Control Method, Device and Electronic Device of a Self-Moving Device

Abstract

The present disclosure provides a control method, apparatus, and electronic device for a self-moving device. The method is applicable to a first self-moving device and includes: receiving a target task, where the target task includes a target map; decomposing the target task to generate respective subtasks for the first self-moving device and at least one second self-moving device, where the subtasks include map fragments of the target map; executing the first subtask corresponding to the first self-moving device, and sending the corresponding second subtask to the second self-moving device. In the present disclosure, information interaction and information sharing can be achieved among multiple self-moving devices, reducing the conflict rate among self-moving devices in the scenario where multiple self-moving devices are running simultaneously, improving the cooperation rate of self-moving devices, strengthening the task execution ability, improving the task execution efficiency, and optimizing the user experience.

Description

Technical Field

[0001] The present disclosure relates to the field of communications, and in particular, to a control method, apparatus, and electronic device for a self - moving device. Background Art

[0002] With the increasing popularity of floor - cleaning robots, more and more people will choose to use the cleaning services provided by floor - cleaning robots to replace manual cleaning when performing related floor cleaning.

[0003] With the development of society, the area where people need to use floor - cleaning robots is getting larger and larger. When a single floor - cleaning robot cleans a large - area region, problems such as low efficiency and long time consumption occur. Summary of the Invention

[0004] The present disclosure aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, a first aspect of the present disclosure provides a control method for a self - moving device.

[0006] A second aspect of the present disclosure provides a control apparatus for a self - moving device.

[0007] A third aspect of the present disclosure provides an electronic device.

[0008] A fourth aspect of the present disclosure provides a computer - readable storage medium.

[0009] A first aspect of the present disclosure provides a control method for a self - moving device, which is applicable to a first self - moving device. The method includes: receiving a target task, where the target task includes a target map; decomposing the target task to generate respective subtasks for the first self - moving device and at least one second self - moving device, where the subtasks include map fragments of the target map; executing the first subtask corresponding to the first self - moving device, and sending the corresponding second subtask to the second self - moving device.

[0010] In addition, the control method for a self - moving device provided in the first aspect of the present disclosure may further have the following additional technical features:

[0011] According to an embodiment of the present disclosure, the step of decomposing the target task to generate respective subtasks for the first self - moving device and at least one second self - moving device, where the subtasks include map fragments of the target map, includes: obtaining the cascading relationship between self - moving devices in a self - moving device cluster; based on the cascading relationship, hierarchically decomposing the target task to generate the respective subtasks for the first self - moving device and the second self - moving device.

[0012] According to an embodiment of the present disclosure, the hierarchical decomposition of the target task based on the cascade relationship includes: determining, according to the cascade relationship, the first level to which the first self-mobile device belongs; obtaining the self-mobile devices included in each level below the first level and determining them as the second self-mobile devices; and hierarchically decomposing the target task based on the levels corresponding to the first self-mobile device and the second self-mobile devices to generate the respective subtasks of the first self-mobile device and the second self-mobile devices.

[0013] According to an embodiment of the present disclosure, the hierarchical decomposition of the target task based on the cascade relationship to generate the respective subtasks of the first self-mobile device and the second self-mobile devices includes: determining the respective task execution capabilities of the first self-mobile device and the at least one second self-mobile device in the cascade relationship; and hierarchically decomposing the target task according to the cascade relationship and the task execution capabilities to generate a first subtask of the first self-mobile device and second subtasks of the second self-mobile devices respectively.

[0014] According to an embodiment of the present disclosure, the method further includes: in response to the situation that the execution of the first subtask in the cascade relationship has not ended, but the execution of a second subtask has ended, obtaining a new second subtask of the second self-mobile device in the first subtask.

[0015] According to an embodiment of the present disclosure, the step of, in response to the situation that the execution of the first subtask in the cascade relationship has not ended, but the execution of a second subtask has ended, obtaining a new second subtask of the second self-mobile device in the first subtask includes: obtaining the current task capabilities of the second self-mobile device and the unexecuted part in the first subtask in the cascade relationship; and decomposing the unexecuted part according to the current task capabilities to generate a new second subtask of the second self-mobile device.

[0016] According to an embodiment of the present disclosure, the method further includes: in response to the situation that the power of the first self-mobile device is less than a set value during the execution of the first subtask, exiting the cascade relationship and executing a charging process.

[0017] According to an embodiment of the present disclosure, after exiting the cascade relationship in response to the situation that the power of the first self-mobile device is less than a set value during the execution of the first subtask, it includes: determining the superior self-mobile device and the secondary self-mobile device of the first self-mobile device in the cascade relationship; connecting the superior self-mobile device and the secondary self-mobile device to obtain an updated cascade relationship among the multiple self-mobile devices.

[0018] According to an embodiment of the present disclosure, after obtaining the new cascade relationship among the multiple self - moving devices, it includes: in response to the end of charging and the target task not being completed, adding the self - moving device with the charging ended as the self - moving device with the lowest priority to the self - moving device cluster.

[0019] According to an embodiment of the present disclosure, the method further includes: in response to the completion of the target task, generating a completion signal and uploading the completion signal to the server.

[0020] According to an embodiment of the present disclosure, after uploading the completion signal to the server, it includes: receiving a return signal sent by the server and returning to the charging bin according to the return signal.

[0021] According to an embodiment of the present disclosure, before receiving the target task, it includes: receiving a first composition instruction, and determining the composition direction of the first self - moving device in the first area from the first composition instruction; collecting first point cloud data of the first area along the composition direction; generating an initial map of the first area according to the first point cloud data, and uploading the initial map to the server in real - time.

[0022] According to an embodiment of the present disclosure, the method further includes: in response to the power of the first self - moving device being less than a set value when collecting the first point cloud data, performing a charging process.

[0023] According to an embodiment of the present disclosure, after performing the charging process in response to the power of the first self - moving device being less than a set value when collecting the first point cloud data, it includes: receiving a first updated composition instruction, and determining the updated composition direction in the first area from the first updated composition instruction.

[0024] According to an embodiment of the present disclosure, after uploading the initial map to the server in real - time, it includes: receiving a second composition instruction of the first self - moving device in a second area corresponding to a second map; collecting second point cloud data of the second area, generating a first optimized map of the second area, and uploading the first optimized map to the server.

[0025] According to an embodiment of the present disclosure, the method further includes: determining the second area and the corresponding adjacent second area; in response to the scanning paths in the second area and the adjacent second area overlapping, re - obtaining new scanning paths in the second area and / or the adjacent second area, and obtaining second point cloud data of the second area and / or the adjacent second area based on the new scanning paths.

[0026] According to an embodiment of the present disclosure, the method further includes: in response to the power of the first self - moving device being less than the set value when the second point cloud data is collected, obtaining the generated second optimized map, uploading the second optimized map to the server, and executing a charging process.

[0027] According to an embodiment of the present disclosure, the method further includes: in response to the power of the first self - moving device being less than the set value when the second point cloud data is collected, determining the uncollected areas within the second region, and merging the uncollected areas into the adjacent second region.

[0028] To achieve the above object, a second aspect of the present disclosure provides a control method for a self - moving device, including: applicable to a server, the method includes: receiving in real - time the initial map uploaded by the self - moving device; integrally processing the initial map in real - time to generate a first map of the first region.

[0029] In addition, the control method for the self - moving device proposed in the second aspect of the present disclosure may further have the following additional technical features:

[0030] According to an embodiment of the present disclosure, before receiving in real - time the initial map uploaded by the self - moving device, it includes: determining the mapping direction of the self - moving device within the first region to be mapped according to the position information of the self - moving devices in the self - moving device cluster; generating a first mapping instruction for the first region according to the mapping direction, and sending the first mapping instruction to the self - moving device.

[0031] According to an embodiment of the present disclosure, after sending the first mapping instruction to the self - moving device, it includes: in response to recognizing that the self - moving device executes a charging process, obtaining the updated mapping directions of the remaining self - moving devices in the self - moving device cluster, and generating a first updated mapping instruction according to the updated mapping directions and sending it to the remaining self - moving devices.

[0032] According to an embodiment of the present disclosure, after integrally processing the initial map in real - time to generate a first map of the first region, it includes: dividing the first map to obtain a second map of the self - moving device; generating a second mapping instruction for the second region corresponding to the second map, and sending the second mapping instruction to the self - moving device.

[0033] According to an embodiment of the present disclosure, after sending the second mapping instruction to the self - moving device, it includes: optimizing the first map according to the received first optimized map to generate a target map of the first region.

[0034] According to an embodiment of the present disclosure, after the second composition instruction is sent to the self-mobile device, it further includes: optimizing the first map according to the received first optimized map and second optimized map to generate a target map of the first area.

[0035] According to an embodiment of the present disclosure, after the target map of the first area is generated, it further includes: determining a target task corresponding to the target map and sending the target task to the self-mobile device.

[0036] According to an embodiment of the present disclosure, after the target task is sent to the main self-mobile device, it includes: receiving a completion signal of the target task and sending a return signal of the self-mobile device according to the completion signal.

[0037] To achieve the above object, a third aspect of the present disclosure provides a control device for a self-mobile device, which is applicable to a first self-mobile device. The device includes: a first receiving module, configured to receive a target task, where the target task includes a target map; a decomposition module, configured to decompose the target task to generate respective subtasks of the first self-mobile device and at least one second self-mobile device, where the subtask includes a map segment of the target map; an execution module, configured to execute a first subtask corresponding to the first self-mobile device and send a corresponding second subtask to the second self-mobile device.

[0038] In addition, the control device for a self-mobile device provided in the third aspect of the present disclosure may further have the following additional technical features:

[0039] According to an embodiment of the present disclosure, the decomposition module is further configured to: obtain a cascading relationship between self-mobile devices in a self-mobile device cluster; based on the cascading relationship, perform hierarchical decomposition on the target task to generate respective subtasks of the first self-mobile device and the second self-mobile device.

[0040] According to an embodiment of the present disclosure, the decomposition module is further configured to: determine a first level to which the first self-mobile device belongs according to the cascading relationship; obtain self-mobile devices included in each level below the first level and determine them as the second self-mobile devices; based on the levels corresponding to the first self-mobile device and the second self-mobile device, perform hierarchical decomposition on the target task to generate respective subtasks of the first self-mobile device and the second self-mobile device.

[0041] According to an embodiment of the present disclosure, the decomposition module is further configured to: determine the task execution capabilities of the first self - moving device and the at least one second self - moving device in the cascade relationship; and hierarchically decompose the target task according to the cascade relationship and the task execution capabilities, to generate a first subtask for the first self - moving device and second subtasks for the second self - moving devices respectively.

[0042] According to an embodiment of the present disclosure, the execution module is further configured to: in response to the situation that the execution of the first subtask in the cascade relationship has not ended, but the execution of one of the second subtasks has ended, obtain a new second subtask of the second self - moving device in the first subtask.

[0043] According to an embodiment of the present disclosure, the execution module is further configured to: obtain the current task capabilities of the second self - moving device and the unexecuted part of the first subtask in the cascade relationship; and decompose the unexecuted part according to the current task capabilities to generate a new second subtask for the second self - moving device.

[0044] According to an embodiment of the present disclosure, the execution module is further configured to: in response to the situation that during the execution of the first subtask, the power of the first self - moving device is less than a set value, exit the cascade relationship and execute a charging process.

[0045] According to an embodiment of the present disclosure, the execution module is further configured to: determine the superior self - moving device and the subordinate self - moving device of the first self - moving device in the cascade relationship; connect the superior self - moving device and the subordinate self - moving device to obtain an updated cascade relationship among the multiple self - moving devices.

[0046] According to an embodiment of the present disclosure, the execution module is further configured to: in response to the situation that charging is completed and the target task has not ended, add the self - moving device that has completed charging as the self - moving device with the lowest priority to the self - moving device cluster.

[0047] According to an embodiment of the present disclosure, the execution module is further configured to: in response to the situation that the target task has ended, generate a completion signal and upload the completion signal to the server.

[0048] According to an embodiment of the present disclosure, the execution module is further configured to: receive the return signal sent by the server and return to the charging bin according to the return signal.

[0049] According to an embodiment of the present disclosure, the first receiving module is further configured to: receive a first mapping instruction, and determine a mapping direction of the first self - moving device in a first area from the first mapping instruction; collect first point cloud data of the first area along the mapping direction; generate an initial map of the first area according to the first point cloud data, and upload the initial map to the server in real - time.

[0050] According to an embodiment of the present disclosure, the execution module is further configured to: in response to the power of the first self - moving device being less than a set value when the first point cloud data is collected, execute a charging process.

[0051] According to an embodiment of the present disclosure, the first receiving module is further configured to: receive a first updated mapping instruction, and determine an updated mapping direction in the first area from the first updated mapping instruction.

[0052] According to an embodiment of the present disclosure, the first receiving module is further configured to: receive a second mapping instruction of the first self - moving device in a second area corresponding to a second map; collect second point cloud data of the second area, generate a first optimized map of the second area, and upload the first optimized map to the server.

[0053] According to an embodiment of the present disclosure, the execution module is further configured to: determine the second area and the corresponding adjacent second area; in response to an overlap existing in the scanning paths in the second area and the adjacent second area, re - obtain new scanning paths in the second area and / or the adjacent second area, and obtain second point cloud data of the second area and / or the adjacent second area based on the new scanning paths.

[0054] According to an embodiment of the present disclosure, the execution module is further configured to: in response to the power of the first self - moving device being less than the set value when the second point cloud data is collected, obtain the generated second optimized map, upload the second optimized map to the server and execute a charging process.

[0055] According to an embodiment of the present disclosure, the execution module is further configured to: in response to the power of the first self - moving device being less than the set value when the second point cloud data is collected, determine un - collected areas in the second area, and merge the un - collected areas into the adjacent second area.

[0056] To achieve the above object, a control device for a self - moving device is proposed in the fourth aspect of the present disclosure, including: a server - applicable device, the device includes: a second receiving module, configured to receive the initial map uploaded by the self - moving device in real - time; an integration module, configured to integrally process the initial map in real - time to generate a first map of the first area.

[0057] In addition, the control device of the self - moving device proposed in the fourth aspect of the present disclosure may further have the following additional technical features:

[0058] According to an embodiment of the present disclosure, the device includes: a determination module, configured to determine a composition direction of the self - moving device within a first area to be mapped according to the position information of the self - moving devices in the self - moving device cluster; a generation module, configured to generate a first composition instruction for the first area according to the composition direction and send the first composition instruction to the self - moving device.

[0059] According to an embodiment of the present disclosure, the generation module is further configured to: in response to recognizing that the self - moving device executes a charging process, obtain an updated composition direction of the remaining self - moving devices in the self - moving device cluster, and generate a first updated composition instruction according to the updated composition direction and send it to the remaining self - moving devices.

[0060] According to an embodiment of the present disclosure, the generation module is further configured to: divide the first map, obtain a second map of the self - moving device; generate a second composition instruction for a second area corresponding to the second map and send the second composition instruction to the self - moving device.

[0061] According to an embodiment of the present disclosure, the integration module is further configured to: optimize the first map according to the received first optimized map to generate a target map for the first area.

[0062] According to an embodiment of the present disclosure, the integration module is further configured to: optimize the first map according to the received first optimized map and second optimized map to generate a target map for the first area.

[0063] According to an embodiment of the present disclosure, the generation module is further configured to: determine a target task corresponding to the target map and send the target task to the self - moving device.

[0064] According to an embodiment of the present disclosure, the generation module is further configured to: receive a completion signal of the target task and send a return signal of the self - moving device according to the completion signal.

[0065] The fifth aspect of the present disclosure proposes an electronic device, including: a processor; a memory for storing executable instructions of the processor; wherein, the processor is configured to execute the instructions to implement the control method of the self - moving device as proposed in any one of the first aspect and the second aspect above.

[0066] A fourth aspect of the present disclosure provides a computer-readable storage medium. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute the control method of the self-mobile device as proposed in any one of the first aspect and the second aspect above.

[0067] For the control method and device of the self-mobile device proposed by the present disclosure, after the first self-mobile device receives a target task carrying a target map, it decomposes the target task to generate subtasks corresponding to the first self-mobile device and at least one corresponding second self-mobile device. Among them, the subtask of the first self-mobile device can be determined as the first subtask, and the subtask corresponding to the second self-mobile device can be determined as the second subtask. Further, the first self-mobile device sends the second subtask to the corresponding second self-mobile device, and at the same time, starts to execute the first subtask. In the present disclosure, through the decomposition of the received target task by the first self-mobile device according to the relevant information of the second self-mobile device, the execution of the target task can be effectively planned, enabling multiple self-mobile devices to execute the task simultaneously, shortening the execution time of the target task, and improving the execution efficiency of the target task. The second self-mobile device does not need to receive the task to be executed from the server, avoiding the problem of excessive power consumption caused by information interaction with the server. According to the connection relationship and mutual recognition function between the first self-mobile device and the second self-mobile device, information interaction and information sharing can be achieved between the first self-mobile device and the second self-mobile device, avoiding collisions caused by the inability to effectively identify and share information with other surrounding self-mobile devices, reducing the conflict rate between self-mobile devices in the scenario of multiple self-mobile devices running simultaneously, improving the cooperation rate of self-mobile devices in the scenario of multiple self-mobile devices running simultaneously, strengthening the task execution ability of self-mobile devices, improving the task execution efficiency of self-mobile devices, and optimizing the user experience of self-mobile devices.

[0068] It should be understood that the content described in the present disclosure is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The above and / or additional aspects and advantages of the present disclosure will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0070] Figure 1 is a schematic flowchart of the control method of the self-mobile device according to an embodiment of the present disclosure;

[0071] Figure 2 is a schematic flowchart of the control method of the self-mobile device according to another embodiment of the present disclosure;

[0072] Figure 3 Schematic diagram of the control method for a self - moving device according to an embodiment of the present disclosure;

[0073] Figure 4 Flow schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0074] Figure 5 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0075] Figure 6 Flow schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0076] Figure 7 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0077] Figure 8 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0078] Figure 9 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0079] Figure 10 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0080] Figure 11 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0081] Figure 12 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0082] Figure 13 Schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0083] Figure 14 Flow schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0084] Figure 15 Flow schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0085] Figure 16 Flow schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0086] Figure 17 Flow schematic diagram of the control method for a self - moving device according to another embodiment of the present disclosure;

[0087] Figure 18Structural schematic diagram of a control device for a self - moving device according to an embodiment of the present disclosure;

[0088] Figure 19 Structural schematic diagram of a control device for a self - moving device according to another embodiment of the present disclosure;

[0089] Figure 20 Block diagram of an electronic device according to an embodiment of the present disclosure. Detailed implementation manners

[0090] The embodiments of the present disclosure will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0091] A control method, device, and electronic device for a self - moving device proposed in an embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0092] Figure 1 Flow schematic diagram of a control method for a self - moving device according to an embodiment of the present disclosure. This method is applicable to a first self - moving device, as Figure 1 shown, the method includes:

[0093] S101, receiving a target task, where the target task includes a target map.

[0094] With the development of technology, self - moving devices can execute various tasks. For example, through a floor - cleaning robot in a self - moving device, the ground environment can be cleaned. Another example is that through a robot waiter in a self - moving device, high - quality catering services can be provided for people, and so on.

[0095] In implementation, the self - moving device needs to parse the received task to be executed to obtain specific task information therein, and then implement the execution of the task to be executed. Among them, when the self - moving device executes a set task, there is a set task execution range.

[0096] Within the set task execution range, there may be multiple self - moving devices that need to execute tasks simultaneously. Therefore, in implementation, there is a need to simultaneously control multiple self - moving devices to execute set tasks and plan task execution paths for multiple self - moving devices.

[0097] In some implementations, effective control of multiple self - moving devices can be achieved through information interaction between a server and multiple self - moving devices, as well as information interaction between multiple self - moving devices. Further, effective planning of the respective running paths of multiple self - moving devices can be achieved by combining information interaction and information sharing between multiple self - moving devices.

[0098] Optionally, there is a set association relationship among multiple self - moving devices existing within a set range. Therefore, based on this association relationship, by controlling one of the multiple self - moving devices, the control of the remaining other self - moving devices can be achieved.

[0099] Among them, the self - moving device with the task receiving function can be determined as the first self - moving device. For example, the self - moving device that can receive the target task sent by the server can be determined as the first self - moving device. Another example is that the self - moving device that can receive the target task transmitted by other self - moving devices can be determined as the first self - moving device.

[0100] In the embodiments of the present disclosure, in the target task received by the first self - moving device, there is a corresponding target map when the first self - moving device executes the target task. The first self - moving device can read the specific content of the received target task to obtain the to - be - executed instruction and the corresponding target map information included therein.

[0101] For example, it is set that the first self - moving device is the sweeping robot A. The sweeping robot A can read the specific content of the received target task to obtain the to - be - executed instruction and the relevant information of the corresponding target map carried therein, and then execute the to - be - executed instruction included in the target task within the target map.

[0102] S102, decompose the target task to generate respective subtasks for the first self - moving device and at least one second self - moving device, where the subtask includes a map fragment of the target map.

[0103] In some implementations, the execution ability required for the target task received by the first self - moving device may exceed the upper limit of the execution ability of the first self - moving device. Optionally, the first self - moving device can decompose the received target task to generate at least one subtask and transmit the subtask to other self - moving devices.

[0104] Among them, the self - moving device that can receive the decomposed subtask of the target task transmitted by the first self - moving device can be determined as the second self - moving device.

[0105] Optionally, the first self - moving device can identify its corresponding second self - moving device based on a set standard, thereby establishing the connection relationship between the first self - moving device and the second self - moving device, and then enabling the second self - moving device to effectively receive the subtask decomposed by the first self - moving device.

[0106] Among them, there is a connection relationship established between the first self - moving device and its corresponding second self - moving device based on a set connection method.

[0107] For example, the connection relationship between the first self-mobile device and at least one corresponding second self-mobile device can be established through Bluetooth communication. Additionally, the connection relationship between the first self-mobile device and at least one corresponding second self-mobile device can also be established through other communication methods, which are not limited herein.

[0108] Furthermore, the first self-mobile device can split the received target task according to the number of identified second self-mobile devices and other relevant attribute information, and then generate subtasks that can be satisfied by the execution capabilities of the second self-mobile devices.

[0109] Correspondingly, the remaining tasks to be executed in the target task after decomposition can be determined as the subtasks corresponding to the first self-mobile device.

[0110] Among them, the subtasks include map fragments of the target map required by the first self-mobile device and / or the second self-mobile device when executing the corresponding subtasks.

[0111] For example, the first self-mobile device B receives the target task I. Among them, there are two corresponding second self-mobile devices for the first self-mobile device B, namely the second self-mobile device C and the second self-mobile device D.

[0112] Furthermore, according to the relevant attribute information of the second self-mobile device C and the second self-mobile device D, the first self-mobile device B decomposes the received target task, and generates the subtask II corresponding to the second self-mobile device C and the subtask III corresponding to the second self-mobile device D respectively.

[0113] Correspondingly, after the target task I is decomposed into the subtask II and the subtask III, the remaining tasks to be executed in the target task I can be used as the subtasks corresponding to the first self-mobile device B.

[0114] S103: Execute the first subtask corresponding to the first self-mobile device, and send the corresponding second subtask to the second self-mobile device.

[0115] Optionally, after the target task is decomposed, the subtask corresponding to the first self-mobile device can be determined as the first subtask, and the subtask corresponding to the corresponding second self-mobile device can be determined as the second subtask.

[0116] Furthermore, after the first self-mobile device decomposes the target task and generates the first subtask and the second subtask, it can send the decomposed second subtask to the corresponding second self-mobile device. At the same time, it starts to perform relevant execution operations on its own corresponding first subtask.

[0117] For example, based on the above example, set the first subtask of the first self - moving device B as subtask IIII, the second subtask of the second self - moving device C as subtask II, and the second subtask of the second self - moving device D as subtask III.

[0118] Then, the first self - moving device B can send the second subtask II and the second subtask III of the decomposed target task I to the second self - moving device C and the second self - moving device D respectively. At the same time, it can perform relevant execution operations on its corresponding first subtask IIII.

[0119] Furthermore, based on the connection relationship between the first self - moving device and the second self - moving device, information interaction between the first self - moving device and the second self - moving device is realized, and thus effective transmission of the second subtask from the first self - moving device to the second self - moving device is achieved.

[0120] The control method of the self - moving device proposed in this disclosure is applicable to the first self - moving device. After receiving a target task carrying a target map, the first self - moving device decomposes it to generate subtasks corresponding to the first self - moving device and at least one corresponding second self - moving device. Among them, the subtask of the first self - moving device can be determined as the first subtask, and the subtasks corresponding to the second self - moving device can be determined as the second subtasks. Further, the first self - moving device sends the second subtasks to the corresponding second self - moving devices and, at the same time, starts to execute the first subtask. In this disclosure, through the decomposition of the received target task by the first self - moving device according to the relevant information of the second self - moving device, effective planning for the execution of the target task is achieved, enabling multiple self - moving devices to execute tasks simultaneously, shortening the execution time of the target task, and improving the execution efficiency of the target task. The second self - moving device does not need to receive the task to be executed from the server, avoiding the problem of excessive power consumption caused by information interaction with the server. According to the connection relationship and mutual recognition function between the first self - moving device and the second self - moving device, information interaction and information sharing can be realized between the first self - moving device and the second self - moving device, avoiding collisions caused by the inability to effectively identify and share information with other surrounding self - moving devices, reducing the conflict rate between self - moving devices in the scenario of multiple self - moving devices running simultaneously, improving the cooperation rate of self - moving devices in the scenario of multiple self - moving devices running simultaneously, strengthening the task execution ability of self - moving devices, improving the task execution efficiency of self - moving devices, and optimizing the user experience of self - moving devices.

[0121] In the above - mentioned embodiment, regarding the decomposition of the target task, it can also be combined with Figure 2 For further understanding, Figure 2Schematic flowchart of a control method for a self - moving device according to another embodiment of the present disclosure. This method is applicable to a first self - moving device, such as Figure 2 shown. The method includes:

[0122] S201, obtaining the cascading relationship between self - moving devices in the self - moving device cluster.

[0123] In some implementations, multiple self - moving devices within a set range can be determined as a self - moving device cluster. Among them, in order to achieve stable information interaction between self - moving devices, the self - moving devices in the self - moving device cluster can build corresponding connection relationships based on set attribute information.

[0124] Among them, the cascading relationship between self - moving devices can be obtained according to the respective priorities of the self - moving devices in the self - moving device cluster.

[0125] Such as Figure 3 shown, it is assumed that the self - moving device cluster includes self - moving device A, self - moving device B, self - moving device C, self - moving device D, and self - moving device E. Among them, self - moving device A can interact with the server to receive the target task issued by the server, then the priority of self - moving device A can be determined as the highest priority in the self - moving device cluster.

[0126] It is assumed that self - moving device B and self - moving device C have the same priority, which is the next level after self - moving device A, and self - moving device D and self - moving device E have the same priority, which is the next level after self - moving device B and self - moving device C.

[0127] Then as Figure 3 shown, self - moving device A - self - moving device B - self - moving device D can be connected step by step, and at the same time, self - moving device A - self - moving device C - self - moving device E can be connected step by step, and then the cascading relationship between self - moving devices in the self - moving device cluster as shown in Figure 3 shown can be obtained.

[0128] S202, based on the cascading relationship, hierarchically decompose the target task to generate respective subtasks for the first self - moving device and the second self - moving device.

[0129] In implementation, the target task received by the first self - moving device needs to be jointly completed by the self - moving device cluster to which the first self - moving device belongs. Therefore, according to the cascading relationship in the self - moving device cluster to which the first self - moving device belongs, the target task can be hierarchically decomposed to generate respective corresponding subtasks for the first self - moving device and the second self - moving device at each level.

[0130] Optionally, the first level to which the first self - moving device belongs can be determined according to the cascading relationship.

[0131] The level to which the first self-mobile device belongs in the cascade relationship may be determined as the first level.

[0132] In some implementations, such as Figure 3 As shown, the first self-mobile device is set as self-mobile device A, and the self-mobile device cluster to which it belongs is Figure 3 The self-mobile device cluster is composed of all self-mobile devices shown, wherein the target task received by the first self-mobile device is issued by the server, and the level of self-mobile device A in the cascade relationship of the self-mobile device cluster to which it belongs can be determined as the first level.

[0133] In other implementations, such as Figure 3 As shown, the first self-mobile device can also be set as self-mobile device B, and the self-mobile device cluster to which it belongs is composed of self-mobile device B and self-mobile device D, wherein the target task received by the first self-mobile device is issued by self-mobile device A, and the level of self-mobile device B in the cascade relationship of the self-mobile device cluster to which it belongs can be determined as the first level.

[0134] Further, the self-moving devices included in each level below the first level are obtained and determined as second self-moving devices.

[0135] In the embodiment of the present disclosure, there is at least one self-mobile device connected to the first self-mobile device. Therefore, after determining the first level to which the first self-mobile device in the cascade relationship belongs, the self-mobile devices at each level below the first level in the cascade relationship can be determined as the corresponding second self-mobile device.

[0136] Alternatively, if Figure 3 As shown, the first self-mobile device is set to be self-mobile device A, and the level in the cascade relationship to which it belongs is the first level, such as Figure 3 As shown, the self-mobile devices of each level below the first level include self-mobile device B, self-mobile device C, self-mobile device D and self-mobile device E, then self-mobile device B, self-mobile device C, self-mobile device D and self-mobile device E can be determined as the second self-mobile devices of self-mobile device A.

[0137] Alternatively, if Figure 3 As shown, the first self-moving device is set to be self-moving device C, and its level is the first level, such as Figure 3 As shown, the self-mobile devices at various levels below the first level include the self-mobile device E, and the self-mobile device E can be determined as the second self-mobile device of the self-mobile device C.

[0138] Further, based on the levels corresponding to the first self - moving device and the second self - moving device, the target task is hierarchically decomposed to generate respective subtasks for the first self - moving device and the second self - moving device.

[0139] In implementation, the decomposition of the target task can be performed level by level according to the level to which each self - moving device belongs in the cascade relationship.

[0140] Among them, the task execution capabilities of the first self - moving device and at least one second self - moving device can be determined in the cascade relationship.

[0141] In the embodiments of the present disclosure, the target task can be decomposed based on the task execution capabilities of the self - moving devices. For example, if the self - moving device is set as a sweeping robot, its corresponding subtasks can be obtained by decomposing according to the size of the area that the sweeping robot can currently clean.

[0142] Optionally, the task execution capabilities of the self - moving devices can be determined according to attribute parameters such as the battery level of the self - moving devices.

[0143] Further, the second self - moving device in the cascade relationship can report the attribute parameters corresponding to its task execution capabilities to the self - moving device at the next higher level, so that the first self - moving device can obtain the task execution capabilities of each second self - moving device in its cascade relationship.

[0144] According to the cascade relationship and the task execution capabilities, the target task is hierarchically decomposed to generate the first subtask of the first self - moving device and the second subtasks of the second self - moving devices respectively.

[0145] As Figure 3 shown, assume that the first self - moving device is self - moving device A, and the self - moving device cluster 1 to which it belongs includes self - moving device A, self - moving device B, self - moving device C, self - moving device D, and self - moving device E.

[0146] According to the cascade relationship in the self - moving device cluster 1, self - moving device D reports its task execution capability d to self - moving device B, self - moving device E reports its task execution capability e to self - moving device C, self - moving device B reports its own task execution capability b and the task execution capability d of self - moving device D to self - moving device A together, and self - moving device C reports its own task execution capability c and the task execution capability e of self - moving device E to self - moving device A in a packaged manner.

[0147] Then self - moving device A obtains the task execution capabilities of each second self - moving device in its self - moving device cluster.

[0148] Furthermore, for the received task execution capabilities, the self-mobile device A decomposes the target task it receives, and generates the second subtask I that can be achieved by the total capabilities of task execution capabilities b and task execution capabilities d, and the second subtask II that can be achieved by the total capabilities of task execution capabilities c and task execution capabilities e, and sends the second subtask I to the self-mobile device B, and sends the second subtask II to the self-mobile device C.

[0149] Among them, the remaining task after the target task is decomposed into the second subtask I and the second subtask II is the first subtask of the self-mobile device A.

[0150] Furthermore, the self-mobile device B can be used as the first self-mobile device of the self-mobile device group 2 to which it belongs. Among them, the self-mobile device group 2 includes the self-mobile device B and the self-mobile device D.

[0151] According to the cascading relationship in the self-mobile device group 2, the self-mobile device D reports its task execution capability d to the self-mobile device B. The self-mobile device B determines the second subtask I it receives as the target task received as the first self-mobile device, decomposes it, generates the second subtask III that can be achieved by the task execution capability d, and sends it to the self-mobile device D.

[0152] Among them, the remaining task after the second subtask I is decomposed into the second subtask III is the second subtask corresponding to the self-mobile device B.

[0153] Correspondingly, the self-mobile device C can be used as the first self-mobile device of the self-mobile device group 3 to which it belongs. Among them, the self-mobile device group 3 includes the self-mobile device C and the self-mobile device E.

[0154] According to the cascading relationship in the self-mobile device group 3, the self-mobile device E reports its task execution capability e to the self-mobile device C. The self-mobile device C determines the second subtask II it receives as the target task received as the first self-mobile device, and decomposes it to generate the second subtask IIIII that can be achieved by the task execution capability e, and sends it to the self-mobile device E.

[0155] Among them, the remaining task after the second subtask II is decomposed into the second subtask IIIII is the second subtask corresponding to the self-mobile device C.

[0156] Furthermore, according to the cascading relationship in the self-mobile device group, the target task is gradually decomposed in the self-mobile device group, and then the first subtask corresponding to the first self-mobile device and the second subtasks corresponding to the second self-mobile devices are generated.

[0157] The control method of the self - moving device proposed by the present disclosure obtains the cascading relationship in the self - moving device cluster, and decomposes the target task received by the first self - moving device step by step according to the cascading relationship, so as to obtain the first subtask corresponding to the first self - moving device and the second subtasks corresponding to the second self - moving devices respectively. In the present disclosure, through the cascading relationship in the self - moving device cluster, the execution of the target task can be effectively planned, the simultaneous execution of the task by multiple self - moving devices is realized, the execution time of the target task is shortened, the execution efficiency of the target task is improved, the second self - moving device does not need to receive the task to be executed from the server, avoiding the problem of excessive power consumption caused by information interaction with the server, strengthening the task execution ability of the self - moving device, improving the task execution efficiency of the self - moving device, and optimizing the user experience of the self - moving device.

[0158] In the above - mentioned embodiment, regarding the execution of the first subtask and the second subtasks, it can be combined with Figure 4 For further understanding, Figure 4 FIG. is a schematic flowchart of the control method of the self - moving device according to another embodiment of the present disclosure. This method is applicable to the first self - moving device. As Figure 3 shown, this method includes:

[0159] S401, in response to the first subtask in the cascading relationship not being completed, but the second subtask being completed, obtain a new second subtask of the second self - moving device in the first subtask.

[0160] In the embodiment of the present disclosure, the first self - moving device decomposes the received target task based on the cascading relationship of the self - moving device cluster to which it belongs and the task execution ability of its corresponding second self - moving device. Therefore, it is possible that the task execution ability required for the first subtask obtained by the first self - moving device after decomposing the target task exceeds its task execution ability limit.

[0161] In this scenario, the first self - moving device can decompose its corresponding first subtask again.

[0162] Optionally, when the second subtask of the second self - moving device at the next - level of the first self - moving device is completed, the second self - moving device can report the set signal of its completed second subtask to the first self - moving device at the upper - level.

[0163] Furthermore, the first self - moving device can decompose its first subtask again after the second self - moving device completes its corresponding second subtask to obtain a new second subtask of the second self - moving device.

[0164] Among them, the current task ability of the second self - moving device and the unexecuted part in the first subtask can be obtained in the cascading relationship.

[0165] Optionally, the second self - moving device may report its currently executable task capabilities to the first self - moving device, and the first self - moving device obtains the current task capabilities of the second self - moving device from the reported information of the second self - moving device.

[0166] Based on the completion signal of the second subtask reported by the second self - moving device, the first self - moving device can obtain the remaining unexecuted part of the first subtask it is currently executing.

[0167] Furthermore, decompose the unexecuted part according to the current task capabilities to generate a new second subtask for the second self - moving device.

[0168] Among them, the first self - moving device can divide the unexecuted part of its first subtask according to the current task capabilities of the received second self - moving device to generate a subtask that the current task capabilities of the second self - moving device can satisfy, as the new second subtask of the second self - moving device.

[0169] For example, set the first self - moving device as the sweeping robot A and the second self - moving device as the sweeping robot B. After the target cleaning area of the sweeping robot B is cleaned, it can report the cleaned signal to the sweeping robot A and report its current battery level at the same time.

[0170] After the sweeping robot A receives the signal that the sweeping robot B has finished cleaning, it can divide the current target area it is cleaning to generate a sub - area that the current battery level of the sweeping robot B can complete cleaning, as the new cleaning task of the sweeping robot B.

[0171] It should be noted that during the execution of the first subtask by the first self - moving device, there may be a situation where the battery power is abnormal. Among them, in response to the battery power of the first self - moving device being less than the set value during the execution of the first subtask, exit the cascade relationship and execute the charging process.

[0172] It can be understood that when the battery power of the first self - moving device is less than the set lower limit of the battery power, it can be judged that the current task execution ability of the first self - moving device cannot normally execute the first subtask.

[0173] In this scenario, the set charging process can be entered, and the cascade relationship can be exited to return to the charging bin for charging.

[0174] As one possibility, the first self - moving device that exits the cascade relationship can be the self - moving device at the middle level in the cascade relationship. In this scenario, the upper - level self - moving device and the secondary self - moving device of the first self - moving device in the cascade relationship can be determined.

[0175] Such as Figure 5As shown, if the first self - moving device for setting the exit from the cascading relationship is self - moving device B, then the superior self - moving device of self - moving device B is self - moving device A, and the secondary self - moving device is self - moving device C.

[0176] Furthermore, connect the superior self - moving device and the secondary self - moving device to obtain the updated cascading relationship among multiple self - moving devices.

[0177] Among them, by constructing the connection relationship between the superior self - moving device and the secondary self - moving device, the cascading relationship in the self - moving device cluster to which the first automatic device A belongs can be kept stable.

[0178] As Figure 5 shown, when self - moving device B exits Figure 5 the cascading relationship in, the superior self - moving device A and the secondary self - moving device C will respectively disconnect the connection relationship with self - moving device B and construct the connection relationship between the superior self - moving device A and the secondary self - moving device C.

[0179] Furthermore, based on the construction of the connection relationship between the superior self - moving device and the secondary self - moving device, obtain the new updated cascading relationship among multiple self - moving devices in the self - moving device cluster.

[0180] Correspondingly, after the first self - moving device finishes the charging process, it can re - join the self - moving device cluster. Among them, in response to the end of charging and the target task not being executed to completion, the self - moving device that has finished charging is used as the self - moving device with the lowest priority and joins the self - moving device cluster.

[0181] To ensure the stability of the cascading relationship in the self - moving device cluster, the self - moving device that has finished charging can join the self - moving device cluster to which it belonged before exiting in the state with the lowest priority.

[0182] It should be noted that when the target task received by the first self - moving device is executed to completion, the first self - moving device that can interact with the server can generate a completion signal and upload the completion signal to the server. Then, it receives the return signal sent by the server and distributes the return signal to each second self - moving device. Furthermore, each self - moving device in the self - moving device cluster can return to the charging bin according to the return signal.

[0183] The control method of the self - moving device proposed in this disclosure can decompose the first sub - task again in the scenario where the first sub - task is not executed to completion while the second sub - task is executed to completion, generate a new second sub - task and distribute it to the second self - moving device, realizing the effective planning of the target task. At the same time, it realizes the simultaneous execution of the task by multiple self - moving devices, shortens the execution time of the target task, and improves the execution efficiency of the target task.

[0184] In the above embodiments, for the acquisition of the target map, it can be combined with Figure 6 to understand further. Figure 6 As shown in the flowchart of the control method of the self-moving device according to another embodiment of the present disclosure, this method is applicable to the first self-moving device, such as Figure 6 shown, this method includes:

[0185] S601, receiving a first composition instruction, and determining the composition direction of the first self-moving device in the first area from the first composition instruction.

[0186] In implementation, before the self-moving device enters the execution process of the target task, it is necessary to construct a map of the area corresponding to the task to be executed, and generate a target map of the area of the task to be executed.

[0187] Optionally, based on the first composition instruction issued by the server, the composition data of the first area to be composed can be collected, so as to realize the construction of the target map corresponding to the first area to be composed.

[0188] Further, the specific information of the received first composition instruction can be read to obtain the composition direction of the first self-moving device in the first area to be composed indicated therein.

[0189] Among them, the first self-moving device can establish a connection relationship with the server through a set connection method, so as to realize information interaction with the server.

[0190] Such as Figure 7 shown, the self-moving device A, the self-moving device B, the self-moving device C, and the self-moving device D can establish a connection relationship with the server through the wireless network communication technology (WiFi), and then receive the first composition instruction issued by the server.

[0191] S602, collecting the first point cloud data of the first area along the composition direction.

[0192] Further, it can move according to the composition direction in the read first composition instruction, and collect point cloud data of the area that can be scanned during the movement.

[0193] Among them, the point cloud data of the first area to be composed collected can be determined as the first point cloud data.

[0194] S603, generating an initial map of the first area according to the first point cloud data, and uploading the initial map to the server in real time.

[0195] In implementation, a real-time mapping program is configured on the self-moving device. According to the collected first point cloud data, it can map the scanned area, generate an initial map corresponding to the first area, and transmit it to the corresponding server in real time.

[0196] As Figure 8 shown, the self-moving device A moves according to the mapping direction issued by the server, collects the first point cloud data of the first area, and after generating the initial map, uploads the relevant information of the initial map to the set server in real time.

[0197] During the process of collecting the first point cloud data, there may be a situation where the power of the first self-moving device is abnormal. Among them, when the remaining power of the first self-moving device is less than the set lower limit of the power when collecting the first point cloud data, it can be judged that the remaining power of the current first self-moving device cannot realize the collection of the first point cloud data of the first area, and the first self-moving device can be controlled to execute the charging process and return to the charging bin for charging.

[0198] Correspondingly, the charging signal of the first self-moving device will be uploaded to the server, and the server can re-plan the mapping direction of the remaining self-moving devices in the first area based on the received charging signal and generate a new first updated mapping instruction.

[0199] Furthermore, the remaining first self-moving devices can receive the first updated mapping instruction, determine their updated mapping directions in the first area from the first updated mapping instruction, and collect the first point cloud data of the first area along the updated mapping directions.

[0200] S604, receive the second mapping instruction of the first self-moving device in the second area corresponding to the second map.

[0201] In implementation, there may be a situation where the accuracy of the initial map constructed for the first area based on the first mapping instruction is relatively low. Therefore, the first map generated based on the initial map constructed according to the first mapping instruction can be optimized.

[0202] Optionally, the server can issue a second mapping instruction for map optimization.

[0203] Among them, the second mapping instruction can be generated according to the first map, and the second map to be optimized and scanned by each self-moving device is sent to the corresponding self-moving device, so as to indicate the specific range of the second area to be optimized and scanned corresponding to each self-moving device.

[0204] As Figure 9As shown, the server can respectively generate second composition instructions corresponding to the self - mobile device A, the self - mobile device B, the self - mobile device C, and the self - mobile device D, and respectively send them to the corresponding self - mobile device A, the self - mobile device B, the self - mobile device C, and the self - mobile device D.

[0205] S605, Collect the second point cloud data of the second area, generate the first optimized map of the second area, and upload the first optimized map to the server.

[0206] Furthermore, according to the second area to be optimized and scanned indicated in the received second composition instruction, corresponding scanning path planning can be performed, and scanning can be performed within its corresponding second area according to the planned path to collect the second point cloud data corresponding to the second area.

[0207] Among them, the scanning path within the second area can be planned by the server as shown in Figure 10 or can also be planned by the self - mobile device itself within the second area, which is not limited here.

[0208] Generate the map corresponding to the second area according to the collected second point cloud data, and determine it as the first optimized map corresponding to the second area.

[0209] It should be noted that, as shown in Figure 11 the first optimized map can be uploaded to the server after the self - mobile device finishes the task of collecting and composing the second area.

[0210] In the embodiments of the present disclosure, when the self - mobile device performs scanning path planning for its corresponding second area, there may be an overlapping situation. Among them, through the connection relationship established between the self - mobile devices, information interaction and information sharing can be realized between the self - mobile devices, so as to avoid path conflicts between the self - mobile devices.

[0211] As shown in Figure 12 the connection between the self - mobile device A, the self - mobile device B, and the self - mobile device C can be realized through the way of Bluetooth communication.

[0212] Furthermore, in this scenario, the first scanning path planned by the self - mobile device within its corresponding second area and the second scanning path of the adjacent self - mobile device within its corresponding adjacent second scanning area can be respectively obtained.

[0213] When it is recognized that there is an overlap between the first scanning path and the second scanning path, the scanning paths within the second region and adjacent to the second region can be re-planned. For example, the first scanning path can be re-planned alone, or the second scanning path can be re-planned alone, or the first scanning path and the second scanning path can be re-planned simultaneously, until there is no overlap between the re-planned first scanning path and the second scanning path.

[0214] It should be noted that when self-mobile devices are connected based on Figure 12 the Bluetooth communication method shown, the self-mobile device can use the self-mobile device closest to it as its adjacent self-mobile device to ensure stable communication between self-mobile devices.

[0215] Optionally, a set wireless positioning system (UWB) can be configured on the self-mobile device. Based on the configured wireless positioning system, the distances to surrounding self-mobile devices are obtained, and then the adjacent self-mobile device closest in distance is determined, and a Bluetooth connection relationship is established.

[0216] Furthermore, based on the re-planned first scanning path and / or the second scanning path, the acquisition of the second point cloud data for the second region and / or the adjacent second region is continued until the optimized map for the second region and / or the adjacent second region is generated.

[0217] During the process of acquiring the second point cloud data, there may be a situation where the power of the first self-mobile device is abnormally low. When it is recognized that the power of the first self-mobile device is less than the set lower limit of the power, the first self-mobile device can upload the generated optimized map as the second optimized map to the server and execute the charging process.

[0218] Correspondingly, the first self-mobile device can upload its remaining unscanned area to the server. At the same time, it transmits the position information of its stop scanning and return to charging to its adjacent self-mobile devices. Further, the remaining unscanned area is merged with the to-be-scanned area of the adjacent self-mobile devices, and then a new second scanning area for the adjacent self-mobile devices is generated.

[0219] As Figure 13 shown, when the remaining power of the self-mobile device B is less than the set lower limit of the power, it can upload the second optimized map generated by its scanning to the server, and at the same time send the position information of its stop scanning and return to charging to the adjacent self-mobile devices A and C.

[0220] The server re-plans the scanning areas of the self-mobile devices A and C according to the received remaining unscanned area of the self-mobile device B, and distributes the planned new second area to be scanned to the corresponding self-mobile devices.

[0221] The control method of the self - moving device proposed by the present disclosure collects the first point cloud data of the first area according to the received first mapping instruction, and generates an initial map in real - time and uploads it to the server. Further, according to the received second mapping instruction, the second area is scanned to collect the second point cloud data, and a first optimized map corresponding to the second area is generated and uploaded to the server. In the present disclosure, according to the connection relationship and the mutually recognizable functions between the first self - moving devices, information interaction and information sharing can be realized between the first self - moving devices, avoiding collisions caused by the inability to effectively recognize and share information with other surrounding self - moving devices, reducing the collision rate between self - moving devices in the scenario where multiple self - moving devices are running simultaneously, increasing the cooperation rate between self - moving devices in the scenario where multiple self - moving devices are running simultaneously, strengthening the task execution ability of the self - moving devices, improving the task execution efficiency of the self - moving devices, and optimizing the user experience of the self - moving devices.

[0222] To implement the above - mentioned embodiments, the present disclosure also proposes a control method for a self - moving device. This method is applicable to the server and can be combined with Figure 14 for understanding. Figure 14 As shown in the flowchart of the control method of the self - moving device according to another embodiment of the present disclosure, as Figure 14 shown, this method includes:

[0223] S1401, receive the initial map uploaded by the self - moving device in real - time.

[0224] In the embodiments of the present disclosure, when the self - moving device scans the area to be mapped, it can collect the first point cloud data of the area to be mapped, and generate an initial map corresponding to the scanned area based on the real - time mapping program configured on the self - moving device.

[0225] To realize the effective control of the server over the mapping process, the self - moving device can upload the generated initial map to the server in real - time, and the server can receive the initial map uploaded in real - time.

[0226] Among them, a connection relationship can be established between the self - moving device and the server based on the communication method of the wireless communication network, so as to realize the real - time upload and real - time reception of the initial map.

[0227] S1402, integratethe initial map in real - time to generate the first map of the first area.

[0228] Furthermore, the initial map received by the server is a real - time map generated from the point cloud data collected by the self - moving device, and it is necessary to further integrate the received initial map.

[0229] Optionally, the initial map can be integrated by a set image processing method, and then the initial integrated map corresponding to the first area can be generated, and this map can be determined as the first map corresponding to the first area.

[0230] In the control method of the self-moving device proposed by the present disclosure, the server can receive the initial map uploaded by the self-moving device in real time and integrate it, and then generate the first map of the first area to be mapped. In the present disclosure, by the server receiving the initial map in real time, the server can effectively monitor the mapping process of the first area, so as to accurately determine the path information and moving position during the mapping process of the self-moving device, reduce the conflict rate during the mapping process of the self-moving device, and improve the mapping efficiency and accuracy.

[0231] In the above embodiment, regarding the mapping instruction of the initial map, it can also be combined with Figure 15 For further understanding, Figure 15 It is a schematic flowchart of the control method of the self-moving device according to another embodiment of the present disclosure. This method is applicable to the server, as Figure 15 shown, this method includes:

[0232] S1501, according to the position information of the self-moving devices in the self-moving device cluster, determine the mapping direction of the self-moving devices in the first area to be mapped.

[0233] In implementation, the mapping direction of each self-moving device in the first area to be mapped can be determined according to the position information of each self-moving device in the self-moving device cluster.

[0234] Among them, the position information of each self-moving device in the self-moving device cluster can be obtained through the positioning system configured by the self-moving device.

[0235] Furthermore, different position information of the self-moving devices is calculated according to a set algorithm, so as to determine the moving direction corresponding to each self-moving device, and it is determined as the mapping direction corresponding to the self-moving device when mapping the first area.

[0236] S1502, generate the first mapping instruction for the first area according to the mapping direction, and send the first mapping instruction to the self-moving device.

[0237] Furthermore, according to the mapping direction of each self-moving device in the first area, the mapping instruction corresponding to the first area can be generated.

[0238] Optionally, the first mapping instruction corresponding to each self-moving device can be generated respectively according to the mapping direction of each automatic device, and sent to the corresponding self-moving device.

[0239] In implementation, during the process of the self - moving device collecting the first point cloud data, there may be a situation of abnormal power. Therefore, when it is recognized that the power of the self - moving device is abnormal and the charging process is executed, the composition direction can be re - planned according to the current composition direction of the remaining self - moving devices, generating an updated composition direction for the remaining self - moving devices, and respectively generating the first updated composition instructions for each self - moving device and sending them down.

[0240] The control method of the self - moving device proposed by the present disclosure determines the composition direction of each self - moving device in the first area according to the position information of each self - moving device in the self - moving device cluster, and generates the first composition instructions and sends them down to the corresponding self - moving devices respectively. In the present disclosure, through the unified planning of the composition direction, the conflict of the scanning paths between the self - moving devices during the composition process is avoided, the repeated data collection of the self - moving devices is avoided, and the efficiency of composition is improved.

[0241] In the above - mentioned embodiment, regarding the acquisition of the target map, it can also be combined with Figure 16 For further understanding, Figure 16 As shown in the flowchart of the control method of the self - moving device according to another embodiment of the present disclosure, this method is applicable to a server, such as Figure 16 shown, the method includes:

[0242] S1601, divide the first map and obtain the second map of the self - moving device.

[0243] In the embodiments of the present disclosure, in order to optimize the accuracy of the first map, the first area can be divided into regions.

[0244] Optionally, the planning of the optimization area can be carried out according to the position information of each self - moving device in the self - moving device cluster, and the first map is divided to obtain the second map of each self - moving device.

[0245] Among them, the second area indicated by the second map is the area to be scanned for each self - moving device to scan and generate an optimized map.

[0246] S1602, generate the second composition instructions for the second area corresponding to the second map, and send the second composition instructions to the self - moving device.

[0247] Furthermore, according to the second area corresponding to the second map of each self - moving device, the second composition instructions for each self - moving device are respectively generated.

[0248] Such as Figure 9 shown, through the connection relationship between the server and the self - moving device, the second composition instructions are sent to the corresponding self - moving device.

[0249] S1603, optimize the first map to generate the target map of the first area.

[0250] In some implementations, after the self-mobile device finishes scanning its corresponding second area, it can generate a corresponding first optimized map and upload it to the server. The server can optimize the corresponding area of the first map according to the received first optimized map, and then generate a target map for the first area.

[0251] In other implementations, when an abnormality occurs in the self-mobile device, it will upload the generated second optimized map in the second area that has not been scanned to the server. In this scenario, the server can simultaneously optimize the corresponding area of the first map according to the first optimized map generated after normal scanning and the second optimized map received in the abnormal scenario, and then generate a target map for the first area.

[0252] Further, after generating the target map, the server can generate a corresponding target task according to the target map and send the target task to the self-mobile devices in the self-mobile device cluster. For example, a target cleaning task for a sweeping robot can be generated according to the target map, and further, the target cleaning task is sent to the sweeping robots in the sweeping robot cluster.

[0253] Correspondingly, when the self-mobile device finishes executing the target task, it can generate a corresponding completion signal and upload it to the server. The server generates a return signal for the self-mobile device according to the received completion signal of the target task and sends it to the self-mobile devices in the self-mobile device cluster.

[0254] Further, the complete execution of the target task is realized.

[0255] The control method of the self-mobile device proposed in this disclosure divides the first map to generate a second map of the self-mobile device, and then generates a second composition instruction according to the second map and sends it to the corresponding self-mobile device. Further, the first map is optimized according to the received optimized map, so as to generate a target map for the first area. In this disclosure, through multiple scans and optimizations of the area to be composed, the accuracy and precision of the target map are improved, providing an accurate map indication for the subsequent execution of the target task and optimizing the execution effect of the target task.

[0256] For a better understanding of the above embodiments, reference may be made to Figure 17 , Figure 17 which is a schematic flowchart of the control method of the self-mobile device according to another embodiment of this disclosure. As Figure 17 shown, the method includes:

[0257] Based on the location information of each self - moving device in the self - moving device cluster, determine the composition direction of each self - moving device within the first area, and generate first composition instructions to be sent to the corresponding self - moving devices respectively. Collect the first point cloud data of the first area according to the received first composition instructions, and generate an initial map in real - time and upload it to the server. The server can receive the initial maps uploaded by the self - moving devices in real - time, integrate them, and then generate the first map of the first area to be composed. By dividing the first map, generate the second map of the self - moving device, and then generate second composition instructions according to the second map and send them to the corresponding self - moving devices. Further, according to the received second composition instructions, collect the second point cloud data of the second area, and generate the first optimized map corresponding to the second area and upload it to the server. The server optimizes the first map according to the received optimized map, thereby generating the target map of the first area, and generates the target tasks of the self - moving devices according to the target map and send them down. After the first self - moving device receives the target task carrying the target map, obtain the cascade relationship in the self - moving device cluster, and decompose the target task received by the first self - moving device step by step according to the cascade relationship, and then obtain the first subtask corresponding to the first self - moving device and the second subtasks corresponding to the second self - moving device respectively. Further, the first self - moving device sends the second subtask to the corresponding second self - moving device. Further, start to execute the first subtask and the second subtask. In the scenario where the first subtask has not been executed yet and the second subtask has been executed, the first subtask can be decomposed again to generate a new second subtask and send it to the second self - moving device until the target task is executed, generate a completion signal of the target task and upload it to the server. After the server receives the completion signal, generate a return signal for the self - moving device and send it down. The self - moving device returns to the charging bin according to the received return signal, ending the execution operation of this round of the target task.

[0258] It should be noted that while the first self - moving device and the second self - moving device execute the first composition instructions and the second composition instructions, and while the first self - moving device and the second self - moving device execute the first subtask and the second subtask decomposed from the target task, their battery levels will be monitored.

[0259] When the battery level of the first self - moving device and / or the second self - moving device is less than the set value during the execution of the first composition instructions and the second composition instructions, or the first subtask and the second subtask, the first self - moving device and / or the second self - moving device will enter the charging process and perform corresponding processing operations according to the task it is executing.

[0260] The control method of the self - moving device proposed by the present disclosure enables the effective planning of the execution of the target task through the decomposition of the received target task by the first self - moving device according to the relevant information of the second self - moving device. It realizes the simultaneous execution of tasks by multiple self - moving devices, shortens the execution time of the target task, and improves the execution efficiency of the target task. The second self - moving device does not need to receive the task to be executed from the server, avoiding the problem of excessive power consumption caused by information interaction with the server. According to the connection relationship and mutual recognition function between the first self - moving device and the second self - moving device, information interaction and information sharing can be achieved between the first self - moving device and the second self - moving device, avoiding collisions caused by the inability to effectively identify and share information with other surrounding self - moving devices, reducing the conflict rate between self - moving devices in the scenario of multiple self - moving devices running simultaneously, improving the cooperation rate of self - moving devices in the scenario of multiple self - moving devices running simultaneously, strengthening the task execution ability of self - moving devices, improving the task execution efficiency of self - moving devices, and optimizing the user experience of self - moving devices.

[0261] Corresponding to the control method of the self - moving device proposed in the above - mentioned several embodiments, an embodiment of the present disclosure also proposes a control device for the self - moving device. Since the control device for the self - moving device proposed in the embodiment of the present disclosure corresponds to the control method of the self - moving device proposed in the above - mentioned several embodiments, the implementation manners of the above - mentioned control method of the self - moving device are also applicable to the control device for the self - moving device proposed in the embodiment of the present disclosure and will not be described in detail in the following embodiments.

[0262] Figure 18 It is a schematic structural diagram of the control device for the self - moving device according to an embodiment of the present disclosure, applicable to the first self - moving device, such as Figure 18 As shown, the control device 1800 of the self - moving device includes a first receiving module 181, a decomposition module 182, and an execution module 183, where:

[0263] The first receiving module 181 is configured to receive a target task, where the target task includes a target map;

[0264] The decomposition module 182 is configured to decompose the target task to generate respective subtasks for the first self - moving device and at least one second self - moving device, where the subtasks include map fragments of the target map;

[0265] The execution module 183 is configured to execute the first subtask corresponding to the first self - moving device and send the corresponding second subtask to the second self - moving device.

[0266] In an embodiment of the present disclosure, the decomposition module 182 is further configured to: obtain the cascading relationship between the self - moving devices in the self - moving device cluster; based on the cascading relationship, hierarchically decompose the target task to generate sub - tasks for each of the first self - moving device and the second self - moving device.

[0267] In an embodiment of the present disclosure, the decomposition module 182 is further configured to: according to the cascading relationship, determine the first level to which the first self - moving device belongs; obtain the self - moving devices included in each level below the first level and determine them as the second self - moving devices;

[0268] Based on the levels corresponding to the first self - moving device and the second self - moving device, hierarchically decompose the target task to generate sub - tasks for each of the first self - moving device and the second self - moving device.

[0269] In an embodiment of the present disclosure, the decomposition module 182 is further configured to: determine the task execution capabilities of the first self - moving device and at least one second self - moving device in the cascading relationship; according to the cascading relationship and the task execution capabilities, hierarchically decompose the target task to generate a first sub - task for the first self - moving device and second sub - tasks for each of the second self - moving devices.

[0270] In an embodiment of the present disclosure, the execution module 183 is further configured to: in response to the situation that the execution of the first sub - task has not ended in the cascading relationship, but the execution of a second sub - task has ended, obtain a new second sub - task of the second self - moving device in the first sub - task.

[0271] In an embodiment of the present disclosure, the execution module 183 is further configured to: obtain the current task capabilities of the second self - moving device and the unexecuted part in the first sub - task in the cascading relationship; decompose the unexecuted part according to the current task capabilities to generate a new second sub - task for the second self - moving device.

[0272] In an embodiment of the present disclosure, the execution module 183 is further configured to: in response to the situation that during the execution of the first sub - task, the power of the first self - moving device is less than the set value, exit the cascading relationship and execute the charging process.

[0273] In an embodiment of the present disclosure, the execution module 183 is further configured to: determine the upper - level self - moving device and the secondary self - moving device of the first self - moving device in the cascading relationship; connect the upper - level self - moving device and the secondary self - moving device to obtain an updated cascading relationship among multiple self - moving devices.

[0274] In an embodiment of the present disclosure, the execution module 183 is further configured to: in response to the situation that the charging is completed and the target task has not been completed, add the self - moving device that has completed charging as the self - moving device with the lowest priority to the self - moving device cluster.

[0275] In an embodiment of the present disclosure, the execution module 183 is further configured to: in response to the end of the execution of the target task, generate a completion signal and upload the completion signal to the server.

[0276] In an embodiment of the present disclosure, the execution module 183 is further configured to: receive a return signal sent by the server and return to the charging bin according to the return signal.

[0277] In an embodiment of the present disclosure, the first receiving module 181 is further configured to: receive a first composition instruction, and determine the composition direction of the first self - moving device in the first area from the first composition instruction; collect first point cloud data of the first area along the composition direction; generate an initial map of the first area according to the first point cloud data, and upload the initial map to the server in real - time.

[0278] In an embodiment of the present disclosure, the execution module 183 is further configured to: in response to the power of the first self - moving device being less than a set value when collecting the first point cloud data, execute a charging process.

[0279] In an embodiment of the present disclosure, the first receiving module 181 is further configured to: receive a first updated composition instruction, and determine the updated composition direction in the first area from the first updated composition instruction.

[0280] In an embodiment of the present disclosure, the first receiving module 181 is further configured to: receive a second composition instruction of the first self - moving device in a second area corresponding to a second map; collect second point cloud data of the second area, generate a first optimized map of the second area, and upload the first optimized map to the server.

[0281] In an embodiment of the present disclosure, the execution module 183 is further configured to: determine the second area and the corresponding adjacent second area; in response to the scanning paths in the second area and the adjacent second area overlapping, re - obtain new scanning paths in the second area and / or the adjacent second area, and obtain second point cloud data of the second area and / or the adjacent second area based on the new scanning paths.

[0282] In an embodiment of the present disclosure, the execution module 183 is further configured to: in response to the power of the first self - moving device being less than a set value when collecting the second point cloud data, obtain the generated second optimized map, upload the second optimized map to the server and execute a charging process.

[0283] In an embodiment of the present disclosure, the execution module 183 is further configured to: in response to the power of the first self - moving device being less than a set value when collecting the second point cloud data, determine the uncollected area in the second area, and merge the uncollected area into the adjacent second area.

[0284] The control device of the self - moving device proposed by the present disclosure, after the first self - moving device receives a target task carrying a target map, decomposes it to generate subtasks corresponding to the first self - moving device and at least one corresponding second self - moving device. Among them, the subtask of the first self - moving device can be determined as the first subtask, and the subtask corresponding to the second self - moving device can be determined as the second subtask. Further, the first self - moving device sends the second subtask to the corresponding second self - moving device, and at the same time, starts to execute the first subtask. In the present disclosure, through the decomposition of the received target task by the first self - moving device according to the relevant information of the second self - moving device, the execution of the target task can be effectively planned, enabling multiple self - moving devices to execute the task simultaneously, shortening the execution time of the target task, and improving the execution efficiency of the target task. The second self - moving device does not need to receive the task to be executed from the server, avoiding the problem of excessive power consumption caused by information interaction with the server. According to the connection relationship and mutual recognition function between the first self - moving device and the second self - moving device, information interaction and information sharing can be achieved between the first self - moving device and the second self - moving device, avoiding collisions caused by the inability to effectively identify and share information with other surrounding self - moving devices, reducing the conflict rate between self - moving devices in the scenario of multiple self - moving devices running simultaneously, improving the cooperation rate between self - moving devices in the scenario of multiple self - moving devices running simultaneously, strengthening the task execution ability of the self - moving devices, improving the task execution efficiency of the self - moving devices, and optimizing the user experience of using the self - moving devices.

[0285] Figure 19 FIG. is a schematic structural diagram of a control device of a self - moving device according to an embodiment of the present disclosure, applicable to a server, such as Figure 19 As shown, the control device 1900 of the self - moving device includes a second receiving module 191, an integration module 192, a determination module 193, and a generation module 194, where:

[0286] The second receiving module 191 is configured to receive the initial map uploaded by the self - moving device in real time;

[0287] The integration module 192 is configured to integrally process the initial map in real time to generate a first map of the first area.

[0288] In an embodiment of the present disclosure, the control device 1900 of the self - moving device includes:

[0289] The determination module 193 is configured to determine the composition direction of the self - moving device in the first area to be mapped according to the position information of the self - moving devices in the self - moving device cluster;

[0290] The generation module 194 is configured to generate a first composition instruction for the first area according to the composition direction and send the first composition instruction to the self - moving device.

[0291] In an embodiment of the present disclosure, the generating module 194 is further configured to: in response to identifying that the self-mobile device executes a charging process, obtain an updated composition direction of the remaining self-mobile devices in the self-mobile device cluster, and generate a first updated composition instruction according to the updated composition direction and send it to the remaining self-mobile devices.

[0292] In an embodiment of the present disclosure, the generating module 194 is further configured to: divide the first map to obtain a second map of the self-mobile device; generate a second composition instruction for a second area corresponding to the second map, and send the second composition instruction to the self-mobile device.

[0293] In an embodiment of the present disclosure, the integrating module 192 is further configured to: optimize the first map according to the received first optimized map to generate a target map for the first area.

[0294] In an embodiment of the present disclosure, the integrating module 192 is further configured to: optimize the first map according to the received first optimized map and the second optimized map to generate a target map for the first area.

[0295] In an embodiment of the present disclosure, the generating module 194 is further configured to: determine a target task corresponding to the target map, and send the target task to the self-mobile device.

[0296] In an embodiment of the present disclosure, the generating module 194 is further configured to: receive a completion signal of the target task, and send a return signal of the self-mobile device according to the completion signal.

[0297] For the control device of the self-mobile device proposed by the present disclosure, the server can receive the initial map uploaded by the self-mobile device in real time, integrate it, and then generate a first map for the first area to be composed. In the present disclosure, by the server receiving the initial map in real time, the server can effectively monitor the composition process of the first area, so as to accurately determine the path information and moving position during the composition process of the self-mobile device, reduce the conflict rate during the composition process of the self-mobile device, and improve the composition efficiency and accuracy.

[0298] To achieve the above embodiments, the present disclosure also provides an electronic device, a computer-readable storage medium, and a computer program product.

[0299] Figure 20 The schematic block diagram of an exemplary electronic device 2000 that can be used to implement the embodiments of the present disclosure is shown. As Figure 20 shown, the device 2000 includes a memory 21, a processor 22, and a computer program stored on the memory 21 and executable on the processor 22. When the processor 22 executes the program instructions, the control method of the self-mobile device provided in the above embodiments is implemented.

[0300] The control method of the self - moving device proposed by the present disclosure determines the composition direction of each self - moving device in the first area according to the position information of each self - moving device in the self - moving device cluster, and generates first composition instructions to be sent to the corresponding self - moving devices respectively. According to the received first composition instructions, the first point cloud data of the first area is collected, and an initial map is generated and uploaded to the server in real time. The server can receive the initial maps uploaded by the self - moving devices in real time, integrate them, and then generate the first map of the first area to be composed. By dividing the first map, a second map of the self - moving device is generated, and then a second composition instruction is generated according to the second map and sent to the corresponding self - moving device. Further, according to the received second composition instructions, the second point cloud data of the second area is collected, and the first optimized map corresponding to the second area is generated and uploaded to the server. The server optimizes the first map according to the received optimized map, thereby generating the target map of the first area, and generates the target task of the self - moving device according to the target map and sends it down. After the first self - moving device receives the target task carrying the target map, it obtains the cascade relationship in the self - moving device cluster, and decomposes the target task received by the first self - moving device step by step according to the cascade relationship, so as to obtain the first sub - task corresponding to the first self - moving device and the second sub - tasks corresponding to the second self - moving device respectively. Further, the first self - moving device sends the second sub - task to the corresponding second self - moving device, and at the same time, starts to execute the first sub - task. In the scenario where the first sub - task has not been executed yet and the second sub - task has been executed, the first sub - task can be decomposed again to generate a new second sub - task and sent to the second self - moving device until the target task is executed, and a completion signal of the target task is generated and uploaded to the server. After the server receives the completion signal, it generates a return signal for the self - moving device and sends it down. The self - moving device returns to the charging bin according to the received return signal, ending the execution operation of the target task in this round. In the present disclosure, through the decomposition of the target task received by the first self - moving device according to the relevant information of the second self - moving device, the execution of the target task can be effectively planned, the simultaneous execution of the task by multiple self - moving devices is realized, the execution time of the target task is shortened, and the execution efficiency of the target task is improved.The second self - moving device does not need to receive tasks to be executed from the server, avoiding the problem of excessive power consumption caused by information interaction with the server. According to the connection relationship and mutual recognition function between the first self - moving device and the second self - moving device, information interaction and information sharing can be achieved between the first self - moving device and the second self - moving device, avoiding collisions caused by the inability to effectively identify and share information with other surrounding self - moving devices, reducing the conflict rate between self - moving devices in the scenario of multiple self - moving devices running simultaneously, improving the cooperation rate of self - moving devices in the scenario of multiple self - moving devices running simultaneously, strengthening the task execution ability of self - moving devices, improving the task execution efficiency of self - moving devices, and optimizing the user experience of self - moving devices.

[0301] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field - programmable gate arrays (FPGAs), application - specific integrated circuits (ASICs), application - specific standard products (ASSPs), system - on - a - chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special - purpose or general - purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0302] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field - programmable gate arrays (FPGAs), application - specific integrated circuits (ASICs), application - specific standard products (ASSPs), system - on - a - chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special - purpose or general - purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0303] The program code for implementing the methods of the present invention itself can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program codes can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0304] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0305] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0306] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), the Internet, and a blockchain network.

[0307] A computer system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs that run on respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services ("Virtual Private Server", or simply "VPS"). The server can also be a server of a distributed system, or a server combined with a blockchain.

[0308] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples.

[0309] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of the present disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0310] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present disclosure includes additional implementations where functions may be executed not in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved or in a reverse order, which should be understood by those skilled in the art to which the embodiments of the present disclosure pertain.

[0311] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing a logical function and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable processing as necessary to obtain the program in electronic form and then storing it in a computer memory.

[0312] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gates for implementing logical functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0313] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the above-described embodiment method can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0314] In addition, in each of the various embodiments of the present disclosure, the functional units can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0315] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

[0316] It should be understood that various forms of the processes shown above can be used, reordering, adding, or deleting steps. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. No limitation is imposed herein.

[0317] The above specific implementation manners do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A control method for a self - moving device, characterized in that, Applicable to a first self - moving device, the method includes: Receiving a target task, where the target task includes a target map; Decomposing the target task to generate respective subtasks for the first self - moving device and at least one second self - moving device, where the subtasks include map fragments of the target map; Executing the first subtask corresponding to the first self - moving device and sending the corresponding second subtask to the second self - moving device. The decomposing the target task to generate respective subtasks for the first self - moving device and at least one second self - moving device, where the subtasks include map fragments of the target map, includes: Obtaining the cascading relationship among the self - moving devices in the self - moving device cluster; Based on the cascading relationship, hierarchically decomposing the target task to generate the respective subtasks for the first self - moving device and the second self - moving device; The hierarchically decomposing the target task based on the cascading relationship includes: Determining the first level to which the first self - moving device belongs according to the cascading relationship; Obtaining the self - moving devices included in each level below the first level and determining them as the second self - moving devices, where there is at least one self - moving device connected to the first self - moving device; Based on the levels corresponding to the first self - moving device and the second self - moving device, hierarchically decomposing the target task to generate the respective subtasks for the first self - moving device and the second self - moving device.

2. The method according to claim 1, wherein The hierarchically decomposing the target task based on the cascading relationship to generate the respective subtasks for the first self - moving device and the second self - moving device includes: Determining the respective task execution capabilities of the first self - moving device and the at least one second self - moving device in the cascading relationship; According to the cascading relationship and the task execution capabilities, hierarchically decomposing the target task to generate the first subtask of the first self - moving device and the respective second subtasks of the second self - moving devices.

3. The method according to claim 1, wherein The method further includes: In response to the first subtask in the cascading relationship not being completed, but a second subtask being completed, obtaining a new second subtask of the second self - moving device in the first subtask.

4. The method according to claim 3, wherein The obtaining a new second subtask of the second self - moving device in the first subtask in response to the first subtask in the cascading relationship not being completed, but a second subtask being completed, includes: Obtaining the current task ability of the second self - moving device and the unexecuted part in the first subtask in the cascading relationship; Decomposing the unexecuted part according to the current task ability to generate a new second subtask of the second self - moving device.

5. The method according to any one of claims 1 and 3-4, characterized in that, The method further includes: In response to the power of the first self - moving device being less than a set value during the execution of the first subtask, exiting the cascading relationship and executing a charging process.

6. The method according to claim 5, wherein After exiting the cascading relationship in response to the power of the first self - moving device being less than a set value during the execution of the first subtask, includes: Determine the superior self - moving device and the subordinate self - moving device of the first self - moving device in the cascade relationship; Connect between the superior self - moving device and the subordinate self - moving device, and obtain the updated cascade relationship among the multiple self - moving devices.

7. The method according to claim 6, characterized in that After obtaining the new cascade relationship among the multiple self - moving devices, it includes: In response to the end of charging and the target task not being completed, add the self - moving device with charging ended as the self - moving device with the lowest priority to the self - moving device cluster.

8. The method according to claim 1, wherein The method further includes: In response to the completion of the target task, generate a completion signal and upload the completion signal to the server.

9. The method according to claim 8, wherein After uploading the completion signal to the server, it includes: Receive the return signal sent by the server, and return to the charging bin according to the return signal.

10. The method according to claim 1, characterized in that, Before receiving the target task, it includes: Receive a first mapping instruction, and determine the mapping direction of the first self - moving device in the first area from the first mapping instruction; Collect the first point cloud data of the first area along the mapping direction; Generate an initial map of the first area according to the first point cloud data, and upload the initial map to the server in real - time.

11. The method according to claim 10, characterized in that, The method further includes: In response to the power of the first self - moving device being less than the set value when collecting the first point cloud data, execute the charging process.

12. The method according to claim 11, wherein After executing the charging process in response to the power of the first self - moving device being less than the set value when collecting the first point cloud data, it includes: Receive a first updated mapping instruction, and determine the updated mapping direction in the first area from the first updated mapping instruction.

13. The method according to claim 10, wherein After uploading the initial map to the server in real - time, it includes: Receive the second mapping instruction of the first self - moving device in the second area corresponding to the second map; Collect the second point cloud data of the second area, generate a first optimized map of the second area, and upload the first optimized map to the server.

14. The method according to claim 13, wherein The method further includes: Determine the second area and the corresponding adjacent second area; In response to the scanning paths in the second area and the adjacent second area overlapping, re - obtain the new scanning paths in the second area and / or the adjacent second area, and obtain the second point cloud data of the second area and / or the adjacent second area based on the new scanning paths.

15. The method according to claim 14, wherein The method further includes: In response to the power of the first self - moving device being less than the set value when collecting the second point cloud data, obtain the generated second optimized map, upload the second optimized map to the server and execute the charging process.

16. The method according to claim 15, wherein The method further includes: In response to the power of the first self - moving device being less than the set value when collecting the second point cloud data, determine the uncollected areas in the second area, and merge the uncollected areas into the adjacent second area.

17. A control method for a self - moving device, characterized in that, Applicable to the server, the method includes: Receive the initial map uploaded by the first self - moving device in real - time; Integrate the initial map in real - time to generate the first map of the first area; Before receiving the initial map uploaded by the first self - moving device in real - time, it includes: Determine the composition direction of the first self - moving device in the first area to be mapped according to the position information of the first self - moving device in the self - moving device cluster; Generate a first composition instruction for the first area according to the composition direction, and send the first composition instruction to the self - moving device; After the initial map is integrated in real - time to generate the first map of the first area, it includes: Divide the first map to obtain the second map of the self - moving device; Generate a second composition instruction for the second area corresponding to the second map, and send the second composition instruction to the self - moving device; After the second composition instruction is sent to the first self - moving device, it further includes: Optimize the first map according to the first optimized map and the second optimized map corresponding to the second area of the received second map to generate the target map of the first area, wherein, the generation method of the first optimized map includes: Receive the second composition instruction of the first self - moving device in the second area corresponding to the second map, collect the second point cloud data of the second area, and generate the first optimized map of the second area; wherein, the generation method of the second optimized map includes: when it is recognized that the power of the first self - moving device is less than the set lower limit of the power, the first self - moving device uses the generated optimized map as the second optimized map.

18. The method according to claim 17, wherein After the first composition instruction is sent to the first self - moving device, it includes: In response to recognizing that the first self - moving device executes the charging process, obtain the updated composition direction of the remaining self - moving devices in the self - moving device cluster, and generate and send a first updated composition instruction to the remaining self - moving devices according to the updated composition direction.

19. The method according to claim 17, wherein After the target map of the first area is generated, it further includes: Determine the target task corresponding to the target map, and send the target task to the first self - moving device.

20. The method according to claim 19, wherein After the target task is sent to the first self - moving device, it includes: Receive the completion signal of the target task, and send the return signal of the first self - moving device according to the completion signal.

21. A control device for a self - moving device, characterized in that, Applicable to the first self - moving device, the device includes: A first receiving module, configured to receive a target task, wherein the target task includes a target map; A decomposition module, configured to decompose the target task to generate respective subtasks of the first self - moving device and at least one second self - moving device, wherein the subtask includes a map fragment of the target map; An execution module, configured to execute the first subtask corresponding to the first self - moving device and send the corresponding second subtask to the second self - moving device; The decomposition module is further configured to: Obtain the cascading relationship between self - moving devices in the self - moving device cluster; Based on the cascading relationship, hierarchically decompose the target task to generate the respective subtasks of the first self - moving device and the second self - moving device; The decomposition module is further configured to: Determine the first level to which the first self - moving device belongs according to the cascading relationship; Obtain the self - moving devices included in each level below the first level, and determine them as the second self - moving devices, where there is at least one self - moving device connected to the first self - moving device; Based on the levels corresponding to the first self - moving device and the second self - moving devices, hierarchically decompose the target task to generate the respective subtasks of the first self - moving device and the second self - moving devices.

22. The device according to claim 21, characterized in that, The decomposition module is further configured to: Determine the task execution capabilities of the first self - moving device and each of the at least one second self - moving devices in the cascade relationship; According to the cascade relationship and the task execution capabilities, hierarchically decompose the target task to generate the first subtask of the first self - moving device and the respective second subtasks of the second self - moving devices.

23. The device according to claim 21, characterized in that, The execution module is further configured to: In response to the situation that the execution of the first subtask in the cascade relationship has not ended, but the execution of a second subtask has ended, obtain a new second subtask of the second self - moving device in the first subtask.

24. The device according to claim 23, characterized in that, The execution module is further configured to: Obtain the current task capabilities of the second self - moving device and the unexecuted part of the first subtask in the cascade relationship; Decompose the unexecuted part according to the current task capabilities to generate a new second subtask of the second self - moving device.

25. The device according to any one of claims 21 and 23 - 24, characterized in that, The execution module is further configured to: In response to the situation that during the execution of the first subtask, the power of the first self - moving device is less than the set value, exit the cascade relationship and execute the charging process.

26. The device according to claim 25, characterized in that, The execution module is further configured to: Determine the superior self - moving device and the subordinate self - moving device of the first self - moving device in the cascade relationship; Connect the superior self - moving device and the subordinate self - moving device, and obtain the updated cascade relationship among the multiple self - moving devices.

27. The device according to claim 26, characterized in that, The execution module is further configured to: In response to the charging being completed and the target task not being completed, add the self - moving device with the charging completed as the self - moving device with the lowest priority to the self - moving device cluster.

28. The device according to claim 21, wherein, The execution module is further configured to: In response to the completion of the execution of the target task, generate a completion signal and upload the completion signal to the server.

29. The device according to claim 28, characterized in that, The execution module is further configured to: Receive the return signal sent by the server and return to the charging bin according to the return signal.

30. The device according to claim 21, characterized in that, The first receiving module is further configured to: Receive a first composition instruction, and determine the composition direction of the first self - moving device in the first area from the first composition instruction; Collect the first point cloud data of the first area along the composition direction; Generate an initial map of the first area according to the first point cloud data and upload the initial map to the server in real - time.

31. The device according to claim 30, characterized in that, The execution module is further configured to: In response to the situation that the power of the first self - moving device is less than the set value when collecting the first point cloud data, execute the charging process.

32. The device according to claim 31, characterized in that The first receiving module is further configured to: Receive a first updated composition instruction, and determine the updated composition direction in the first area from the first updated composition instruction.

33. The device according to claim 30, wherein, The first receiving module is further configured to: Receive the second mapping instruction of the first self - moving device in the second area corresponding to the second map; Collect the second point cloud data of the second area, generate the first optimized map of the second area, and upload the first optimized map to the server.

34. The device according to claim 33, characterized in that, The execution module is further configured to: Determine the second area and the corresponding adjacent second areas; In response to an overlap in the scanning paths within the second area and the adjacent second areas, re - obtain new scanning paths within the second area and / or the adjacent second areas, and obtain the second point cloud data of the second area and / or the adjacent second areas based on the new scanning paths.

35. The device according to claim 34, characterized in that, The execution module is further configured to: In response to the battery level of the first self - moving device being less than a set value when collecting the second point cloud data, obtain the second optimized map that has been generated, upload the second optimized map to the server, and execute the charging process.

36. The device according to claim 35, characterized in that, The execution module is further configured to: In response to the battery level of the first self - moving device being less than the set value when collecting the second point cloud data, determine the uncollected areas within the second area, and merge the uncollected areas into the adjacent second areas.

37. A control device for a self - moving device, characterized in that, Applicable to a server, the device includes: A second receiving module, configured to receive the initial map uploaded by the first self - moving device in real - time; An integration module, configured to perform real - time integration on the initial map to generate the first map of the first area; The device includes: A determination module, configured to determine the mapping direction of the first self - moving device within the first area to be mapped according to the position information of the self - moving devices in the self - moving device cluster; A generation module, configured to generate the first mapping instruction of the first area according to the mapping direction, and send the first mapping instruction to the first self - moving device; The generation module is further configured to: Divide the first map to obtain the second map of the self - moving device; Generate the second mapping instruction of the second area corresponding to the second map, and send the second mapping instruction to the first self - moving device; The integration module is further configured to: Optimize the first map according to the received first optimized map and second optimized map to generate the target map of the first area; Wherein, the method for generating the first optimized map includes: Receive the second mapping instruction of the first self - moving device in the second area corresponding to the second map, collect the second point cloud data of the second area, and generate the first optimized map of the second area; Wherein, the method for generating the second optimized map includes: when it is recognized that the battery level of the first self - moving device is less than the set lower limit of the battery level, the first self - moving device uses the optimized map that has been generated as the second optimized map.

38. The device according to claim 37, wherein The generation module is further configured to: In response to recognizing that the first self - moving device executes the charging process, obtain the updated mapping directions of the remaining self - moving devices in the self - moving device cluster, and generate the first updated mapping instruction according to the updated mapping directions and send it to the remaining self - moving devices.

39. The device according to claim 37, characterized in that, The generation module is further configured to: Determine the target task corresponding to the target map, and send the target task to the self - moving device.

40. The device according to claim 39, characterized in that, The generating module is further configured to: Receive the completion signal of the target task, and send the return signal of the first self-mobile device according to the completion signal.

41. An electronic device, characterized in that, Comprising: A processor; A memory for storing executable instructions of the processor; Wherein, the processor is configured to execute the instructions to implement the method according to any one of claims 1-16 and 17-20.

42. A computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enabling the electronic device to execute the method according to any one of claims 1-16 and 17-20.

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