Methods, electronic devices and storage media for controlling the movement of self-moving devices

Abstract

This application relates to the field of robot control technology, and provides a method, electronic device, and storage medium for controlling the movement of a self-moving device. The method includes: acquiring the target location that the self-moving device intends to reach; determining whether a first restricted area exists to block the self-moving device from its current location to the target location; if the first restricted area exists, adjusting the range of the first restricted area to form a channel from the current location to the target location; and controlling the self-moving device to travel through the channel from the current location to the target location. In this application, by adjusting the first restricted area, the self-moving device can reach the target location.

Description

Technical Field

[0001] This application belongs to the field of robot control technology, and in particular relates to methods, electronic devices and storage media for controlling the movement of self-moving devices. Background Technology

[0002] With the development and advancement of science and technology, the use of self-moving devices is becoming increasingly common. For example, more and more users are choosing to use cleaning robots for automated cleaning of their homes or offices. During the movement of these self-moving devices, there may be areas that users do not want them to enter, such as areas with water on the floor or areas where children's toys are concentrated. In practice, for areas without obstacles such as doors or walls, these areas can be designated as virtual no-go zones to prevent self-moving devices from entering.

[0003] In related technologies, when restricted areas are set inappropriately, for example, if a restricted area blocks the path of an autonomous mobile device from its current location to the target location it needs to reach, it can easily prevent the autonomous mobile device from reaching the target location. Summary of the Invention

[0004] This application provides a method, electronic device, and storage medium for controlling the movement of a self-moving device. It can solve the problem in related technologies where, when restricted areas are set inappropriately, for example, if a restricted area blocks the path of the self-moving device from its current location to the target location it needs to reach, the self-moving device may be unable to reach the target location.

[0005] A first aspect of this application provides a method for controlling the movement of a self-moving device, comprising:

[0006] Obtain the target location that the mobile device intends to reach;

[0007] Determine if a first restricted zone exists that would prevent the self-moving device from its current location to the target location;

[0008] If a first restricted area exists, adjust the boundaries of the first restricted area to create a passage from the current location to the target location;

[0009] Control the self-moving device to travel from its current location to the target location through the channel.

[0010] In some embodiments, adjusting the range of the first restricted area includes:

[0011] The scope of the first restricted area is adjusted based on at least one of the planned path of the self-moving device, the distribution of obstacles in the first restricted area, and the distribution of obstacles in the target area. The target area is the movable range of the self-moving device.

[0012] In some embodiments, adjusting the range of the first restricted area includes:

[0013] Send a blocking notification message to the target user terminal, and receive the location information of the second restricted area sent by the target user terminal based on the blocking notification message;

[0014] Based on the location information of the second restricted area, the scope of the first restricted area was adjusted.

[0015] In some embodiments, adjusting the range of the first restricted area includes:

[0016] The first restricted area is disabled during a first time period, which includes at least the time during which the mobile device travels from its current location to the target location.

[0017] In some embodiments, adjusting the range of the first restricted area includes:

[0018] The first restricted area is disabled in the preset mode. The preset modes include at least one or more of the following modes: edge cleaning mode, area cleaning mode, recharge mode, transfer mode, escape mode, follow mode, and obstacle avoidance mode.

[0019] In some embodiments, determining whether a first restricted area exists to prevent the self-moving device from its current location to a target location includes:

[0020] Based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, determine whether there is a first restricted area.

[0021] In some embodiments, determining whether a first restricted area exists based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area includes:

[0022] When the planned path exists and the status indicates that the self-moving device does not have a planned path, if there is a restricted area that meets the preset blocking conditions in combination with at least one of the boundaries of the obstacle area and the target area, then it is determined that there is a first restricted area, and the first restricted area is a restricted area that meets the preset blocking conditions.

[0023] In some embodiments, determining whether a first restricted area exists based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area includes:

[0024] When the planned path exists, indicating that the mobile device has a planned path, if there is a restricted area that intersects with the planned path, then it is determined that there is a first restricted area, and the first restricted area is a restricted area that intersects with the planned path.

[0025] A second aspect of this application provides an apparatus for controlling the movement of a self-moving device, comprising:

[0026] The area acquisition unit is used to acquire the target location that the mobile device intends to reach;

[0027] The target determination unit determines whether a first restricted area exists to prevent the self-moving device from its current location to the target location.

[0028] The range adjustment unit is used to adjust the range of the first restricted area when it exists, so as to form a passage from the current position to the target position;

[0029] The access control unit is used to control the movement of the self-moving device from its current location to its target location through the channel.

[0030] In some embodiments, the range adjustment unit is specifically used to: adjust the range of the first restricted area according to at least one of the planned path of the self-moving device, the distribution of obstacle areas within the first restricted area, and the distribution of obstacle areas in the target area, wherein the target area is the movable range area of ​​the self-moving device.

[0031] In some embodiments, the range adjustment unit is specifically used to: send a blocking prompt message to the target user terminal, and receive the location information of the second restricted area sent by the target user terminal based on the blocking prompt message; and adjust the range of the first restricted area according to the location information of the second restricted area.

[0032] In some embodiments, the range adjustment unit is specifically used to: control the first restricted area to become invalid during a first time period, the first time period including at least the time period during which the self-moving device travels from its current location to the target location.

[0033] In some embodiments, the range adjustment unit is specifically used to: control the first restricted area to become inactive in a preset mode, the preset mode including at least one or more of the following modes: edge cleaning mode, area cleaning mode, recharge mode, transfer mode, escape mode, follow mode, and obstacle avoidance mode.

[0034] In some embodiments, the target determination unit is specifically used to: determine whether a first restricted area exists based on the existence status of the planned path of the self-moving device, the distribution of obstacle areas and restricted areas within the target area.

[0035] In some embodiments, the target determination unit determines whether a first restricted area exists based on the planned path existence status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, including: when the planned path existence status indicates that the self-moving device does not have a planned path, if there is a restricted area that satisfies a preset blocking condition in combination with at least one of the boundaries of the obstacle area and the target area, then it is determined that a first restricted area exists, and the first restricted area is a restricted area that satisfies the preset blocking condition.

[0036] In some embodiments, the target determination unit determines whether a first restricted area exists based on the planned path existence status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, including: when the planned path existence status indicates that the self-moving device has a planned path, if there is a restricted area that intersects with the planned path, then it is determined that a first restricted area exists, and the first restricted area is a restricted area that intersects with the planned path.

[0037] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method for controlling the movement of a self-moving device provided in the first aspect.

[0038] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method for controlling the movement of a self-moving device provided in the first aspect.

[0039] A fifth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to execute any of the methods described above for controlling the movement of a self-moving device.

[0040] The method, electronic device, and storage medium for controlling the movement of a self-moving device provided in the embodiments of this application have the following beneficial effects: when it is determined that there is a first restricted area that blocks the self-moving device from its current location to a target location, the self-moving device can reach the target location by adjusting the first restricted area.

[0041] 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 mentioned above, and will not be repeated here. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating a method for controlling the movement of a self-moving device according to an embodiment of this application;

[0044] Figure 2A This is a schematic diagram illustrating the effect of a restricted area blocking a self-moving device from its current location to a target location, as provided in an embodiment of this application.

[0045] Figure 2B This is a schematic diagram illustrating the effect of another restricted area blocking a self-moving device from its current location to a target location, provided in an embodiment of this application.

[0046] Figure 3 This is a schematic diagram illustrating the combined relationship between the boundaries of the obstacle area, restricted area, and target area provided in the embodiments of this application;

[0047] Figure 4 This is a schematic diagram illustrating the effect of the planned path intersecting with the restricted area provided in the embodiments of this application;

[0048] Figure 5 This is a schematic diagram illustrating the relationship between the first restricted area and the planned path provided in an embodiment of this application;

[0049] Figure 6 This is a schematic diagram illustrating the relationship between the first restricted area, the obstacle area, and the planned path provided in an embodiment of this application;

[0050] Figure 7 This is a flowchart illustrating another method for controlling the movement of a self-moving device provided in an embodiment of this application;

[0051] Figure 8 This is a schematic diagram of the structure of a device for controlling the movement of a self-moving device according to an embodiment of this application;

[0052] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0053] 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.

[0054] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0055] 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.

[0056] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0057] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0059] The method for controlling the movement of a self-moving device provided in this application can be applied to self-moving devices. In some application scenarios, the self-moving device can be a cleaning robot. This application does not impose any restrictions on the specific type of self-moving device.

[0060] To illustrate the technical solution of this application, the following embodiments will be used for explanation.

[0061] Example 1

[0062] Please see Figure 1 This application provides a method for controlling the movement of a self-moving device, comprising:

[0063] Step 101: Obtain the target location that the mobile device intends to reach.

[0064] The target location mentioned above is typically at least a portion of the movable range of the self-moving device. In practice, the target location can be implemented as a location point, a location area, or the entire movable range. For ease of description, the movable range of the self-moving device can be referred to as the target area. In practical applications, when the self-moving device is a cleaning robot, the target area is the area to be cleaned by the cleaning robot.

[0065] In practice, the target area mentioned above is usually an editable area on the navigation map. Users can edit the target area to expand or shrink the movable range of their mobile device, and can also edit it to set restricted areas. Furthermore, users can edit the target area to set target locations.

[0066] It should be noted that the space corresponding to the aforementioned target area can be various types of space, such as a family space, a room unit of a family space, a portion of a room unit, a room area composed of multiple room units, an office in an office building, a large venue, a portion of a large venue, public places such as airports, etc. It should also be noted that this embodiment does not specifically limit the space corresponding to the target area.

[0067] In this embodiment, the execution entity of the method for controlling the movement of a self-moving device can be the self-moving device itself. The execution entity can obtain the target area and the target location within that target area through various methods.

[0068] As an example, a user can set a target area and a target location within that area on their user terminal. For instance, the target area and location can be set by drawing a polygon on the user terminal. The user terminal can then send the location information corresponding to the set target area and location to the aforementioned execution entity via a network. In this way, the execution entity can receive the location information of the target area and location from the user terminal, thereby obtaining the target area and the target location within that area.

[0069] As another example, the aforementioned execution entity can directly obtain the historical target area and the location information of the target location within the historical target area at a historical moment. For example, the target area set by the user when using the self-moving device last time and the location information corresponding to the target location within the target area. The historical target area is used as the aforementioned target area, and the location information of the target location within the historical target area is used as the location information of the target location within the aforementioned target area, thereby obtaining the target area and the target location within the target area.

[0070] As another example, the aforementioned executing entity can also receive location information of the target area and the target location within the target area from other robots, such as robots that work in conjunction with self-moving devices, thereby obtaining the target area and the target location within the target area.

[0071] Step 102: Determine if there is a first restricted area that would prevent the self-moving device from its current location to the target location.

[0072] In practical applications, the target area may have one or multiple restricted zones. The aforementioned executing entity can obtain information about these restricted zones through various methods.

[0073] As an example, a user can set up restricted areas on their terminal, for instance, by drawing a polygon on the terminal. The terminal can then send the location information of the restricted area to the execution entity via a network. In this way, the execution entity can receive the location information of the restricted area from the user terminal, thus obtaining the restricted area.

[0074] As another example, the aforementioned execution entity can directly obtain the location information of historical restricted areas at historical moments, such as the location information of the restricted areas set by the user when they last used the self-moving device, and use the location information of historical restricted areas as the location information of the aforementioned restricted areas, thereby obtaining the restricted areas.

[0075] As yet another example, the aforementioned entity can also receive location information of restricted areas from other robots, such as robots that work in conjunction with self-moving devices, thereby obtaining the restricted area information.

[0076] It should be noted that the aforementioned blockage could be due to a lack of connection between the areas on both sides of the restricted zone, or the gap between the connecting parts of the areas on both sides of the restricted zone being smaller than the width of the self-moving device, thus preventing the self-moving device from passing through.

[0077] Figure 2 is a schematic diagram illustrating the effect of a restricted area blocking a mobile device from its current location to a target location, according to an embodiment of this application. Figure 2A In the middle, Area 1 and Area 2 on both sides of the restricted area are not connected. Figure 2B In the middle, area 1 and area 2 on both sides of the restricted area are connected, but the gap in the connecting part is smaller than the width of the self-moving device, making it impossible for the self-moving device to pass through.

[0078] In this embodiment, the execution entity can determine whether there is a restricted area that blocks the self-moving device from its current location to the target location through various methods. As an example, the execution entity can determine whether there is a restricted area that blocks the self-moving device from its current location to the target location by analyzing the relative positional relationship between the target area and each restricted area. For ease of description, in this application, the restricted area that blocks the self-moving device from its current location to the target location is referred to as the first restricted area. As another example, in the presence of obstacles, the execution entity can also determine whether there is a first restricted area by analyzing the relative positional relationship between the target area, each obstacle, and each restricted area.

[0079] Step 103: If a first restricted area exists, adjust the range of the first restricted area to form a passage from the current position to the target position.

[0080] Here, given the existence of a first restricted area, the aforementioned implementing entity can adjust the scope of the first restricted area. For example, it can reduce the entire first restricted area according to a preset reduction ratio, thus obtaining a reduced first restricted area. This creates a passage connecting the current location and the target location.

[0081] Step 104: Control the self-moving device to travel from the current location to the target location through the channel.

[0082] Here, the aforementioned implementing entity can plan a passageway for the self-moving device based on the location of the passage. The self-moving device can then follow this path from its current location to the target location. It should be noted that if the self-moving device already has a planned path, and the planned path no longer intersects with the first restricted area after adjustments are made, the self-moving device can still follow the original planned path from its current location to the target location.

[0083] The method for controlling the movement of a self-moving device provided in this embodiment, when it is determined that there is a first restricted area that blocks the self-moving device from its current location to the target location, adjusts the first restricted area to enable the self-moving device to reach the target location.

[0084] It should be noted that when the self-moving device is a cleaning robot, by adjusting the first restricted area, the cleaning robot can be made to move smoothly from one place to another to be cleaned, which helps to improve the cleaning coverage of the cleaning robot.

[0085] In some optional implementations of this embodiment, determining whether a first restricted area exists to block the self-moving device from its current location to the target location may include: determining whether a first restricted area exists based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area.

[0086] The existence status of the planned path indicates whether a planned path exists for the self-moving device. This planned path is typically a pre-planned movement path.

[0087] The above-mentioned obstacle area distribution typically describes the distribution of obstacle areas. The above-mentioned restricted area distribution typically describes the distribution of restricted areas. The above-mentioned obstacle areas typically refer to areas with impassable obstacles. Obstacle areas may or may not be obstacle areas. For example, in sweeping mode, carpeted areas are not obstacle areas, while in mopping mode, carpeted areas are obstacle areas.

[0088] In practice, obstacles can include, but are not limited to, objects higher than the road surface, objects lower than the road surface, and areas with preset spatial attributes. These preset spatial attributes are typically pre-defined properties used to describe the space; they can be attributes such as bathroom attributes or balcony attributes. In practice, these obstacles can be tables, walls, stairs, toilets, carpets, etc.

[0089] Here, the aforementioned implementing entity can determine whether a first restricted area exists by using the planned path existence status of the self-moving device, the distribution of obstacle areas, and the distribution of restricted areas within the target area. For example, when the planned path existence status indicates that the self-moving device does not have a planned path, the aforementioned implementing entity can determine whether a first restricted area exists by analyzing the distribution of obstacle areas and restricted areas within the target area.

[0090] To further illustrate, if the combination of a restricted area and the boundary of the target area forms a closed region, and the two sides of this closed region are movable portions of the target area, then the existence of a first restricted area can be confirmed. If the combination of a restricted area, the boundary of an obstacle area, and the boundary of the target area forms a closed region, and the two sides of this closed region are movable portions of the target area, then the existence of a first restricted area can be confirmed. If the combination of a restricted area, the boundary of an obstacle area, and the boundary of the target area forms a non-closed region, and the gaps in the non-closed region are smaller than the width of the self-moving device, then the existence of a first restricted area can be confirmed.

[0091] In some alternative implementations, determining whether a first restricted area exists based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, may include:

[0092] When the planned path exists and the status indicates that the self-moving device does not have a planned path, if there is a restricted area that meets the preset blocking conditions in combination with at least one of the boundaries of the obstacle area and the target area, then it is determined that there is a first restricted area, and the first restricted area is a restricted area that meets the preset blocking conditions.

[0093] The aforementioned preset blocking conditions are typically pre-set conditions used to determine whether to block. In practice, these preset blocking conditions may include the following two conditions.

[0094] Condition 1: A closed area is formed by the combination of at least one of the boundaries of the restricted area, the obstacle area, and the target area, with movable areas within the target area on either side of the closed area.

[0095] For example, if the combination of a restricted area and the boundary of a target area forms a closed area, and the two sides of the closed area are movable parts of the target area, then it is determined that a first restricted area exists, and this restricted area is the first restricted area.

[0096] Condition 2: The combination of at least one of the boundaries of the restricted area, the obstacle area, and the target area forms a non-enclosed area, with movable portions of the target area on both sides of the non-enclosed area, and the gaps in the non-enclosed area are smaller than the width of the self-moving device.

[0097] For example, if a restricted area, together with the boundary of the obstacle area and the target area, forms a non-enclosed area, and the two sides of the non-enclosed area are movable parts of the target area, and the gaps in the non-enclosed area are smaller than the width of the self-moving device, then it is determined that a first restricted area exists, and this restricted area is the first restricted area.

[0098] It should be noted that when there are multiple obstacle areas in the target area, one obstacle area can be combined with the boundary of the restricted area and the target area to form a closed area or a non-closed area. Alternatively, multiple obstacle areas can be combined with the boundary of the restricted area and the target area to form a closed area or a non-closed area.

[0099] Figure 3 This is a schematic diagram illustrating the combined relationship between the boundaries of the obstacle area, restricted area, and target area provided in the embodiments of this application. For example... Figure 3 As shown, in the concave target area 305, there are three obstacle areas: obstacle area 1, obstacle area 2 and obstacle area 3. Obstacle area 1 can be a toilet area, obstacle area 2 can be a staircase area, and obstacle area 3 can be a chair. Figure 3 In the middle, the upper boundary of the concave target area 305 is 301, the lower boundary is 303, the left boundary is 302, and the right boundary is 304. Figure 3 In the middle, the restricted area 1, together with the upper boundary 301, the obstacle area 3 and the lower boundary 303, forms a non-closed area, and the two sides of the non-closed area are movable areas. The gaps in the non-closed area are smaller than the width of the self-moving device. At this time, the restricted area 1 can be considered as the first restricted area.

[0100] This embodiment can determine whether a first restricted area exists by combining the boundaries of the obstacle area, restricted area, and target area, which helps to accurately determine the first restricted area and thus enable effective adjustment of the first restricted area.

[0101] In some optional implementations of this embodiment, the determination of whether a first restricted area exists based on the planned path existence status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area may further include:

[0102] When the planned path exists, indicating that the mobile device has a planned path, if there is a restricted area that intersects with the planned path, then it is determined that there is a first restricted area, and the first restricted area is a restricted area that intersects with the planned path.

[0103] Here, the planned path existence status indicates that the self-moving device has a planned path. If the planned path intersects with a certain restricted area, then the restricted area with the intersection can be the first restricted area.

[0104] In this embodiment, when the self-moving device has already planned a path, the aforementioned execution entity can determine whether a first restricted area exists based on the positional relationship between the currently planned path and the restricted area. This helps to quickly and accurately determine the first restricted area, thereby enabling effective adjustments to the first restricted area.

[0105] Figure 4 This is a schematic diagram illustrating the effect of the planned path intersecting with the restricted area provided in this embodiment of the application. For example... Figure 4 As shown, in target area 401, the intersection of planned path 402 and restricted area 1 is 403. At this point, restricted area 1 is the first restricted area.

[0106] In some optional implementations of this embodiment, adjusting the scope of the first restricted area includes: adjusting the scope of the first restricted area based on at least one of the planned path of the self-moving device, the distribution of obstacle areas within the first restricted area, and the distribution of obstacle areas in the target area, wherein the target area is the movable range of the self-moving device.

[0107] Here, the aforementioned implementing entity may use at least one of the following to adjust the first restricted area: the planned path, the distribution of obstacle areas within the first restricted area, and the distribution of obstacle areas outside the first restricted area, to obtain the adjusted first restricted area.

[0108] As an example, the aforementioned implementing entity can adjust the first restricted area based on the distribution of obstacles within it. For instance, the first restricted area can be cut in half to create two sub-restricted areas, allowing the cut-off portion to be used for passage by mobile devices. Alternatively, one end of the first restricted area can be removed to create a smaller restricted area, making that removed end usable for passage by mobile devices.

[0109] As another example, the aforementioned implementing entity can also adjust the first restricted area by considering both the planned path and the distribution of obstacle areas within it. In practice, the adjustment typically involves the portion of the first restricted area that is free of obstacles and closest to the target planned path. The target planned path is usually the portion between two movable areas separated by the first restricted area.

[0110] Figure 5 This is a schematic diagram illustrating the relationship between the first restricted area and the planned path, provided as an embodiment of this application. (Combined with...) Figure 5To illustrate further, if there are no obstacles at either the top or bottom of the first restricted area 1, and the planned path ends at point P1, then the first restricted area 1 can be adjusted downwards, that is, compressed from P1 to P2. This allows subsequent mobile devices to travel from the top of the first restricted area 1 to area 2. Conversely, if the planned path ends at point P2, the first restricted area 1 can be adjusted upwards, that is, compressed from P2 to P1. This allows subsequent mobile devices to travel from the bottom of the first restricted area 1 to area 2.

[0111] As another example, the aforementioned implementing entity can also adjust the first restricted area using three factors: the planned path, the distribution of obstacle areas within the first restricted area, and the distribution of obstacle areas in other areas. Other areas refer to the areas within the target area excluding the first restricted area. In practice, the first restricted area is typically adjusted to the portion within it that is not obstructed by obstacles, is closest to the target planned path, and is not blocked by any obstacles. The target planned path is usually the portion between two movable areas separated by the first restricted area.

[0112] Figure 6 This is a schematic diagram illustrating the relationship between the first restricted area, the obstacle area, and the planned path, provided in an embodiment of this application. (Combined with...) Figure 6 To illustrate further, if there are no obstacle areas at either the top or bottom of the first restricted area 1, and the planned path ends at point P1 at the end of area 1, then since there is obstacle area 1 to the left of the first restricted area 1, the first restricted area 1 can be adjusted upwards, that is, compressed from P2 towards P1. This allows the subsequently moving vehicle to travel from the bottom of the first restricted area 1 to area 2. Similarly, if the planned path ends at point P2 at the end of area 1, the first restricted area 1 can also be adjusted upwards, that is, compressed from P2 towards P1.

[0113] It should be noted that adjusting the first restricted area based on the planned path can reduce the total travel path of the self-moving device, which helps to improve the mobility efficiency of the self-moving device.

[0114] This embodiment can automatically adjust the first restricted area, which is highly flexible and helps to improve the user experience.

[0115] In some optional implementations of this embodiment, adjusting the scope of the first restricted area may include the following steps one to two.

[0116] Step 1: Send a blocking notification message to the target user terminal and receive the location information of the second restricted area sent by the target user terminal based on the blocking notification message.

[0117] The aforementioned blocking notification message is typically used to indicate that a restricted area is blocking the passage of mobile devices. The target user terminal is usually a pre-defined user terminal, such as a user terminal that has set up a restricted area.

[0118] Here, the aforementioned executing entity can send blocking notification information to the target user terminal via the network. This allows the target user terminal user to promptly detect that the current restricted area settings are inappropriate and to adjust them accordingly. After the user adjusts the restricted area, the target user terminal can send the location information of the newly set second restricted area to the aforementioned executing entity. Thus, the executing entity can receive the location information of the second restricted area sent by the target user terminal based on the blocking notification information.

[0119] Step two: Adjust the scope of the first restricted area based on the location information of the second restricted area.

[0120] Here, the aforementioned implementing entity can adjust the scope of the first restricted area to match the scope indicated by the location information of the second restricted area. This allows for effective adjustment of the first restricted area based on interaction with the user.

[0121] In some alternative implementations, adjusting the scope of the first restricted area may also include: controlling the first restricted area to be disabled during a first time period, the first time period including at least the time period during which the self-moving device travels from its current location to the target location.

[0122] The first time period mentioned above can be a pre-set time period. As an example, the first time period could be from 9:00 AM to 9:02 AM.

[0123] In practice, the aforementioned first time period can be triggered based on the area attribute information of the aforementioned first restricted area. This area attribute information typically describes the attributes of the restricted area. In practice, the attributes of the restricted area can be attributes of a flooded area, a toy area, etc.

[0124] In practice, if the area attribute of the first restricted area is a preset area attribute, such as the area attribute of the first restricted area being a toy area attribute, the above-mentioned first time period is valid. During the above-mentioned first time period, the self-moving device can travel from one movable area blocked by the first restricted area to another movable area.

[0125] It should be noted that during the first time period mentioned above, when the self-moving device moves from one movable area blocked by the first restricted area to another, the self-moving device can deactivate its operating mode. For example, if the self-moving device is a cleaning robot, it will neither mop nor sweep at this time. This improves both the mobility coverage and safety of the self-moving device.

[0126] In some optional implementations, adjusting the scope of the first restricted area may also include: controlling the first restricted area to be disabled in a preset mode, wherein the preset mode includes at least one or more of the following modes: edge cleaning mode, area cleaning mode, recharge mode, transfer mode, escape mode, follow mode, and obstacle avoidance mode.

[0127] The aforementioned edge cleaning mode controls the self-moving device to clean the edges of objects. The aforementioned area cleaning mode controls the self-moving device to clean a specific area. The aforementioned recharging mode controls the self-moving device to charge. The aforementioned transition mode controls the self-moving device to move from one cleaning scene to another. The aforementioned escape mode controls the self-moving device to escape from obstacles. The aforementioned follow mode controls the self-moving device to follow a target object. The aforementioned obstacle avoidance mode controls the self-moving device to avoid obstacles.

[0128] In practice, when the aforementioned self-moving device is a cleaning robot, it typically has multiple modes. By controlling the self-moving device to disable in a preset mode, flexible control of its movement can be achieved.

[0129] Example 2

[0130] Please see Figure 7 , Figure 7 This is a flowchart illustrating another method for controlling the movement of a self-moving device provided in an embodiment of this application. Figure 7 As shown, the method for controlling the movement of the self-moving device in this embodiment may include the following steps 701-707.

[0131] Step 701: Obtain the target location that the mobile device intends to reach.

[0132] Step 702: If there are obstacles in the target area, determine the location information of the obstacles in the target area and the object attribute information of the obstacles.

[0133] The target area is the movable range of the self-moving device. The target location is typically at least a portion of the movable range of the self-moving device. In practice, the target location can be a location point, a location area, or the entire movable range.

[0134] The aforementioned obstacles may include, but are not limited to, objects higher than the road surface, objects lower than the road surface, and areas with preset spatial attributes. In practice, these obstacles may include tables, walls, stairs, toilets, carpets, etc.

[0135] The aforementioned object attribute information is typically used to describe the properties of obstacles. For example, this object attribute information may include, but is not limited to, category attributes and spatial attributes.

[0136] Here, the aforementioned executing entity can perform obstacle detection on the target area in various ways, thereby determining whether there are obstacles, as well as the location information and object attribute information of the obstacles in the target area.

[0137] As an example, the aforementioned execution entity can use its own installed depth camera to capture environmental images of the target area in real time, input the captured environmental images into a pre-trained obstacle detection model, and detect obstacles in the target area, their location information, and object attribute information.

[0138] As another example, the aforementioned execution entity can detect obstacles through its own installed sensors and the relative distance between the self-moving device and the obstacles, thereby obtaining the location information of the obstacles. Then, it can capture object images of the obstacles through its own installed camera and obtain the object attribute information of the obstacles by recognizing the captured object images.

[0139] Step 703: Determine the regional state of the area where the obstacle is located based on the object attribute information and the working mode of the self-moving device.

[0140] The aforementioned area status indicates whether the area containing the obstacle is an obstacle zone. These obstacle zones are typically areas where mobile devices cannot pass.

[0141] In practice, self-moving devices can have multiple working modes. For example, when the self-moving device is a cleaning robot, the working modes can include mopping mode, sweeping mode, etc.

[0142] Here, for each obstacle, the aforementioned execution entity can determine the regional state of the area where the obstacle is located by using the object attribute information of the obstacle based on the current working mode of the self-moving device.

[0143] As an example, if the obstacle is a carpet, in mopping mode, the area where the obstacle is located can be in the first area state. The first area state indicates that the area where the obstacle is located is an obstacle area. That is to say, in mopping mode, the area where the carpet is located is an area that the cleaning robot cannot pass through.

[0144] As another example, if the obstacle is a toilet, in mopping mode, the area state of the area containing the obstacle can be a second area state. The second area state indicates whether the area containing the obstacle is a non-obstacle area. That is to say, in mopping mode, the toilet area is an area that the cleaning robot can pass through.

[0145] It should be noted that by determining the regional state of the area where the obstacle is located based on the object attribute information and the working mode of the self-moving device, the self-moving device can move flexibly and efficiently within the movable range.

[0146] Step 704: When the area status indicates that the area where the obstacle is located is an obstacle area, update the map corresponding to the target area according to the location information of the obstacle.

[0147] The map corresponding to the aforementioned target area is usually a navigation map for mobile devices.

[0148] Here, for each obstacle, the aforementioned execution entity can update the navigation map at that location using the obstacle's location information when the area status indicates that the area where the obstacle is located is an obstacle area. For example, it can mark the location corresponding to that location information as an obstacle area in the navigation map. In this way, the location of the obstacle area can be directly obtained through the navigation map. That is, the self-moving device can know which areas are currently passable and which areas are currently impassable based on the updated navigation map.

[0149] Step 705: Determine if there is a first restricted area that would prevent the self-moving device from its current location to the target location.

[0150] Step 706: If a first restricted area exists, adjust the range of the first restricted area to form a passage from the current position to the target position.

[0151] Step 707: Control the self-moving device to travel from the current location to the target location through the channel.

[0152] In this embodiment, the specific operation of step 701 is the same as... Figure 1 The operation of step 101 in the illustrated embodiment is basically the same, and the specific operations of steps 705-707 are the same. Figure 1 The operations of steps 102-104 in the illustrated embodiments are basically the same, and will not be repeated here.

[0153] This embodiment can determine the regional state of the area where the obstacle is located based on the object attribute information of the obstacle and the working mode of the self-moving device. The navigation map can then be updated based on the regional state of the area where the obstacle is located, making the resulting navigation map more accurate, flexible and practical. This enables the self-moving device to move flexibly and efficiently within the movable area.

[0154] Example 3

[0155] Corresponding to the method for controlling the movement of the self-moving device in the above embodiments, Figure 8This diagram illustrates the structure of a device 800 for controlling the movement of a self-moving device according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiments of this application are shown.

[0156] Reference Figure 8 The device includes:

[0157] The area acquisition unit 801 is used to acquire the target location that the mobile device intends to reach;

[0158] Target determination unit 802 determines whether there is a first restricted area that would block the self-moving device from its current location to the target location;

[0159] The range adjustment unit 803 is used to adjust the range of the first restricted area when there is a first restricted area, so as to form a passage from the current position to the target position;

[0160] The access control unit 804 is used to control the self-moving device to travel from its current location to its target location through the channel.

[0161] In some embodiments, the range adjustment unit 803 is specifically used to: adjust the range of the first restricted area according to at least one of the planned path of the self-moving device, the distribution of obstacle areas in the first restricted area, and the distribution of obstacle areas in the target area, wherein the target area is the movable range area of ​​the self-moving device.

[0162] In some embodiments, the range adjustment unit 803 is specifically used to: send a blocking prompt message to the target user terminal, and receive the second restricted area location information sent by the target user terminal based on the blocking prompt message; and adjust the range of the first restricted area according to the second restricted area location information.

[0163] In some embodiments, the range adjustment unit 803 is specifically used to: control the first restricted area to become invalid during a first time period, the first time period including at least the time period during which the self-moving device travels from its current location to the target location.

[0164] In some embodiments, the range adjustment unit 803 is specifically used to: control the first restricted area to become inactive in a preset mode, the preset mode including at least one or more of the following modes: edge cleaning mode, area cleaning mode, recharge mode, transfer mode, escape mode, follow mode, and obstacle avoidance mode.

[0165] In some embodiments, the target determination unit 802 is specifically used to: determine whether a first restricted area exists based on the existence status of the planned path of the self-moving device, the distribution of obstacle areas and restricted areas within the target area.

[0166] In some embodiments, the target determination unit 802 determines whether a first restricted area exists based on the planned path existence status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, including: when the planned path existence status indicates that the self-moving device does not have a planned path, if there is a restricted area that satisfies a preset blocking condition in combination with at least one of the boundaries of the obstacle area and the target area, then it is determined that a first restricted area exists, and the first restricted area is a restricted area that satisfies the preset blocking condition.

[0167] In some embodiments, the target determination unit 802 determines whether a first restricted area exists based on the planned path existence status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, including: when the planned path existence status indicates that the self-moving device has a planned path, if there is a restricted area that intersects with the planned path, then it is determined that a first restricted area exists, and the first restricted area is a restricted area that intersects with the planned path.

[0168] The device provided in this embodiment, when it determines that there is a first restricted area blocking the self-moving device from its current location to a target location, adjusts the first restricted area to allow the self-moving device to reach the target location. It should be noted that when the self-moving device is a cleaning robot, adjusting the first restricted area allows the cleaning robot to smoothly move from one area to another, helping to improve the cleaning coverage rate of the cleaning robot.

[0169] 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.

[0170] Example 4

[0171] Figure 9 This is a schematic diagram of the structure of an electronic device 900 provided in an embodiment of this application. Figure 9 As shown, the electronic device 900 of this embodiment includes: at least one processor 901 ( Figure 9 The diagram shows only one processor, memory 902, and a computer program 903 stored in memory 902 and executable on at least one processor 901, such as a program for controlling the movement of a self-moving device. When processor 901 executes computer program 903, it implements the steps in any of the above-described method embodiments. When processor 901 executes computer program 903, it implements the steps in the embodiments of the methods for controlling the movement of a self-moving device. When processor 901 executes computer program 903, it implements the functions of each module / unit in the above-described device embodiments, such as... Figure 8 The functions of units 801 to 804 are shown.

[0172] For example, computer program 903 can be divided into one or more modules / units, one or more of which are stored in memory 902 and executed by processor 901 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 903 in electronic device 900. For example, computer program 903 can be divided into an area acquisition unit, a target determination unit, a range adjustment unit, and a passage control unit. The specific functions of each unit have been described in the above embodiments and will not be repeated here.

[0173] Electronic device 900 can be a computing device such as a server, desktop computer, tablet computer, cloud server, and mobile terminal. Electronic device 900 may include, but is not limited to, a processor 901 and a memory 902. Those skilled in the art will understand that... Figure 9 This is merely an example of electronic device 900 and does not constitute a limitation on electronic device 900. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device may also include input / output devices, network access devices, buses, etc.

[0174] The processor 901 may be a Central Processing Unit (CPU), or 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.

[0175] The memory 902 can be an internal storage unit of the electronic device 900, such as a hard disk or RAM of the electronic device 900. The memory 902 can also be an external storage device of the electronic device 900, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or FlashCard equipped on the electronic device 900. Furthermore, the memory 902 can include both internal and external storage units of the electronic device 900. The memory 902 is used to store computer programs and other programs and data required by the electronic device. The memory 902 can also be used to temporarily store data that has been output or will be output.

[0176] 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.

[0177] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0178] 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.

[0179] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic 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.

[0180] 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.

[0181] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0182] If an integrated module 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. This computer-readable storage medium can be non-volatile or volatile. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the contents of a computer-readable storage medium may be appropriately added to or subtracted from the contents as required by the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, a computer-readable storage medium may not include electrical carrier signals and telecommunication signals.

[0183] The above 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 controlling the movement of a self-moving device, characterized in that, include: Obtain the target location that the mobile device intends to reach; Determine whether a first restricted area exists that would prevent the self-moving device from its current location to the target location; In the presence of the first restricted area, the range of the first restricted area is adjusted to form a passage from the current location to the target location. The adjustment of the range of the first restricted area includes: adjusting the range of the first restricted area according to at least one of the planned path of the self-moving device, the distribution of obstacle areas in the first restricted area, and the distribution of obstacle areas in the target area. The target area is the movable range area of ​​the self-moving device. Control the self-moving device to travel from the current location to the target location through the channel.

2. The method for controlling the movement of a self-moving device according to claim 1, characterized in that, The adjustment of the scope of the first restricted area includes: Send a blocking prompt message to the target user terminal, and receive the second restricted area location information sent by the target user terminal based on the blocking prompt message; Based on the location information of the second restricted area, the scope of the first restricted area is adjusted.

3. The method for controlling the movement of a self-moving device according to claim 1, characterized in that, The adjustment of the scope of the first restricted area includes: The first restricted area is controlled to become inactive for a first time period, which includes at least the time period during which the self-moving device travels from the current location to the target location.

4. The method for controlling the movement of a self-moving device according to claim 1, characterized in that, The adjustment of the scope of the first restricted area includes: The first restricted area is controlled to become inactive in a preset mode, which includes at least one or more of the following modes: edge cleaning mode, area cleaning mode, recharge mode, transfer mode, escape mode, follow mode, and obstacle avoidance mode.

5. The method for controlling the movement of a self-moving device according to claim 1, characterized in that, Determining whether a first restricted area exists to prevent the self-moving device from its current location to the target location includes: Based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, it is determined whether the first restricted area exists.

6. The method for controlling the movement of a self-moving device according to claim 5, characterized in that, The step of determining whether the first restricted area exists based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, includes: When the planned path existence status indicates that the self-moving device does not have a planned path, if there is a restricted area that satisfies a preset blocking condition in combination with at least one of the boundaries of the obstacle area and the target area, then it is determined that the first restricted area exists, and the first restricted area is a restricted area that satisfies the preset blocking condition.

7. The method for controlling the movement of a self-moving device according to claim 5, characterized in that, The step of determining whether the first restricted area exists based on the planned path status of the self-moving device, the distribution of obstacle areas and restricted areas within the target area, includes: When the planned path existence status indicates that the self-moving device has a planned path, if there is a restricted area that intersects with the planned path, then it is determined that the first restricted area exists, and the first restricted area is a restricted area that intersects with the planned path.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for controlling the movement of a self-moving device as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for controlling the movement of a self-moving device as described in any one of claims 1 to 7.

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