Work task execution methods and self-moving devices

Abstract

This application relates to the field of equipment control technology, and provides a method for executing work tasks and a self-moving device. The method includes: responding to a work command triggered by a user, obtaining the target work area and the current base station location of the self-moving device; comparing the current base station location with pre-stored base station locations in all pre-stored work map information; determining the target work map information of the target work area based on the comparison result, wherein the pre-stored work map information consists of work map information corresponding to each pre-stored work area stored in a preset database; and executing the target work task according to the target work map information. This method can determine the target map information from the pre-stored work map information based on the current base station location and the pre-stored base station location of the target work area, avoiding repeated mapping in the same work area and improving the work efficiency of the self-moving device.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to a method for performing work tasks and a self-moving device. Background Technology

[0002] Existing self-moving devices, such as robotic vacuum cleaners and lawnmowers, often only store a map of the working area when performing tasks. In this mode, each time a self-moving device moves to a new working area, it needs to clear the previously built map and build a new one. If the self-moving device then moves back to the previous working area to perform a task, it will need to rebuild the map again, resulting in low efficiency. Summary of the Invention

[0003] Therefore, it is necessary to provide a task execution method and a self-moving device to address the aforementioned technical problems and solve the problem of low work efficiency of existing self-moving devices.

[0004] A first aspect of this application provides a task execution method applied to a self-moving device. The task execution method includes: in response to a user-triggered task instruction, obtaining a target work area and a current base station location of the self-moving device; comparing the current base station location with pre-stored base station locations in all pre-stored work map information, and determining target work map information of the target work area based on the comparison result, wherein the pre-stored work map information is work map information corresponding to each pre-stored work area stored in a preset database; and executing the target work task according to the target work map information.

[0005] In the task execution method provided in this application, the self-mobile device stores the working map information corresponding to different preset working areas into a preset database, obtaining different pre-stored working map information. Since there is a mapping relationship between the pre-stored working map information and the pre-stored base station locations, and between the target working map information and the current base station location, the self-mobile device can determine the target working map information by comparing the current base station location with the pre-stored base station locations in all the pre-stored working map information. Since the current base station location is the base station location of the target working area, determining the target working map information corresponding to the current base station location is equivalent to determining the target working map information corresponding to the target working area. This allows for matching the target map information from the pre-stored working map information based on the current base station location and the pre-stored base station location of the target working area, avoiding repeated mapping within the same working area and improving the working efficiency of the self-mobile device.

[0006] A second aspect of this application provides a task execution device applied to a self-moving device. The task execution device includes: an instruction response module, configured to, in response to a user-triggered work instruction, acquire the target working area and the current base station location of the self-moving device; a map determination module, configured to, compare the current base station location with pre-stored base station locations in all pre-stored working map information, and determine the target working map information of the target working area based on the comparison result, wherein the pre-stored working map information is working map information corresponding to each pre-stored working area stored in a preset database; and a task execution module, configured to, execute the target working task according to the target working map information.

[0007] A third aspect of this application provides a self-moving device, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor executes the computer-readable instructions to implement the above-described task execution method.

[0008] A fourth aspect of this application provides one or more readable storage media storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the task execution method described above. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram illustrating an application scenario of the task execution method provided in the embodiments of this application;

[0011] Figure 2 This is a flowchart of the task execution method provided in the embodiments of this application;

[0012] Figure 3 This is an example diagram of the storage and construction of the working map provided in the embodiments of this application;

[0013] Figure 4 This is a detailed flowchart of a map determination method provided in an embodiment of this application;

[0014] Figures 5-6 This is a schematic diagram of the working scenario of the self-moving device provided in the embodiments of this application;

[0015] Figure 7This is a detailed flowchart of a map determination method provided in another embodiment of this application;

[0016] Figure 8 This is a detailed flowchart of a map determination method provided in another embodiment of this application;

[0017] Figure 9 This is a detailed flowchart of a map determination method provided in another embodiment of this application;

[0018] Figure 10 This is a schematic diagram of the structure of the task execution device provided in the embodiments of this application;

[0019] Figure 11 This is a schematic diagram of the structure of the self-moving device provided in the embodiments of this application. Detailed Implementation

[0020] It should be noted that the terms "first" and "second" in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0021] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.

[0022] Some embodiments will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0023] Existing self-moving devices, such as lawnmower robots, require operators to service lawns and other areas of multiple different households daily when receiving multiple mowing tasks from different users. This is especially problematic when operators are simultaneously serving the same lawn area at different times, requiring multiple operations of the self-moving device to create a map of the current area, which is time-consuming, labor-intensive, and reduces the efficiency of the self-moving device. Therefore, this application proposes a method for executing tasks on self-moving devices that avoids repeatedly creating maps of the same area.

[0024] Please see Figure 1 This is an application scenario diagram of a task execution method provided in an embodiment of this application. For example... Figure 1 As shown, a wireless communication connection is established between the mobile device and the base station. The mobile device can obtain information such as the real-time base station location or real-time location of the mobile device through satellite positioning or real-time kinematic (RTK) positioning.

[0025] When the self-moving device operates in the target work area, it responds to user-triggered work commands by acquiring the target work area and the current base station location. The self-moving device then compares the current base station location with all pre-stored base station locations in the pre-stored work map information. Based on the comparison result, the self-moving device determines the target work map information for the target work area. The self-moving device loads the target map information and executes the target work task according to the target work map information. The self-moving device includes, but is not limited to, devices with self-moving capabilities such as lawnmowers and robot vacuums. The base station corresponding to the self-moving device includes, but is not limited to, an antenna, which can be integrated with the charging station or separately installed.

[0026] In other embodiments of this application, the self-mobile device can also implement the task execution method provided in this application by interacting with a terminal device. In other embodiments of this application, the self-mobile device can also implement the task execution method provided in this application by interacting with a server. In other embodiments of this application, the self-mobile device can also implement the task execution method provided in this application by interacting with both a terminal device and a server. The terminal device includes, but is not limited to, smartphones, tablets, desktop computers, laptops, etc. The server can be a standalone server, a server cluster consisting of multiple servers, or a cloud server, etc. In other embodiments of this application, the task execution method provided in this application can also be implemented by a terminal device or a server connected to the self-mobile device, which will not be elaborated further here.

[0027] Please see Figure 2 , Figure 2 The diagram shown is a flowchart illustrating the implementation of the task execution method provided in this application embodiment, demonstrating the application of this method in... Figure 2 The following steps are used as an example of the self-moving device shown:

[0028] S11: In response to a user-triggered work command, obtain the target working area of ​​the mobile device and the current base station location.

[0029] In one embodiment of this application, a user can trigger a work instruction by clicking a button to start work (e.g., a button on a mobile device or a button on a terminal device communicatively connected to the mobile device), or by selecting information such as a target work task or a target work area on a user interface. The user interface can be an operation interface displayed on the screen of the mobile device or an operation interface displayed on the screen of a terminal device communicatively connected to the mobile device. This application does not limit the method by which the user triggers the work instruction.

[0030] The target working area refers to the current working area of ​​the self-moving device, which can be a user-defined working area. The self-moving device obtains the target working area by acquiring the corresponding identification information, which can be a pre-set area identifier by the user. The current base station location of the self-moving device described in this application embodiment can be the relative coordinates of the base station currently set by the self-moving device within its working area, or it can be the global positioning coordinates of the current base station. This application does not limit the representation of the current base station location. Generally, a base station may include an antenna and a charging pile. After the antenna and charging pile of the self-moving device are deployed in any working area, the initial base station location of the self-moving device in that area is fixed. When the self-moving device performs a working task in that area again, the base station location is still deployed at the initial base station location. However, in special cases, the user can also adjust the base station location of the self-moving device.

[0031] In one embodiment of this application, the self-moving device can obtain its current base station location via satellite positioning or RTK. The user can interact with the self-moving device through its display screen, setting its target task, target work area, and other information. The self-moving device can store the acquired target task, target work area, and current base station location information in local storage or in a database server connected to it. Accordingly, in response to user-triggered work commands, the self-moving device can read the target work area, current base station location, and target task information from local storage. In response to user-triggered work commands, the self-moving device can also send a data retrieval request to the database server connected to it to obtain the target work area, current base station location, and target task information.

[0032] In one embodiment of this application, by interacting with a terminal device used for monitoring the self-moving device, information such as the target working area and target work task of the self-moving device can be set. The terminal device stores the user-set information such as the target working area of ​​the self-moving device in a local storage device or a database server. If the self-moving device receives a work instruction triggered by the user, it can send a data acquisition request to the terminal device or the database server to obtain information such as the target working area. The specific method by which the self-moving device acquires data depends on the actual storage location of the data (target working area data and current base station location data). It should be noted that if the user triggers a work instruction on the terminal device, the terminal device will send the work instruction to the self-moving device through a communication interface. In one embodiment of this application, in response to a user-triggered work instruction, the self-moving device can also obtain information such as its real-time location and the location of the charging station.

[0033] S12: Compare the current base station location with the pre-stored base station locations in all pre-stored working map information, and determine the target working map information of the target working area based on the comparison result.

[0034] In one embodiment of this application, the pre-stored working map information is the working map information corresponding to each preset working area stored in a preset database.

[0035] In one embodiment of this application, the pre-stored working map information includes at least one working area information in the working map, and information such as base station locations, restricted areas, and connecting lines corresponding to each working area. The working areas are stored in correspondence with the working map, and a working map can contain multiple working areas. Figure 3 Taking the example diagram of storing and constructing a working map as shown, a user uses a mobile device to construct working maps for working areas one, two, and three, respectively. After the user completes the map construction, the user clicks "save" or the mobile device automatically stores the working map information in a preset database on the mobile device, thus obtaining pre-stored working map information. The preset database can be a database server or the local storage device of the mobile device, etc. This application does not limit the type of preset database.

[0036] In one embodiment of this application, the self-moving device compares the current base station location obtained with the pre-stored base station locations in all pre-stored working map information to determine whether the stored working map information can be called as the target map information, and determines the method of obtaining the target working map information based on the comparison result, so as to determine the target working map information of the target working area.

[0037] In one embodiment of this application, since the base station location of a self-moving device does not change or only changes slightly when it repeatedly performs a task in the same working area, if the target working area is a preset working area with a pre-built map, the self-moving device can be compared with the current base station location of the self-moving device in all the pre-stored base station locations in the pre-stored working map information to determine whether the self-moving device is being used in a previously built map range or scenario. This allows the target working map information to be matched from the pre-stored working map information, thereby avoiding repeated mapping of the same working area and improving the working efficiency of the self-moving device.

[0038] S13: Execute the target work task according to the target work map information.

[0039] In one embodiment of this application, in response to a user-triggered work instruction, when the mobile device obtains its target work area and current base station location, it acquires its target work task. The target work task includes, but is not limited to, the time the mobile device works, the duration of the work, and the content of the work. For example, the target work task could be to complete the lawn mowing task in area A between 2 PM and 3 PM.

[0040] In this embodiment, after the self-mobile device determines the target work map information of the target work area, it loads the target work map information and performs path planning based on the target work map information, or calls the path planning information stored in the target work map information. The self-mobile device executes the set target work task according to the path planning of the target work area.

[0041] In one embodiment of this application, performing a target work task according to the target work map information includes: matching the operation map information of the target work area according to the target work map information; and performing the target work task according to the operation map information.

[0042] In this embodiment, since the target working map information determined based on the current base station location of the self-mobile device and the pre-stored base station locations in various pre-stored working map information may contain multiple working areas, and the target working area for which the self-mobile device needs to perform a work task may only be one working area in the target working map, or a newly created working area, it is necessary to further determine the job map information corresponding to the target working area after determining the target working map information. In one embodiment of this application, the target working map information may include working area identification information in the target working map, and the work instruction triggered by the user also includes the identification information of the target working area. Therefore, the working area corresponding to the target working area in the target working map can be determined based on the identification information of the working area, and thus the job map information corresponding to the target working area can be determined based on the job map information of the working area corresponding to the target working area in the target working map information. After the self-mobile device determines the job map information, it loads the job map information and executes the target work task according to the job map information.

[0043] In one embodiment of this application, executing a target work task according to the target work map information includes: if no work map information for the target work area is matched according to the target work map information, a work map reconstruction instruction is generated, which is used to instruct the user to reconstruct the work map for the target work area and obtain the reconstructed map information of the target work area; and executing the target work task according to the reconstructed map information.

[0044] In this embodiment, if the self-moving device cannot find a work area corresponding to the target work area in the target work map, the self-moving device generates a work map reconstruction instruction to prompt the user to construct a work map of the target work area based on the target map information, thereby obtaining reconstructed map information. The self-moving device loads the reconstructed map information and executes the target work task according to the reconstructed map information.

[0045] This application enables a self-moving device to store working map information for multiple working areas, and the self-moving device can respond to various possible situations based on the determined target working map, so as to minimize human operation and improve the working efficiency of the self-moving device.

[0046] In a task execution method provided in this application embodiment, the self-mobile device stores work map information corresponding to different preset work areas into a preset database, obtaining different pre-stored work map information. Since there is a mapping relationship between the pre-stored work map information and the pre-stored base station locations, and between the target work map information and the current base station location, the self-mobile device can determine whether there is target work map information corresponding to the current base station location in each pre-stored work map information by comparing the current base station location with the pre-stored base station locations in all pre-stored work map information. Based on the comparison result, the target work map information is determined. Since the current base station location also represents the base station location of the target work area, determining the target work map information corresponding to the current base station location is equivalent to determining the target work map information corresponding to the target work area. This solution not only supports the storage of work map information corresponding to multiple work areas, reducing the need for users to repeatedly build maps in the same work area and improving the work efficiency of the self-mobile device, but also allows the self-mobile device to automatically select a work map when it has work maps for multiple work areas, reducing user steps and the possibility of users selecting the wrong area, thus improving the user experience and expanding the applicability of the self-mobile device.

[0047] Please see Figure 4 This is a detailed flowchart of a map determination method provided in an embodiment of this application. Figure 4 The illustrated process is applied to self-moving devices. Combined with... Figure 2 , Figure 4 As shown, step S12 specifically includes the following steps.

[0048] S21: Calculate the base station location deviation between the current base station location and all pre-stored base station locations.

[0049] In one embodiment of this application, the base station location deviation is used to characterize the distance between the current base station location of the self-moving device and each pre-stored base station location. The base station location deviation can be a specific numerical value or a vector representation; this application does not limit the representation of the base station location deviation.

[0050] S22: Determine the target working map information of the target working area based on the minimum base station position deviation among the base station position deviations.

[0051] In one embodiment of this application, the minimum base station location deviation refers to the base station location deviation with the smallest absolute value. For example... Figures 5-6 The diagram illustrates the working scenario of the self-operated mobile device. Considering user habits, when a user first uses the self-operated mobile device in area A1, the base station is placed at the initial location P1. Once the working map of area A1 is built, this initial location P1 becomes the base station location on that working map. When the user uses the self-operated mobile device again in area A1, they may habitually place the base station at the initial location P1. Additionally, when using the self-operated mobile device in area A1, the user may also place it at a non-initial location P2. Since the offset between P2 and P1 is within a preset range, it can be determined that the self-operated mobile device is currently being used in area A1. Therefore, the self-operated mobile device can determine whether it is being used within the built working map area or scenario by checking if a pre-stored base station location exists, ensuring that the deviation between the current base station location and that pre-stored base station location is within a preset range.

[0052] In other exemplary scenarios, the self-moving device may store multiple working maps. In this case, after obtaining the current base station location, the self-moving device can calculate the deviation between the current base station location and the pre-stored base station locations corresponding to each working map, obtaining multiple base station location deviations. Subsequently, the self-moving device only needs to determine the minimum base station location deviation and check if it falls within a preset range to determine whether the self-moving device is used within the constructed working map area or scenario. This eliminates the need to compare the base station location deviation corresponding to each pre-stored base station location with the preset range, improving the working efficiency of the self-moving device.

[0053] Please see Figure 7 This is a detailed flowchart of a map determination method provided in another embodiment of this application. Figure 7 The illustrated process is applied to self-moving devices. Combined with... Figure 2 , Figure 7 As shown, step S12 specifically includes the following steps.

[0054] S31: Use the pre-stored base station position corresponding to the minimum base station position deviation as the reference base station position, and use the pre-stored working map information corresponding to the reference base station position as the reference working map information.

[0055] In this embodiment, the reference base station location is the pre-stored base station location that is closest to the current base station location.

[0056] S32: Determine whether the minimum base station location deviation is less than or equal to the preset deviation threshold.

[0057] In this embodiment, the preset deviation threshold is a custom value used to characterize the maximum range that the base station can set when the self-moving device repeatedly performs tasks in the same area. That is, if the current base station location is within a radius of a pre-stored base station location centered on that location, the self-moving device may perform the target task within the pre-stored working map range corresponding to that pre-stored base station location. The preset deviation threshold can be set according to the actual scenario, such as 10 meters, 5 meters, etc. By comparing the minimum base station location deviation with the preset deviation threshold, it can be determined whether the self-moving device is being used within the constructed working map range or scenario.

[0058] S33: If the minimum base station location deviation is less than or equal to the preset deviation threshold, a new working map containing the current base station location is generated based on the reference working map information and the minimum base station location deviation.

[0059] In one embodiment of this application, if the self-moving device detects that the minimum base station location deviation between the current base station location and the reference base station location is equal to or less than a preset deviation threshold, it can determine that the self-moving device may be performing the target task within the reference working map range corresponding to the reference base station location. However, as Figure 6 As shown, since the location of the reference base station may deviate from the current base station location, the coordinates of points corresponding to the reference working map may also change. In this case, the self-moving device may not be able to directly access the reference working map information, but it can generate a new working map containing the current base station location based on the reference working map information and the current base station location. Alternatively, since the reference working map information may include multiple working areas, including the target working area, and the working area corresponding to the reference base station location may not be the target working area, it is necessary to generate a new working map containing the current base station location corresponding to the target working area based on the reference working map information and the current base station location.

[0060] S34: Define the new working map as the target working map information for the target working area.

[0061] In this embodiment, after the mobile device generates a new working map containing the current base station location based on the reference working map information and the minimum base station location deviation, it generates corresponding working map information based on the new working map. This working map information is the target working map information of the target working area.

[0062] by Figure 6For example, if the current base station location is P2 in area A1, and the reference base station location is P1 in area A1, and the position deviation between P2 and P1 is less than or equal to a preset deviation threshold, the self-moving device will adjust its control based on the offset between the current base station location P2 and the initial location P1. For instance, based on the offset between the current base station location P2 and the initial location P1, and the existing first working map of area A1, another map information for area A1 can be mapped. This map information can also be stored as the second map information for area A1. If the base station is still located at P2 next time, the second map information can be used directly; this second map information is also the target working map information.

[0063] In one embodiment of this application, the self-moving device can store the new working map corresponding to the current base station location, generated based on the current base station location and reference working map information, in a preset database. This allows the self-moving device to directly call the new working map when it performs a work task in the target working area again and places the base station location at the current base station location in the target working area.

[0064] S35: If the minimum base station position deviation is greater than the preset deviation threshold, a re-mapping instruction will be generated.

[0065] In one embodiment of this application, a remapping instruction is used to prompt the user to remap the target working area. If the self-mobile device detects that the minimum base station position deviation is greater than a preset deviation threshold, it generates a remapping instruction to prompt the user that the current base station position deviates too much from the pre-stored base station positions corresponding to all pre-stored working map information, prompting the user to remap the target working area. In other embodiments, the self-mobile device may also prompt the user to perform other operations, such as adjusting the base station position, etc., to facilitate the user to make timely emergency handling and avoid delaying the execution of the self-mobile device's work tasks.

[0066] Please see Figure 8 This is a detailed flowchart of a map determination method provided in another embodiment of this application. Figure 8 The illustrated process is applied to self-moving devices. Combined with... Figure 2 , Figure 8 As shown, step S12 specifically includes the following steps.

[0067] S41: Use the pre-stored base station position corresponding to the minimum base station position deviation as the reference base station position, and use the pre-stored working map information corresponding to the reference base station position as the reference working map information.

[0068] S42: Determine whether the minimum base station location deviation is less than or equal to the preset deviation threshold.

[0069] S43: If the minimum base station location deviation is equal to or less than the preset deviation threshold, a new working map containing the current base station location is generated based on the reference working map information and the minimum base station location deviation.

[0070] S44: Define the new working map as the target working map information for the target working area.

[0071] Steps S41-S44 can be referred to the above. Figure 7 The explanations of steps S31-S34 will not be repeated here.

[0072] S45: If the minimum base station position deviation is greater than the preset deviation threshold, generate the first base station position adjustment command.

[0073] In this embodiment, the first base station location adjustment command is used to prompt the user to adjust the base station location. Since the self-moving device may be operating on a pre-stored working map, but due to human error, the minimum base station location deviation may exceed a preset deviation threshold. For example, the preset deviation threshold may be set too low, or the user may have placed the base station in a remote location. In this case, the self-moving device can generate the first base station location adjustment command to prompt the user to adjust the current base station location.

[0074] In other implementations, the self-moving device may also prompt the user to adjust a preset deviation threshold.

[0075] S46: Reacquire the current base station location of the mobile device and return to perform the step of comparing the current base station location with the pre-stored base station locations in all pre-stored working map information.

[0076] In this embodiment, after the user adjusts the base station location, the mobile device re-acquires the current base station location via GPS or RTK positioning, and returns to the step of comparing the current base station location with the pre-stored base station locations in all pre-stored working map information, i.e., the process. Figure 2 Step S12 continues until the target working map information is determined.

[0077] Please see Figure 9 This is a detailed flowchart of a map determination method provided in another embodiment of this application. Figure 9 The illustrated process is applied to self-moving devices. Combined with... Figure 2 , Figure 9 As shown, step S12 specifically includes the following steps.

[0078] S51: Use the pre-stored base station position corresponding to the minimum base station position deviation as the reference base station position, and use the pre-stored working map information corresponding to the reference base station position as the reference working map information.

[0079] S52: Determine whether the minimum base station location deviation is less than or equal to the preset deviation threshold.

[0080] S53: If the minimum base station location deviation is equal to or less than the preset deviation threshold, a new working map containing the current base station location is generated based on the reference working map information and the minimum base station location deviation.

[0081] S54: Define the new working map as the target working map information for the target working area.

[0082] Steps S51-S54 can be referred to the above. Figure 7 The explanations of steps S31-S34 will not be repeated here.

[0083] S55: If the minimum base station position deviation is greater than the preset deviation threshold, generate a second base station position adjustment command based on the reference base station position.

[0084] In this embodiment, to avoid a situation where the target working area is within a pre-stored working map, but the minimum base station position deviation detected by the self-moving device exceeds a preset deviation threshold, thus causing the user to recreate the map, the self-moving device can also generate a second base station position adjustment command based on the reference base station position to prompt the user to move the base station to the reference base station position. This second base station position adjustment command may include reference base station position information, etc.

[0085] S56: If the base station moves to the location of the reference base station, the reference map information shall be used as the target map information.

[0086] In this embodiment, the user can adjust the current base station location of the self-moving device to the reference base station location according to the prompt information. At this time, if the self-moving device detects that the base station location deviation between the current base station location and the reference base station location is less than a preset deviation threshold, then the reference map information corresponding to the reference base station location is used as the target map information. This embodiment avoids the need to repeat the comparison and judgment steps because the working map information cannot be directly determined even after adjusting the current base station location of the self-moving device.

[0087] In one embodiment of this application, if the self-moving device detects that the minimum base station position deviation is greater than a preset deviation threshold, it can simultaneously generate a re-mapping instruction and a first base station position adjustment instruction or a second base station position adjustment instruction, providing the user with multiple options for re-mapping or adjusting the base station position in the form of a prompt message. The user selects and clicks "re-mapping" or "adjust base station position" on the user interface of the self-moving device or terminal device.

[0088] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0089] In one embodiment of this application, a task execution device A00 for a self-moving device is provided, which corresponds one-to-one with the task execution methods in the above embodiments. For example... Figure 10 As shown, the task execution device of this self-moving device includes an instruction response module A01, a map determination module A02, and a task execution module A03. Detailed descriptions of each functional module are as follows:

[0090] The instruction response module A01 is used to respond to user-triggered work instructions and obtain the target working area and current base station location of the mobile device.

[0091] The map determination module A02 is used to compare the current base station location with the pre-stored base station locations in all pre-stored working map information, and determine the target working map information of the target working area based on the comparison result. The pre-stored working map information is the working map information corresponding to each pre-stored working area stored in the preset database.

[0092] Task execution module A03 is used to execute target work tasks according to the target work map information.

[0093] Specifically, the map determination module A02 is used to calculate the base station position deviation between the current base station position and all pre-stored base station positions; and to determine the target working map information of the target working area based on the minimum base station position deviation among the base station position deviations.

[0094] The process of determining the target working map information for the target working area based on the minimum base station position deviation among the base station position deviations includes: using the pre-stored base station position corresponding to the minimum base station position deviation as the reference base station position, and using the pre-stored working map information corresponding to the reference base station position as the reference working map information; if the minimum base station position deviation is less than or equal to a preset deviation threshold, then generating a new working map containing the current base station position based on the reference working map information and the minimum base station position deviation; and determining the new working map as the target working map information for the target working area.

[0095] The aforementioned device is also used to store new working maps in a preset database.

[0096] The aforementioned device is also used to generate a remapping instruction if the minimum base station position deviation is greater than a preset deviation threshold. The remapping instruction is used to prompt the user to remap the target working area.

[0097] The aforementioned device is also used to generate a base station location adjustment instruction if the minimum base station location deviation is greater than a preset deviation threshold. The base station location adjustment instruction is used to prompt the user to adjust the base station location. The device also retrieves the current base station location of the mobile device and returns to perform the step of comparing the current base station location with the pre-stored base station locations in all pre-stored working map information.

[0098] The aforementioned device is also used to generate a base station position adjustment command based on the reference base station position if the minimum base station position deviation is greater than a preset deviation threshold. The base station position adjustment command is used to prompt the user to move the base station to the reference base station position. If the base station is moved to the reference base station position, the reference map information is used as the target map information.

[0099] The aforementioned task execution module is specifically used to: match the target work area's operation map information with the target work map information; and execute the target work task according to the operation map information.

[0100] The aforementioned task execution module is specifically used to generate a task map reconstruction instruction if the task map information for the target work area is not matched based on the target work map information. The task map reconstruction instruction is used to instruct the user to reconstruct the task map for the target work area and obtain the reconstructed map information for the target work area; and to execute the target work task according to the reconstructed map information.

[0101] Specific limitations regarding the task execution device of the self-moving device can be found in the limitations on the task execution method above, and will not be repeated here. Each module in the aforementioned task execution device of the self-moving device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the self-moving device in hardware form or independent of it, or stored in the memory of the self-moving device in software form, so that the processor can call and execute the operations corresponding to each module.

[0102] In one embodiment, a self-moving device is provided, the internal structure of which can be shown as follows: Figure 11 As shown, the self-moving device may include a processor, memory, network interface, display screen, and input device connected via a system bus. The processor of the self-moving device provides computing and control capabilities. The memory of the self-moving device includes a readable storage medium and internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The network interface of the self-moving device is used to communicate with an external server via a network connection. When the computer-readable instructions are executed by the processor, they implement a task execution method. The readable storage medium provided in this embodiment includes both non-volatile and volatile readable storage media.

[0103] In one embodiment, a self-moving device is provided, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor performs the following steps when executing the computer-readable instructions:

[0104] In response to user-triggered work commands, obtain the target work area and current base station location of the mobile device;

[0105] The current base station location is compared with the pre-stored base station locations in all pre-stored working map information, and the target working map information of the target working area is determined based on the comparison results. The pre-stored working map information is the working map information corresponding to each pre-stored working area stored in the preset database.

[0106] Perform the target work tasks according to the target work map information.

[0107] In one embodiment, one or more computer-readable storage media storing computer-readable instructions are provided. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The readable storage media stores computer-readable instructions, which, when executed by one or more processors, perform the following steps:

[0108] In response to user-triggered work commands, obtain the target work area and current base station location of the mobile device;

[0109] The current base station location is compared with the pre-stored base station locations in all pre-stored working map information, and the target working map information of the target working area is determined based on the comparison results. The pre-stored working map information is the working map information corresponding to each pre-stored working area stored in the preset database.

[0110] Perform the target work tasks according to the target work map information.

[0111] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0112] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A method for executing work tasks, applied to a self-moving device, characterized in that, The task execution method includes: In response to a user-triggered work command, the target working area and current base station location of the self-mobile device are obtained; the target working area refers to the working area where the self-mobile device is currently located. The process involves comparing the current base station location with all pre-stored base station locations in the pre-stored working map information, and determining the target working map information for the target working area based on the comparison result. This includes: calculating the base station location deviation between the current base station location and all the pre-stored base station locations; and determining the target working map information for the target working area based on the minimum base station location deviation among the base station location deviations. The pre-stored working map information consists of working map information corresponding to each preset working area stored in a preset database. The preset database stores multiple preset working areas, pre-stored working map information associated with each preset working area, and corresponding pre-stored base station locations. Execute the target work task according to the target work map information.

2. The task execution method as described in claim 1, characterized in that, The step of determining the target working map information of the target working area based on the minimum base station position deviation among the base station position deviations includes: The pre-stored base station position corresponding to the minimum base station position deviation is used as the reference base station position, and the pre-stored working map information corresponding to the reference base station position is used as the reference working map information. If the minimum base station location deviation is less than or equal to a preset deviation threshold, a new working map containing the current base station location is generated based on the reference working map information and the minimum base station location deviation. The new working map is identified as the target working map information for the target working area.

3. The task execution method as described in claim 2, characterized in that, The method further includes: The new working map is stored in a preset database.

4. The task execution method as described in claim 2, characterized in that, The method further includes: If the minimum base station location deviation is greater than the preset deviation threshold, a remapping instruction is generated, which prompts the user to remap the target working area.

5. The task execution method as described in claim 2, characterized in that, The method further includes: If the minimum base station position deviation is greater than the preset deviation threshold, a first base station position adjustment instruction is generated, which is used to prompt the user to adjust the base station position. Reacquire the current base station location of the self-moving device, and return to perform the step of comparing the current base station location with the pre-stored base station locations in all pre-stored working map information.

6. The task execution method as described in claim 2, characterized in that, The method further includes: If the minimum base station position deviation is greater than the preset deviation threshold, a second base station position adjustment instruction is generated based on the reference base station position. The second base station position adjustment instruction is used to prompt the user to move the base station to the reference base station position. If the base station moves to the location of the reference base station, the reference working map information is used as the target working map information.

7. The task execution method according to any one of claims 1 to 6, characterized in that, The step of executing the target work task according to the target work map information includes: Based on the target work map information, match the operation map information of the target work area; The target work task is executed according to the work map information.

8. The task execution method as described in claim 7, characterized in that, The step of executing the target work task according to the target work map information includes: If no matching operation map information for the target work area is found based on the target work map information, an operation map reconstruction instruction is generated. The operation map reconstruction instruction is used to instruct the user to reconstruct the operation map for the target work area and obtain the reconstructed map information for the target work area. Perform the target task according to the reconstructed map information.

9. A self-moving device, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, characterized in that, When the computer-readable instructions are executed by the processor, they implement the task execution method as described in any one of claims 1 to 8.

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