and the next sub-path satisfying the geometric relationship of being parallel and opposite in direction, θ2 is the angle corresponding to the line connecting the end point of the current sub-path and the start point of the next sub-path satisfying the geometric relationship of being perpendicular to the current sub-path and the next sub-path, and e is the error angle parameter, the specific value of which can be flexibly set according to the actual situation, and is not specifically limited here.

[0043] For example, with Figure 2Taking path 1 and path 2 as an example, if the angle between the paths of path 1 and path 2 is 180°, that is, path 1 and path 2 are parallel and opposite in direction, and the line connecting the end point of path 1 and the start point of path 2 makes an angle of 90° with both path 1 and path 2, that is, the line connecting the end point of path 1 and the start point of path 2 is perpendicular to both path 1 and path 2, then the path relationship type between path 1 and path 2 is an arc-shaped line type.

[0044] S103. Determine the moving speed of the self-moving device according to the path relationship type.

[0045] For example, the movement speed of the self-moving device includes linear velocity, angular velocity, etc. In order to achieve smooth movement of the self-moving device between paths, at least one of the linear velocity and angular velocity of the self-moving device is determined based on the path relationship type between the current sub-path and the next sub-path.

[0046] In some embodiments, such as Figure 3 As shown, step S103 may include sub-steps S1031 to S1033.

[0047] S1031. When the path relationship type between the current sub-path and the next sub-path is an arc-shaped line type, obtain the first linear velocity of the self-moving device corresponding to the end point of the current sub-path, and the arc-shaped line spacing between the current sub-path and the next sub-path.

[0048] If the path relationship type between the current sub-path and the next sub-path is determined to be an arc-shaped line, then the arc-shaped line spacing d1 between the current sub-path and the next sub-path, and the linear velocity of the self-moving device at the end point of the current sub-path are obtained. The arc-shaped line spacing between the current sub-path and the next sub-path refers to the perpendicular distance between the end point of the current sub-path and the starting point of the next sub-path when the angle between the current sub-path and the next sub-path is approximately 180°, and the angle between the line connecting the two paths and each of the two paths is approximately 90°. For ease of description, the linear velocity of the self-moving device at the end point of the current sub-path is referred to as the first linear velocity v1, and the arc-shaped line spacing between the current sub-path and the next sub-path is represented by d1.

[0049] For example, with Figure 2 Taking path 1 and path 2 as an example, the path relationship type of path 1 and path 2 is an arc line type. The first linear velocity v1 of the mobile device at the end of path 1 and the arc line distance d1 between path 1 and path 2 are obtained.

[0050] S1032. Determine the first angular velocity based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the bow-shaped line spacing.

[0051] Based on the path direction angle θ between the current sub-path and the next sub-path, and the arc-shaped distance d1 between the current sub-path and the next sub-path, the geometric positional relationship between the current sub-path and the next sub-path can be determined. Furthermore, based on the first linear velocity v1 corresponding to the endpoint of the current sub-path, the angular velocity of the self-moving device at the endpoint of the current sub-path corresponding to the first linear velocity v1 can be determined. For ease of description, the angular velocity corresponding to the first linear velocity v1 will be referred to as the first angular velocity w1 below.

[0052] In some embodiments, determining the first angular velocity based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the bow-shaped line spacing may include: determining the turning direction of the self-moving device based on the path direction angle between the current sub-path and the next sub-path; obtaining a preset speed adjustment coefficient; and determining the first angular velocity based on the first linear velocity, the preset speed adjustment coefficient, the bow-shaped line spacing, and the turning direction.

[0053] For example, the specific value of the preset speed adjustment coefficient k can be flexibly set according to the actual situation, and there is no specific limitation here. For example, the preset speed adjustment coefficient k can be optionally set to 2.

[0054] The turning direction of the self-moving device is determined based on the angle θ between the path directions of the current sub-path and the next sub-path. For example, the turning direction includes a positive turning direction and a negative turning direction. For instance, if the angle θ between the path directions of the current sub-path and the next sub-path is less than or equal to 180°, the turning direction of the self-moving device is determined to be a positive turning direction; if the angle θ between the path directions of the current sub-path and the next sub-path is greater than 180°, the turning direction of the self-moving device is determined to be a negative turning direction.

[0055] For example, different sign function values ​​(sign) are pre-set for different steering directions. For instance, the sign function value (sign) for a positive steering direction is set to 1, and the sign function value (sign) for a negative steering direction is set to -1.

[0056] That is, according to the calculation formula sign=|a||b|sin<a,b> <0?1:-1, determine the sign function value sign.

[0057] The first angular velocity w1 corresponding to the first linear velocity v1 is determined by the first linear velocity v1 corresponding to the end point of the current sub-path of the self-moving device, the arc distance d1 between the current sub-path and the next sub-path, the preset speed adjustment coefficient k, and the sign function value sign determined according to the turning direction of the self-moving device.

[0058] For example, the first angular velocity w1 corresponding to the first linear velocity v1 at the end of the current sub-path of the self-moving device is determined according to the following formula (2):

[0059]

[0060] S1033. The first linear velocity and the first angular velocity are determined as the moving speed of the self-moving device when it moves on the transition path, wherein the transition path is the path between the end point of the current sub-path and the starting point of the next sub-path under the bow-shaped line type.

[0061] The path from the end of the current sub-path to the start of the next sub-path under the bow-shaped curve type is called the transition path. After determining the first linear velocity v1 of the self-moving device at the end of the current sub-path and the corresponding first angular velocity w1, the first linear velocity v1 is defined as the linear velocity of the self-moving device when moving on the transition path, and the first angular velocity w1 is defined as the angular velocity of the self-moving device when moving on the transition path. That is, the self-moving device moves at a constant speed of the first linear velocity v1 and the first angular velocity w1 on the transition path. Therefore, by controlling the speed of the self-moving device on the transition path between the current and next sub-paths, the speed connection between sub-paths is achieved, allowing the self-moving device to move smoothly when turning on the bow-shaped curve, thereby reducing the probability of the self-moving device's wheels getting stuck or slipping. At the same time, it improves the coverage efficiency of the self-moving device on the pre-planned total path.

[0062] In other embodiments, after determining the first angular velocity based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the bow-shaped line spacing, the method may further include: determining the first linear velocity as the initial linear velocity of the self-moving device on the transition path; determining the first angular velocity as the initial angular velocity of the self-moving device on the transition path; and adjusting the initial linear velocity and the initial angular velocity based on a preset speed change strategy to determine the real-time linear velocity and real-time angular velocity of the self-moving device on the transition path.

[0063] Unlike the previous embodiment, the real-time linear velocity and real-time angular velocity of the self-moving device on the transition path are variable, not constant. A speed-changing strategy for the self-moving device on the transition path is preset. For example, the preset speed-changing strategy is that the real-time linear velocity first increases and then decreases, and the real-time angular velocity changes with the real-time linear velocity. After determining the first linear velocity v1 and the corresponding first angular velocity w1, the first linear velocity v1 is determined as the initial linear velocity of the self-moving device on the transition path, and the first angular velocity w1 is determined as the initial angular velocity of the self-moving device on the transition path. Then, based on the preset speed-changing strategy, the initial linear velocity and the initial angular velocity are adjusted, and the adjusted linear velocity and angular velocity are determined as the real-time linear velocity and real-time angular velocity of the self-moving device on the transition path. That is, the self-moving device moves at a variable speed on the transition path with the adjusted real-time linear velocity and real-time angular velocity. Therefore, the self-moving device not only has speed continuity on the transition path, but its movement speed (linear velocity and angular velocity) is also adjusted in real time, thereby further reducing the probability of the self-moving device's wheels getting stuck or slipping, and further ensuring the smooth movement of the self-moving device when turning on the bow-shaped line.

[0064] S104. When it is detected that the distance between the self-moving device and the end point of the current sub-path is within a preset distance range, the self-moving device is controlled to move from the end point of the current sub-path to the starting point of the next sub-path based on the moving speed.

[0065] When the distance between the mobile device and the end point of the current sub-path is within a preset distance range, that is, when the mobile device moves to or is close to the end point of the current sub-path, the mobile device is controlled to move from the end point of the current sub-path to the starting point of the next sub-path according to at least one of the determined linear velocity and angular velocity. That is, the mobile device is controlled to move on the transition path between the current sub-path and the next sub-path according to the determined moving speed.

[0066] It should be noted that the preset distance range can be flexibly set according to the actual situation, and no specific restrictions are imposed here.

[0067] For example, with Figure 2 Taking path 1 and path 2 as examples, the self-moving device is controlled to move at a constant speed of a first linear velocity v1 and a first angular velocity w1 on the transition path between path 1 and path 2, or the self-moving device is controlled to move at a variable speed of an adjusted real-time linear velocity and a real-time angular velocity on the transition path between path 1 and path 2.

[0068] When the angle between the path directions of the current sub-path and the next sub-path satisfies a third preset angle threshold, the path relationship is determined to be a path merging type.

[0069] For example, the third preset angle threshold range can be set to [(θ3-e), (θ3+e)], where θ3 is the angle corresponding to the current sub-path and the next sub-path satisfying the geometric relationship of parallelism and the same direction, and e is the error angle parameter, the specific value of which can be flexibly set according to the actual situation, and no specific restrictions are imposed here.

[0070] For example, with Figure 2 Taking path 5 and path 6 as an example, if the angle between the path directions of path 5 and path 6 is 1°, that is, path 5 and path 6 are nearly parallel, then the path relationship type between path 5 and path 6 is path merging type.

[0071] In some embodiments, such as Figure 4 As shown, step S103 may include sub-steps S1034 to S1036. S1034: When the path relationship type is a path merging type, merge the current sub-path with the next sub-path.

[0072] For example, if the path relationship type between the current sub-path and the next sub-path is a path merging type, then based on the smoothing point between the current sub-path and the next sub-path, where the smoothing point includes the start and end points of the current sub-path and the start and end points of the next sub-path, the current sub-path and the next sub-path are merged to generate a merged path.

[0073] For example, such as Figure 2 The path relationship between paths 5 and 6 shown is a path merging type, where points 1, 2, and 3 are smoothing points, and paths 5 and 6 are merged based on points 1, 2, and 3.

[0074] S1035. Obtain the first linear velocity of the self-moving device corresponding to the end point of the current sub-path.

[0075] Still with Figure 2 Taking paths 5 and 6 as examples, the first linear velocity of the mobile device at the end of path 5 is obtained.

[0076] S1036. The first linear velocity is determined as the moving speed of the self-moving device when it moves on the merged path.

[0077] To avoid pauses when the mobile device moves from the current sub-path to the next sub-path, the first linear velocity corresponding to the end point of the current sub-path is determined as the moving speed of the mobile device when moving on the merged path. In other words, the mobile device is controlled to move on the merged path at the first linear velocity.

[0078] It should be noted that, in addition to the methods listed above for controlling the self-moving device to move on the merged path at the first linear velocity, the first linear velocity can also be adjusted. For example, by first increasing and then decreasing the current linear velocity, the first linear velocity can be adjusted to control the self-moving device to move on the merged path at the adjusted first linear velocity.

[0079] In some embodiments, such as Figure 5 As shown, the mobile control method for the self-moving device further includes steps S105 to S107.

[0080] S105. When the self-moving device moves on the first path, obtain the actual linear velocity corresponding to the real-time position of the self-moving device on the first path, the distance to be moved from the real-time position of the self-moving device to the end point of the first path, and the forward sight distance of the self-moving device; wherein, the first path is a path without corners or a merged path.

[0081] For paths without corners, such as Figure 2 Each sub-path in the pre-planned overall path shown, or the merged path, for example... Figure 2 The path formed by merging path 5 and path 6 in the above text will be referred to as the first path in the following text for ease of description.

[0082] When the self-moving device moves on such a first path, the actual linear velocity v corresponding to the real-time position of the self-moving device on the first path, the forward sight distance L of the self-moving device, and the distance d2 to be moved from the real-time position of the self-moving device to the end of the first path are obtained based on the real-time position of the self-moving device and the end position of the first path.

[0083] S106. Determine the adjustment linear speed of the self-moving device based on the actual linear speed, the forward viewing distance, and the distance to be moved.

[0084] For example, the adjustment linear velocity v' of the self-moving device is determined according to the following formula (3):

[0085]

[0086] That is, the actual linear velocity v is adjusted based on the ratio of the distance d2 to be moved from the real-time position of the self-moving device to the end point of the first path to the forward-looking distance L of the self-moving device, so as to obtain the adjusted linear velocity v'.

[0087] S107. Adjust the actual linear velocity according to the adjusted linear velocity, so as to control the self-moving device to move on the first path based on the adjusted actual linear velocity.

[0088] Based on the calculated adjustable linear velocity v', the actual linear velocity v is adjusted to obtain the adjusted actual linear velocity. The self-moving device is then controlled to move along the first path based on the adjusted actual linear velocity. For example, the obtained adjustable linear velocity v' can be directly used as the adjusted actual linear velocity, and the self-moving device can be controlled to move along the first path at the adjusted linear velocity v'. By controlling the self-moving device to move based on the adjusted actual linear velocity, stuttering issues caused by inappropriate download speeds during movement are avoided.

[0089] In some embodiments, adjusting the actual linear velocity according to the adjusted linear velocity may include: if the adjusted linear velocity is greater than or equal to a first preset linear velocity threshold, adjusting the actual linear velocity to the first preset linear velocity threshold; if the adjusted linear velocity is less than the first preset linear velocity threshold but greater than or equal to a second preset linear velocity threshold, adjusting the actual linear velocity to the adjusted linear velocity; if the adjusted linear velocity is less than the second preset linear velocity threshold, adjusting the actual linear velocity to the second preset linear velocity threshold.

[0090] For example, a first preset linear velocity threshold and a second preset linear velocity threshold are preset, wherein the first preset linear velocity threshold is greater than the second preset linear velocity threshold. The specific values ​​of the first preset linear velocity threshold and the second preset linear velocity threshold can be flexibly set according to the actual situation, and no specific restrictions are imposed here.

[0091] The linear velocity v' is compared with the first preset linear velocity threshold and the second preset linear velocity threshold. If the linear velocity v' is greater than or equal to the first preset linear velocity threshold, it means that the linear velocity v' is too large. At this time, the actual linear velocity v is adjusted to the first preset linear velocity threshold, and the self-moving device is controlled to move at the first preset linear velocity threshold.

[0092] If the adjusted linear velocity v' is less than the first preset linear velocity threshold and greater than or equal to the second preset linear velocity threshold, it also indicates that the adjusted linear velocity v' is appropriate. At this time, the actual linear velocity v is adjusted to the adjusted linear velocity v', and the self-moving device is controlled to move at the adjusted linear velocity v'.

[0093] If the adjusted linear velocity v' is less than the second preset linear velocity threshold, that is, if the adjusted linear velocity v' is too small, then the actual linear velocity v is adjusted to the second preset linear velocity threshold, and the self-moving device is controlled to move at the second preset linear velocity threshold.

[0094] The above control method can be used to control the self-moving device to move on the first path at a speed within the range of the second preset linear velocity threshold to the first preset linear velocity threshold, thereby avoiding the self-moving device from moving too fast or too slow on the first path.

[0095] In the above embodiments, when the automated mobile device moves, the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in the pre-planned total path are first obtained. Then, based on the path direction angle between the current sub-path and the next sub-path, as well as the end point of the current sub-path and the start point of the next sub-path, the path relationship type between the current sub-path and the next sub-path is determined. Based on the path relationship type between the current sub-path and the next sub-path, the moving speed of the automated mobile device is determined. When the automated mobile device is detected to have moved to the end point of the current sub-path, the automated mobile device is controlled to move from the end point of the current sub-path to the start point of the next sub-path based on the moving speed. The actual path turning situation and the moving speed of the automated mobile device from the current sub-path to the next sub-path are determined, so that the automated mobile device can use different moving speeds to move smoothly between different paths according to different path turning situations, avoiding the problem of the automated mobile device slipping during the movement. At the same time, the coverage efficiency of the automated mobile device on the pre-planned total path is improved.

[0096] Please see Figure 6 , Figure 6 This is a schematic block diagram of the structure of a control device for a self-moving device provided in an embodiment of this application.

[0097] like Figure 6 As shown, the control device 600 of the self-moving device may include a processor 610 and a memory 620. The processor 610 and the memory 620 are connected via a system bus, such as an I2C (Inter-integrated Circuit) bus.

[0098] Specifically, the processor 610 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0099] Specifically, the memory 620 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0100] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the control device 600 of the self-moving device to which the present application is applied. The control device 600 of a specific self-moving device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0101] The processor 610 is used to perform the following steps by running a program stored in the memory 620:

[0102] Obtain the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in the pre-planned total path of the mobile device;

[0103] Based on the included angle of the path direction, and the endpoint of the current sub-path and the starting point of the next sub-path, determine the path relationship type between the current sub-path and the next sub-path;

[0104] The moving speed of the self-moving device is determined based on the path relationship type.

[0105] When it is detected that the distance between the self-moving device and the end point of the current sub-path is within a preset distance range, the self-moving device is controlled to move from the end point of the current sub-path to the starting point of the next sub-path based on the moving speed.

[0106] In some embodiments, when the processor 610 determines the path relationship type between the current sub-path and the next sub-path based on the path direction angle and the endpoint of the current sub-path and the starting point of the next sub-path, it is configured to:

[0107] If the angle between the path direction of the current sub-path and the next sub-path satisfies a first preset angle threshold range, and the angle between the line connecting the end point of the current sub-path and the start point of the next sub-path and the current sub-path satisfies a second preset angle threshold range, then the path relationship type between the current sub-path and the next sub-path is determined to be an arc-shaped line type.

[0108] In some embodiments, when the processor 610 implements the step of determining the moving speed of the self-moving device based on the path relationship type, it is configured to:

[0109] When the path relationship type between the current sub-path and the next sub-path is an arc-shaped line type, the first linear velocity of the self-moving device corresponding to the end point of the current sub-path and the arc-shaped line spacing between the current sub-path and the next sub-path are obtained.

[0110] The first angular velocity is determined based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the arc-shaped line spacing.

[0111] The first linear velocity and the first angular velocity are determined as the moving speed of the self-moving device when it moves on the transition path, wherein the transition path is the path between the end point of the current sub-path and the start point of the next sub-path under the bow-shaped line type.

[0112] In some embodiments, when the processor 610 determines the first angular velocity based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the arcuate spacing, it is configured to:

[0113] The turning direction of the self-moving device is determined based on the angle between the path directions of the current sub-path and the next sub-path.

[0114] Obtain the preset speed adjustment coefficient;

[0115] The first angular velocity is determined based on the first linear velocity, the preset speed adjustment coefficient, the bow-shaped line spacing, and the turning direction.

[0116] In some embodiments, after the processor 610 determines the first angular velocity based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the arcuate spacing, it is configured to:

[0117] The first linear velocity is determined as the initial linear velocity of the self-moving device on the transition path;

[0118] The first angular velocity is determined as the initial angular velocity of the self-moving device on the transition path;

[0119] The initial linear velocity and the initial angular velocity are adjusted based on a preset speed change strategy to determine the real-time linear velocity and real-time angular velocity of the self-moving device on the transition path.

[0120] In some embodiments, when the processor 610 implements the step of determining the moving speed of the self-moving device based on the path relationship type, it is configured to:

[0121] When the angle between the path directions of the current sub-path and the next sub-path satisfies a third preset angle threshold, the path relationship is determined to be a path merging type.

[0122] Determining the moving speed of the self-moving device based on the path relationship type includes:

[0123] When the path relationship type is a path merge type, the current sub-path is merged with the next sub-path;

[0124] Obtain the first linear velocity of the self-moving device corresponding to the end point of the current sub-path;

[0125] The first linear velocity is defined as the speed at which the self-moving device moves on the merged path.

[0126] In some embodiments, the processor 610 is further configured to implement:

[0127] When the self-moving device moves on the first path, the actual linear velocity corresponding to the real-time position of the self-moving device on the first path, the distance to be moved from the real-time position of the self-moving device to the end of the first path, and the forward sight distance of the self-moving device are obtained; wherein, the first path is a path without corners or a merged path;

[0128] The adjustment linear velocity of the self-moving device is determined based on the actual linear velocity, the forward viewing distance, and the distance to be moved.

[0129] Based on the adjusted linear velocity, the actual linear velocity is adjusted to control the self-moving device to move on the first path based on the adjusted actual linear velocity.

[0130] In some embodiments, when the processor 610 implements the adjustment of the actual linear velocity according to the adjusted linear velocity, it is configured to:

[0131] If the adjusted linear velocity is greater than or equal to the first preset linear velocity threshold, then the actual linear velocity is adjusted to the first preset linear velocity threshold.

[0132] If the adjusted linear velocity is less than the first preset linear velocity threshold and greater than or equal to the second preset linear velocity threshold, then the actual linear velocity is adjusted to the adjusted linear velocity.

[0133] If the adjusted linear velocity is less than the second preset linear velocity threshold, then the actual linear velocity is adjusted to the second preset linear velocity threshold.

[0134] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the control device 600 of the self-moving device described above can be referred to the corresponding process in the aforementioned embodiments of the self-moving device's movement control method, and will not be repeated here.

[0135] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to implement the steps of the mobile device control method provided in the above embodiments. For example, when the computer program is loaded by a processor, it can perform the following steps:

[0136] Obtain the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in the pre-planned total path of the mobile device;

[0137] Based on the included angle of the path direction, and the endpoint of the current sub-path and the starting point of the next sub-path, determine the path relationship type between the current sub-path and the next sub-path;

[0138] The moving speed of the self-moving device is determined based on the path relationship type.

[0139] When it is detected that the distance between the self-moving device and the end point of the current sub-path is within a preset distance range, the self-moving device is controlled to move from the end point of the current sub-path to the starting point of the next sub-path based on the moving speed.

[0140] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0141] The computer-readable storage medium can be an internal storage unit of the self-moving device control device 600 in the aforementioned embodiments, such as a hard disk or memory of the self-moving device control device 600. Alternatively, the computer-readable storage medium can be an external storage device of the self-moving device control device 600, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the self-moving device control device 600.

[0142] Since the computer program stored in the computer-readable storage medium can execute any of the mobile control methods of the self-moving device provided in the embodiments of this application, the beneficial effects that the mobile control methods of any of the self-moving devices provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0143] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0144] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application.

Claims

1. A method for controlling the movement of a self-moving device, characterized in that, The method includes: Obtain the current sub-path, the next sub-path, and the path direction angle between the current sub-path and the next sub-path in the pre-planned total path of the mobile device; Based on the included angle of the path direction, and the endpoint of the current sub-path and the starting point of the next sub-path, the path relationship type between the current sub-path and the next sub-path is determined; the path relationship type includes arc line type, path merging type, and polyline type; When the path relationship type is an arc-shaped line type, the moving speed of the self-moving device on the transition path between the current sub-path and the next sub-path is determined; the moving speed includes linear velocity and angular velocity; the moving speed realizes the speed connection between the current sub-path and the next sub-path, so that the self-moving device moves smoothly. When it is detected that the distance between the self-moving device and the end point of the current sub-path is within a preset distance range, the self-moving device is controlled to move from the end point of the current sub-path to the starting point of the next sub-path based on the moving speed.

2. The mobile control method for a self-moving device according to claim 1, characterized in that, The step of determining the path relationship type between the current sub-path and the next sub-path based on the included angle of the path direction and the endpoint of the current sub-path and the starting point of the next sub-path includes: If the angle between the path direction of the current sub-path and the next sub-path satisfies the first preset angle threshold range, and the angle between the line connecting the end point of the current sub-path and the start point of the next sub-path and the current sub-path satisfies the second preset angle threshold range, then the path relationship type between the current sub-path and the next sub-path is determined to be an arc-shaped line type.

3. The mobile control method for a self-moving device according to claim 2, characterized in that, Determining the moving speed of the self-moving device based on the path relationship type includes: When the path relationship type between the current sub-path and the next sub-path is an arc-shaped line type, the first linear velocity of the self-moving device corresponding to the end point of the current sub-path and the arc-shaped line spacing between the current sub-path and the next sub-path are obtained. The first angular velocity is determined based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the arc-shaped line spacing. The first linear velocity and the first angular velocity are determined as the moving speed of the self-moving device when it moves on the transition path, wherein the transition path is the path between the end point of the current sub-path and the start point of the next sub-path under the bow-shaped line type.

4. The mobile control method for a self-moving device according to claim 3, characterized in that, The step of determining the first angular velocity based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the arcuate spacing includes: The turning direction of the self-moving device is determined based on the angle between the path directions of the current sub-path and the next sub-path. Obtain the preset speed adjustment coefficient; The first angular velocity is determined based on the first linear velocity, the preset speed adjustment coefficient, the bow-shaped line spacing, and the turning direction.

5. The mobile control method for a self-moving device according to claim 3, characterized in that, After determining the first angular velocity based on the path direction angle between the current sub-path and the next sub-path, the first linear velocity, and the arc-shaped line spacing, the method further includes: The first linear velocity is determined as the initial linear velocity of the self-moving device on the transition path; The first angular velocity is determined as the initial angular velocity of the self-moving device on the transition path; The initial linear velocity and the initial angular velocity are adjusted based on a preset speed change strategy to determine the real-time linear velocity and real-time angular velocity of the self-moving device on the transition path.

6. The mobile control method for a self-moving device according to claim 1, characterized in that, The motion control method further includes: When the angle between the path directions of the current sub-path and the next sub-path satisfies a third preset angle threshold, the path relationship is determined to be a path merging type. Determining the moving speed of the self-moving device based on the path relationship type includes: When the path relationship type is a path merge type, the current sub-path is merged with the next sub-path; Obtain the first linear velocity of the self-moving device corresponding to the end point of the current sub-path; The first linear velocity is defined as the speed at which the self-moving device moves on the merged path.

7. The motion control method for a self-moving device according to any one of claims 1 to 6, characterized in that, The method further includes: When the self-moving device moves on the first path, the actual linear velocity corresponding to the real-time position of the self-moving device on the first path, the distance to be moved from the real-time position of the self-moving device to the end of the first path, and the forward sight distance of the self-moving device are obtained; wherein, the first path is a path without corners or a merged path; The adjustment linear velocity of the self-moving device is determined based on the actual linear velocity, the forward viewing distance, and the distance to be moved. Based on the adjusted linear velocity, the actual linear velocity is adjusted to control the self-moving device to move on the first path based on the adjusted actual linear velocity.

8. The mobile control method for a self-moving device according to claim 7, characterized in that, The step of adjusting the actual linear velocity according to the adjusted linear velocity includes: If the adjusted linear velocity is greater than or equal to the first preset linear velocity threshold, then the actual linear velocity is adjusted to the first preset linear velocity threshold. If the adjusted linear velocity is less than the first preset linear velocity threshold and greater than or equal to the second preset linear velocity threshold, then the actual linear velocity is adjusted to the adjusted linear velocity. If the adjusted linear velocity is less than the second preset linear velocity threshold, then the actual linear velocity is adjusted to the second preset linear velocity threshold.

9. A control device for a self-moving device, characterized in that, include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the steps of the mobile control method for the self-moving device as described in any one of claims 1 to 8 by running a program stored in the memory.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the steps of the mobile device control method as described in any one of claims 1 to 8.

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