Work control method for self-moving device, self-moving device, and storage medium

Abstract

The application is suitable for the technical field of self-moving device control, and provides a work control method of a self-moving device, the self-moving device and a storage medium, wherein the method comprises: acquiring a work map corresponding to a work instruction; detecting a connection state of the self-moving device; if it is detected that the self-moving device is connected with an additional function module, acquiring a second size of the additional function module; generating an actual work path according to the first size and the second size; and controlling the self-moving device to work along the actual work path. In the application, if it is detected that the self-moving device is connected with the additional function module during the work process, an actual work path that is compatible with the first size and the second size is generated based on the first size of the self-moving device and the second size of the additional function module, so that the self-moving device can safely travel according to the newly generated actual work path after being connected with the additional function module, thereby improving the safety of the self-moving device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of self-moving device control, and particularly relates to a work control method of a self-moving device, the self-moving device, and a storage medium. BACKGROUND

[0002] With the development of science and technology, self-moving devices such as lawn mowing robots are increasingly widely used. In the use process of the self-moving device, an additional function module can be connected to the self-moving device to increase the function of the self-moving device. For example, a fallen leaf collecting module can be connected to the self-moving device, so that the lawn mowing robot can collect fallen leaves on the lawn while mowing the lawn.

[0003] After the additional function module is connected, if the self-moving device moves according to the original travel path, collision with an obstacle or entry into a forbidden area is likely to occur, resulting in low safety of the self-moving device. SUMMARY

[0004] The embodiments of the present application provide a work control method of a self-moving device, the self-moving device, and a storage medium, which can solve the problem of low safety of the self-moving device.

[0005] A first aspect of the embodiments of the present application provides a work control method of a self-moving device, comprising:

[0006] In response to a work instruction, a work map corresponding to the work instruction is acquired, wherein the work map contains an initial work path, and the initial work path is generated based on a first size of the self-moving device;

[0007] The connection state of the self-moving device is detected;

[0008] If it is detected that the self-moving device is connected with an additional function module, a second size of the additional function module is acquired;

[0009] An actual work path is generated according to the first size and the second size;

[0010] The self-moving device is controlled to work along the actual work path.

[0011] A second aspect of the embodiments of the present application provides a work control device of a self-moving device, comprising:

[0012] A map acquisition unit is configured to acquire, in response to a work instruction, a work map corresponding to the work instruction, wherein the work map contains an initial work path, and the initial work path is generated based on a first size of the self-moving device;

[0013] A state detection unit is configured to detect the connection state of the self-moving device;

[0014] The size acquisition unit is configured to acquire a second size of the additional function module if it is detected that the additional function module is connected to the self-moving device.

[0015] The path generation unit is configured to generate an actual operation path according to the first size and the second size.

[0016] The operation control unit is configured to control the self-moving device to operate along the actual operation path.

[0017] The third aspect of the embodiment of the present application provides a self-moving device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements each step of the operation control method of the self-moving device provided by the first aspect when executing the computer program.

[0018] The fourth aspect of the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and each step of the operation control method of the self-moving device provided by the first aspect is implemented when the computer program is executed by a processor.

[0019] The operation control method of the self-moving device, the self-moving device and the energy storage device provided by the embodiment of the present application have the following beneficial effects: in the operation process of the self-moving device, if it is detected that the additional function module is connected, an actual operation path that can simultaneously accommodate the first size and the second size is generated based on the first size of the self-moving device and the second size of the additional function module, so that the self-moving device can safely travel according to the newly generated actual operation path after the additional function module is connected, thereby improving the safety of the self-moving device. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or related technical descriptions. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a process schematic diagram of traveling according to an initial operation path provided by an embodiment of the present application;

[0022] Figure 2 is a comparison diagram of the effects of traveling according to an initial operation path and traveling according to an actual operation path provided by an embodiment of the present application;

[0023] Figure 3 is an implementation flowchart of the operation control method of the self-moving device provided by an embodiment of the present application;

[0024] Figure 4is an implementation flowchart provided by an embodiment of the present application for generating an actual working path;

[0025] Figure 5 is an implementation flowchart provided by an embodiment of the present application for generating an actual size;

[0026] Figure 6a is a schematic diagram of a first size provided by an embodiment of the present application;

[0027] Figure 6b is a schematic diagram of a second size provided by an embodiment of the present application;

[0028] Figure 7 is an implementation flowchart provided by an embodiment of the present application for generating a third size;

[0029] Figure 8 is an implementation flowchart provided by another embodiment of the present application for generating an actual working path;

[0030] Figure 9 is an implementation flowchart provided by yet another embodiment of the present application for generating an actual working path;

[0031] Figure 10 is a schematic diagram of a scenario in which a mowing robot works in a no-turning area provided by an embodiment of the present application;

[0032] Figure 11 is a structural block diagram of a working control device of a self-moving device provided by an embodiment of the present application;

[0033] Figure 12 is a structural block diagram of a self-moving device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0034] In the following description, for the purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0035] It should be understood that the term "comprising" when used in this specification and the appended claims, specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0036] As used in the specification and in the claims, the term “if’ can be interpreted as meaning “when” or “upon” or “in response to a determination” or “in response to a detection” depending on the context. Similarly, the phrase “if it is determined” or “if [a described condition or event] is detected” can be interpreted as meaning “upon a determination” or “in response to a determination” or “upon detecting [a described condition or event]” or “in response to detecting [a described condition or event]” depending on the context.

[0037] Reference throughout this specification to “one embodiment” or “an embodiment” or “some embodiments” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases “in one embodiment”, “in some embodiments”, “in other embodiments”, “in additional embodiments”, and so on, in various places throughout this specification are not necessarily all referring to the same embodiment, unless otherwise specified. The terms “comprises”, “comprising”, “has”, “having”, “includes” and “including” are meant to be open-ended and do not exclude the presence of other features, structures, or characteristics.

[0038] To illustrate the technical solutions of the application, the following embodiments are used to illustrate the technical solutions of the application.

[0039] A self-moving device, such as a mowing robot, usually needs to build a working map at the first use, and then generate an initial working path based on the built working map and the size of the self-moving device. In the process of use, the self-moving device travels according to the initial working path in the working map, thereby completing the corresponding work task.

[0040] Figure 1 is a schematic diagram of the process of traveling according to the initial working path provided by an embodiment of the application. As shown in Figure 1 The self-moving device travels according to the initial working path in the working map, first travels forward by a distance of the longitudinal size of the self-moving device when turning near the no-go area. Then, the steering motor of the self-moving device starts to work to realize the turning of the self-moving device. Finally, when the traveling direction of the self-moving device is turned to be the same as the direction of the initial working path, the steering motor stops turning, and the self-moving device continues to travel according to the initial working path to complete the turning action near the no-go area.

[0041] In actual application, during use of the self-moving device, an additional function module can be connected to the self-moving device to increase the function of the self-moving device. Taking the self-moving device as a lawn mowing robot, the additional function module can be a fallen leaf collecting module, a snow sweeping module, etc. For example, the fallen leaf collecting module can be connected to the lawn mowing robot, so that the lawn mowing robot can collect fallen leaves on the lawn while mowing the lawn. After the additional function module is connected, if the self-moving device moves according to the original travel path, collision with obstacles or entry into a forbidden area is likely to occur, resulting in low safety of the self-moving device.

[0042] To solve the above technical problem, in the present application, if the self-moving device detects that the additional function module is connected during work, the actual work path compatible with the first size of the self-moving device and the second size of the additional function module is generated, so that the self-moving device can safely travel according to the newly generated actual work path after the additional function module is connected, thereby improving the safety of the self-moving device.

[0043] Figure 2 is an effect comparison chart of traveling according to the initial work path and traveling according to the actual work path provided by an embodiment of the present application. As shown in Figure 2 When the self-moving device with the connected additional function module turns near the forbidden area, in order to avoid the self-moving device entering the forbidden area, the self-moving device does not travel according to the initial work path, but travels according to the actual work path, first travels a distance of the sum of the longitudinal size of the self-moving device and the longitudinal size of the additional function module. Then, the steering motor of the self-moving device starts to work to realize the steering of the self-moving device. Finally, when the travel direction of the self-moving device is turned to the same direction as that of the actual work path, the steering motor stops steering, and the self-moving device continues to travel according to the actual work path to complete the turning action near the forbidden area.

[0044] Please refer to Figure 3 , Figure 3 is an implementation flowchart of the work control method of the self-moving device provided by an embodiment of the present application. Figure 3 The execution subject of the work control method of the self-moving device can be the self-moving device, and specifically can be executed by the controller of the self-moving device. The implementation flowchart can include the following steps 301 to 305.

[0045] Step 301, in response to a work instruction, a work map corresponding to the work instruction is obtained.

[0046] The above work instruction is usually an instruction for controlling the self-moving device to work. For example, the self-moving device is a lawn mowing robot, and accordingly, the work instruction can be a mowing instruction for controlling the lawn mowing robot to mow the lawn.

[0047] The work map can include an initial work path, and the initial work path is generated based on a first size of the self-moving device. Here, the first size is usually the size of the self-moving device. In actual applications, the work map can include multiple regions, such as a work region, a forbidden region, a passageway region, and the like.

[0048] In practice, the self-moving device can be connected to the user terminal through near field communication. For example, the user can install a corresponding application on the user terminal, and establish communication with the self-moving device through Bluetooth, and then control the self-moving device through the application.

[0049] In some application scenarios, the work instruction can include information of a work region, and the self-moving device can store work maps of multiple work regions. The self-moving device selects a suitable map from the work maps of the multiple work regions as the work map according to the position of the self-moving device in response to the work instruction. The work instruction is sent by the user to the self-moving device after the user establishes a connection with the self-moving device through the user terminal.

[0050] Here, the work map is usually a pre-constructed map. In some application scenarios, the user can control the self-moving device to walk along the boundary of a corresponding region, record the path information of the self-moving device during the walking process as boundary information of the region, and take the region indicated by the boundary information as a map region in the work map, thereby obtaining the work map. In other application scenarios, the self-moving device can collect topographic information in a corresponding region through an installed laser radar, camera, or the like, and then convert the topographic information into a two-dimensional or three-dimensional work map. In actual applications, the constructed work map can be saved by the self-moving device, and the self-moving device can also send the work map to a server for storage.

[0051] Step 302, detecting the connection state of the self-moving device.

[0052] The connection state is used to indicate whether the additional function module is connected to the self-moving device.

[0053] In specific implementation, the self-moving device can be provided with an access interface of the additional function module, and the self-moving device can supply power to a microcontroller unit (MCU) of the additional function module through the access interface. The self-moving device can detect the connection state by detecting the level change at the access interface.

[0054] As an example, after the MCU of the additional function module is started, the self-moving device can send a heartbeat signal to the self-moving device, and the self-moving device can detect the connection state of the self-moving device by whether the heartbeat signal is received. Specifically, when the heartbeat signal sent by the MCU of the additional function module is received, the self-moving device is connected with the additional function module. In addition, when the heartbeat signal sent by the MCU of the additional function module is not received, the self-moving device is not connected with the additional function module.

[0055] In other embodiments, the access interface of the additional function module that can be provided on the self-moving device can be used to detect the in-place condition of the additional function module. Similarly, the self-moving device can detect the connection state of the self-moving device by detecting the level change at the access interface.

[0056] For example, when the level at the access interface changes from high to low, it is determined that the self-moving device has the additional function module access.

[0057] For another example, when the level at the access interface changes from low to high, it is determined that the self-moving device has the additional function module access.

[0058] Step 303, if it is detected that the self-moving device is externally connected with the additional function module, the second size of the additional function module is acquired.

[0059] Wherein, the second size is usually the external size of the additional function module.

[0060] In practice, the self-moving device and the additional function module can establish a communication connection according to a pre-set communication protocol. In some application scenarios, when the self-moving device detects that the additional function module is externally connected, the self-moving device can send a size acquisition instruction to the additional function module, control the additional function module to send the second size to the self-moving device, so that the self-moving device acquires the second size of the additional function module. In other application scenarios, the additional function module can also actively send the second size to the self-moving device when the additional function module is accessed to the self-moving device, so that the self-moving device acquires the second size of the additional function module.

[0061] In some embodiments, the MCU of the additional function module can send the state information of the additional function module to the self-moving device in real time. Taking the lawn mower as an example, after the lawn mower accesses the leaf collecting module, the MCU of the leaf collecting module can send the height of the collected leaves in the leaf collecting box to the lawn mower in real time.

[0062] In some embodiments, the user can set a corresponding speed threshold for the additional function module, and when the additional function module accesses the self-moving device, the self-moving device can be controlled to travel at a speed lower than the speed threshold.

[0063] As an example, in a specific implementation, a list of correspondence between the identity of the additional functional module and the second size can also be stored in the self-moving device. When detecting that the self-moving device is externally connected with the additional functional module, the self-moving device acquires the identity of the additional functional module, and the second size of the additional functional module can be acquired from the pre-stored list by using the identity.

[0064] In step 304, the actual operation path is generated according to the first size and the second size.

[0065] In practice, the self-moving device can use a path planning algorithm to generate the actual operation path based on the first size, the second size and the operation map.

[0066] In some optional implementations of the embodiment, the self-moving device can determine the actual size of the self-moving device by using the first size and the second size, then calculate a scale factor of the actual size and the first size, then inflate the first size of the self-moving device by using the scale factor to obtain the scale size of the self-moving device connected with the additional functional module, and finally generate the actual operation path based on the scale size and the operation map by using the path planning algorithm. The scale factor can be the ratio of the actual size and the first size. In practice, in order to avoid the self-moving device entering the forbidden area due to the size error of the self-moving device or the error of the control instruction, the scale factor can be adjusted to be larger.

[0067] For example, if the first size is X and the second size is also X, it can be determined that the actual size of the self-moving device is 2X, and the scale factor of the actual size and the first size is 2. In order to avoid the self-moving device entering the forbidden area due to the size error of the self-moving device or the error of the control instruction, the scale factor can be adjusted to be 2.2. The first size is inflated by using the adjusted scale factor to obtain the scale size of 2.2X, and the actual operation path is generated based on the scale size and the operation map by using the path planning algorithm.

[0068] In step 305, the self-moving device is controlled to operate along the actual operation path.

[0069] In practice, after obtaining the actual operation path, the self-moving device can switch the initial operation path to the actual operation path and operate according to the actual operation path.

[0070] The self-moving device operation control method provided by the embodiment can generate an actual operation path that is compatible with the first size and the second size of the additional function module based on the first size of the self-moving device and the second size of the additional function module when the self-moving device detects that the additional function module is connected, so that the self-moving device can safely travel according to the newly generated actual operation path after the additional function module is connected, thereby improving the safety of the self-moving device.

[0071] Referring to Figure 4 , Figure 4 is an implementation flowchart for generating an actual operation path, which can include the following steps 401 to 404.

[0072] Step 401: generating an actual size of the self-moving device according to the first size and the second size.

[0073] The actual size can include an actual lateral size, an actual longitudinal size, a circumscribed circle radius size, and the like.

[0074] In practice, the additional function module can be connected to the self-moving device laterally. At this time, the self-moving device can take the first lateral size and the second lateral size as the actual lateral size, and take the maximum value of the first longitudinal size and the second longitudinal size as the actual longitudinal size.

[0075] Step 402: obtaining an inflation coefficient corresponding to the actual size.

[0076] It should be noted that the forbidden area can be included in the operation map, for example, the flower bed and the pool in the lawn can correspond to the forbidden area in the operation map. In order to avoid the self-moving device from scratching the edge of the forbidden area when traveling on the lawn, the forbidden area in the operation map is also configured with an inflation coefficient of the forbidden area, which can also be referred to as an inflation coefficient of the obstacle. In all embodiments of the present application, the inflation coefficient refers to the inflation coefficient of the self-moving device in the operation map, that is, the inflation coefficient of the self-moving device, not the inflation coefficient of the obstacle.

[0077] In practice, the inflation coefficient can be a pre-set coefficient value. In actual application, when the size of the self-moving device is not inflated, the inflation coefficient is 1. When the size of the self-moving device is inflated, the inflation coefficient can be a value greater than 1, for example, the inflation coefficient can be 1.1, 1.2, and the like.

[0078] In practice, the expansion coefficients corresponding to different actual sizes can be the same or different. In actual application, the self-moving device can adopt an actual size, and find the expansion coefficient corresponding to the actual size from a pre-established size-coefficient correspondence table. The size-coefficient correspondence table can be a correspondence table pre-established by the self-moving device and storing a plurality of size and coefficient correspondences.

[0079] At step 403, the actual size is expanded according to the expansion coefficient to obtain a third size.

[0080] In practice, the self-moving device can expand the actual lateral size by the expansion coefficient, and take the product of the expansion coefficient and the actual lateral size as the third size. The self-moving device can also expand the actual longitudinal size by the expansion coefficient, and take the product of the expansion coefficient and the actual longitudinal size as the third size. The self-moving device can also expand the circumscribed circle radius size by the expansion coefficient, and take the product of the expansion coefficient and the circumscribed circle radius size as the third size.

[0081] In some application scenarios, in order to avoid the size error of the self-moving device or the error of the control instruction from causing the self-moving device to enter the forbidden area, the expansion coefficient can be a coefficient greater than 1, such as 1.1. For example, the first size is X, the second size is X, the actual size is 2X, the expansion coefficient is 1.1, and the third size can be obtained by multiplying the expansion coefficient and the actual size, which is 2.2X.

[0082] At step 404, an actual operation path is generated according to the third size.

[0083] In practice, after obtaining the third size, the self-moving device can adopt a path planning algorithm to generate an actual operation path based on the third size and the operation map.

[0084] In this embodiment, the third size obtained by the actual size and the corresponding expansion coefficient is used to generate an actual operation path, and the self-moving device moves according to the actual operation path, which helps the self-moving device to operate at a correct position, and can improve the accuracy of the self-moving device.

[0085] Please refer to Figure 5 , Figure 5 is an implementation flowchart for generating an actual size provided by an embodiment of the present application, which can include steps 501 to 502.

[0086] At step 501, the maximum value of the first lateral size and the second lateral size is determined as the actual lateral size.

[0087] The first size can include a first lateral size and a first longitudinal size. Please refer to Figure 6a , Figure 6aA schematic diagram of the first size is provided in an embodiment of the present application. As shown in Figure 6a The first lateral size is the size of the self-moving device in the direction perpendicular to the driving direction, and the first longitudinal size is the size of the self-moving device in the driving direction.

[0088] The second size can include a second lateral size and a second longitudinal size. Please refer to Figure 6b , Figure 6b A schematic diagram of the second size is provided in an embodiment of the present application. As shown in Figure 6b The second lateral size is the size of the additional functional module in the direction perpendicular to the driving direction, and the second longitudinal size is the size of the additional functional module in the driving direction.

[0089] In practice, the additional functional module is usually longitudinally connected to the tail of the self-moving device. The self-moving device can compare the first lateral size and the second lateral size, and determine the maximum value of the two as the actual lateral size. For example, the first lateral size is a, and the second lateral size is 0.8a. Since the first lateral size is greater than the second lateral size, the self-moving device can determine the first lateral size as the actual lateral size.

[0090] Step 502, determining the sum of the first longitudinal size and the second longitudinal size as the actual longitudinal size.

[0091] In practice, after obtaining the second longitudinal size, the self-moving device can add the first longitudinal size and the second longitudinal size, and determine the sum as the actual longitudinal size. For example, the first longitudinal size is X, and the second longitudinal size is also X. The actual longitudinal size can be determined as 2X.

[0092] In this embodiment, the maximum value of the first lateral size and the second lateral size is determined as the actual lateral size, and the sum of the first longitudinal size and the second longitudinal size is determined as the actual longitudinal size. This can accurately determine the actual size of the self-moving device after connecting the additional functional module, which helps to generate an accurate actual working path, and can improve the working efficiency and safety of the self-moving device.

[0093] Please refer to Figure 7 , Figure 7 An implementation flowchart for generating the third size is provided in an embodiment of the present application. The implementation flowchart can include the following steps 701 to 702.

[0094] Step 701, inflating the actual lateral size according to a lateral inflation coefficient to obtain a third lateral size.

[0095] The inflation coefficient includes a lateral inflation coefficient and a longitudinal inflation coefficient. The third size includes a third lateral size and a third longitudinal size.

[0096] In practice, the self-moving device can multiply the actual transverse dimension by the transverse expansion coefficient to obtain the third transverse dimension.

[0097] At step 702, the actual longitudinal dimension is expanded according to the longitudinal expansion coefficient to obtain a third longitudinal dimension.

[0098] In practice, the self-moving device can multiply the actual longitudinal dimension by the longitudinal expansion coefficient to obtain the third longitudinal dimension.

[0099] In this embodiment, the actual transverse dimension and the actual longitudinal dimension are expanded by the transverse expansion coefficient and the longitudinal expansion coefficient respectively, so that more accurate third dimensions can be obtained, and a more actual working path that conforms to the actual application scenario can be generated, which helps to further improve the working efficiency and safety of the self-moving device.

[0100] In some embodiments, the longitudinal expansion coefficient is greater than the transverse expansion coefficient, and the longitudinal expansion coefficient is positively correlated with the corresponding longitudinal dimension.

[0101] In practice, the additional functional module is usually arranged at the tail of the self-moving device, and the additional functional module is connected to the self-moving device in the longitudinal direction of the self-moving device. In addition, the actual transverse dimension is usually the maximum value of the first transverse dimension and the second transverse dimension, and the actual longitudinal dimension is usually the sum of the first longitudinal dimension and the second longitudinal dimension. Therefore, after the additional functional module is connected, the longitudinal dimension of the self-moving device is usually greater than the transverse dimension, and the corresponding longitudinal expansion coefficient is usually greater than the transverse expansion coefficient.

[0102] In practice, the longitudinal expansion coefficient can be positively correlated with the corresponding longitudinal dimension, that is, the larger the longitudinal dimension, the larger the corresponding longitudinal expansion coefficient. In some application scenarios, the transverse expansion coefficient can be positively correlated with the corresponding transverse dimension, that is, the larger the transverse dimension, the larger the corresponding transverse expansion coefficient.

[0103] In this embodiment, the longitudinal expansion coefficient is positively correlated with the corresponding longitudinal dimension, and the longitudinal dimension and the longitudinal expansion coefficient are used to obtain an accurate actual longitudinal dimension. Based on the accurate actual longitudinal dimension, an accurate actual working path can be generated, which helps to further improve the safety of the self-moving device.

[0104] Please refer to Figure 8 , Figure 8 is an implementation flowchart for generating an actual working path provided by another embodiment of the present application. The implementation flowchart can include the following steps 801 to 802.

[0105] At step 801, the forbidden area in the working map is updated according to the third transverse dimension.

[0106] The forbidden area is usually an area where the self-moving device is prohibited to enter. In practice, when the self-moving device is a mowing robot, the forbidden area can include an obstacle area, a newly planted grass area, a small pond area in the lawn, a steep terrain area, etc.

[0107] In practice, the user can set the forbidden area in the work map, so that the self-moving device does not enter the forbidden area during driving.

[0108] In practice, the work map usually includes a passable channel for the self-moving device to pass through. The self-moving device can obtain the width of each passable channel through the work map, then compare the third lateral dimension with the width of each passable channel, and determine the passable channel corresponding to the width smaller than the third lateral dimension as the forbidden area. After that, the self-moving device can update the forbidden area in the work map, and add the newly determined forbidden area to the work map.

[0109] It is easy to understand that the forbidden area in the work map is updated according to the third lateral dimension in order to identify a drivable area smaller than the third lateral dimension in the original work map, and then the drivable area is regarded as a newly added forbidden area. That is, the forbidden area in the work map is updated to add more forbidden areas, rather than adjusting or updating the existing forbidden area.

[0110] Step 802: generating a new work path according to the updated work map and the third dimension.

[0111] The new work path does not pass through the forbidden area.

[0112] In practice, the self-moving device can use a path planning algorithm to generate a new work path based on the updated work map and the third dimension.

[0113] In some application scenarios, the self-moving device can store the updated work map, so that when the self-moving device accesses the same additional functional module again, the self-moving device can directly call the stored updated work map and control the self-moving device to drive according to the actual work path in the work map.

[0114] In other application scenarios, the self-moving device can clear the updated work map after completing the work task, so as to release the memory space of the self-moving device. If the self-moving device accesses the same additional functional module again, the initial work map can be updated again.

[0115] In this embodiment, the forbidden area in the work map is updated by the third lateral dimension, and the new work path is generated according to the updated work map and the third dimension, so that the self-moving device will not enter the forbidden area when driving according to the new work path, which helps to improve the safety of the self-moving device.

[0116] Referring to Figure 9 , Figure 9 is an implementation flowchart provided by another embodiment of the present application for generating an actual work path, which can include the following steps 901 to 902.

[0117] Step 901, generating a no-turning area in the work map according to the third longitudinal dimension and updating the work map.

[0118] In practice, there are multiple no-entry areas near the no-turning area, and the distance between the no-entry areas is less than the third longitudinal dimension. If the self-moving device turns in the no-turning area, it will enter the no-entry area.

[0119] In practice, the self-moving device can obtain the distance between each no-entry area through the work map, and then compare the distance between each no-entry area with the third longitudinal dimension. If there is a distance between the no-entry areas that is less than the third longitudinal dimension, the area between the corresponding no-entry areas can be regarded as a no-turning area.

[0120] Then, the self-moving device can update the work map based on the generated no-turning area, and add the generated no-turning area to the work map.

[0121] Step 902, generating an actual work path according to the updated work map and the third dimension.

[0122] In the actual work path, the path into the no-turning area and the path out of the no-turning area are the same path.

[0123] In practice, the self-moving device can first enter the no-turning area in one direction for work, return along the entering path after the work is completed, and then enter the no-turning area from another direction and return along the entering path, thereby completing the work in the no-turning area. Referring to Figure 10 , Figure 10 is a scene diagram of a mowing robot working in a no-turning area according to an embodiment of the present application. As Figure 10 shown, a leaf collection module is connected to the mowing robot, so that the mowing robot can collect leaves while mowing. When the mowing robot works in the no-turning area, it first enters the no-turning area in one direction for mowing and leaf collection, returns along the entering path after the work is completed. Then, it enters the no-turning area from another direction and returns along the entering path, thereby completing the mowing and leaf collection work in the no-turning area. Figure 10In this way, in order to ensure that the fallen leaves in the no-turn area can be better collected and cleaned, when the mowing robot is working in the no-turn area, the mowing robot can be controlled to drive into the no-turn area in reverse to collect fallen leaves. For example, the no-turn area can be divided into a first sub-area A and a second sub-area B. Figure 10 In this way, in order to ensure that the fallen leaves in the no-turn area can be better collected and cleaned, when the mowing robot is working in the no-turn area, the mowing robot can be controlled to drive into the no-turn area in reverse to collect fallen leaves. For example, the no-turn area can be divided into a first sub-area A and a second sub-area B.

[0124] In practice, the self-moving device can use a path planning algorithm to generate an actual working path based on the updated working map and the third dimension.

[0125] In this embodiment, by updating the no-turn area in the working map through the third longitudinal dimension, it can be ensured that the self-moving device after accessing the additional functional module will not enter the no-entry area near the no-turn area when driving, which helps to improve the safety of the self-moving device.

[0126] In some embodiments, the working control method of the self-moving device described above can further include: if the self-moving device is not externally connected with the additional functional module, controlling the self-moving device to work according to the initial working path.

[0127] In practice, when the self-moving device does not detect the access of the additional functional module, it does not adjust the initial working path and works according to the initial working path. In actual application, when the self-moving device does not detect a level change at the access interface or does not receive a heartbeat signal sent by the MCU of the additional functional module, it can work according to the initial working path.

[0128] In this embodiment, when the self-moving device is not externally connected with the additional functional module, the self-moving device works according to the initial working path without human intervention, which can improve the working efficiency of the self-moving device.

[0129] Please refer to Figure 11 , Figure 11 is a structural block diagram of a working control device 1100 of a self-moving device provided by an embodiment of the present application, which includes:

[0130] The map acquisition unit 1101 is configured to acquire a work map corresponding to the work instruction in response to the work instruction, wherein the work map comprises an initial work path, and the initial work path is generated based on a first size of the self-moving device.

[0131] The state detection unit 1102 is configured to detect a connection state of the self-moving device.

[0132] The size acquisition unit 1103 is configured to acquire a second size of the additional function module if it is detected that the self-moving device is connected with the additional function module.

[0133] The path generation unit 1104 is configured to generate an actual work path according to the first size and the second size.

[0134] The work control unit 1105 is configured to control the self-moving device to work along the actual work path.

[0135] In some embodiments, the path generation unit 1104 comprises a size generation module, a coefficient acquisition module, a size expansion module, and a work generation module (not shown in the figure). The size generation module is configured to generate an actual size of the self-moving device according to the first size and the second size. The coefficient acquisition module is configured to acquire an expansion coefficient corresponding to the actual size. The size expansion module is configured to expand the actual size according to the expansion coefficient to obtain a third size. The work generation module is configured to generate the actual work path according to the third size.

[0136] In some embodiments, the size generation module is specifically configured to determine a maximum value in the first lateral size and the second lateral size as an actual lateral size, and determine a sum of the first longitudinal size and the second longitudinal size as an actual longitudinal size.

[0137] In some embodiments, the size expansion module is specifically configured to expand the actual lateral size according to a lateral expansion coefficient to obtain a third lateral size, and expand the actual longitudinal size according to a longitudinal expansion coefficient to obtain a third longitudinal size, wherein the third size comprises the third lateral size and the third longitudinal size.

[0138] In some embodiments, the longitudinal expansion coefficient is greater than the lateral expansion coefficient, and the longitudinal expansion coefficient has a positive correlation with the size of the corresponding longitudinal size.

[0139] In some embodiments, the work generation module is specifically configured to update a no-go area in the work map according to the third lateral size, and generate a new work path according to the updated work map and the third size, wherein the new work path does not pass through the no-go area.

[0140] In some embodiments, the job generation module is further configured to: generate a no-turn zone in the job map based on a third longitudinal dimension and update the job map; generate an actual job path based on the updated job map and the third dimension, wherein the path for entering the no-turn zone and the path for exiting the no-turn zone in the actual job path are the same path.

[0141] In some embodiments, the device further includes an initial operation module (not shown) for controlling the self-moving device to perform operations according to the initial operation path if no additional functional modules are connected to the self-moving device.

[0142] The operation control device for the self-moving device provided in this embodiment, when the self-moving device detects that an additional function module has been connected during operation, generates an actual operation path that is compatible with both the first and second dimensions based on the first dimension of the self-moving device and the second dimension of the additional function module. This allows the self-moving device to travel safely according to the newly generated actual operation path after the additional function module is connected, thereby improving the safety of the self-moving device.

[0143] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the operation control method embodiment of the self-moving device in this application. For details on their specific functions and technical effects, please refer to the operation control method embodiment section of the self-moving device, which will not be repeated here.

[0144] Please see Figure 12 , Figure 12 This is a structural block diagram of a self-moving device 1200 provided in an embodiment of this application. The self-moving device 1200 of this embodiment includes: at least one processor 1201 ( Figure 12 The diagram shows only one processor, memory 1202, and a computer program 1203 stored in memory 1202 and executable on at least one processor 1201, such as a job control program for a self-moving device. When processor 1201 executes computer program 1203, it implements the steps in the embodiments of the simulation operation methods for the various self-moving devices described above. When processor 1201 executes computer program 1203, the functions of each module / unit in the above-described device embodiments are as follows: Figure 11 The functions of the map acquisition unit 1101 to the operation control unit 1105 are shown.

[0145] The computer program 1203 can be divided into one or more units, which are stored in the memory 1202 and executed by the processor 1201 to complete the present application. The one or more units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 1203 in the mobile device 1200. For example, the computer program 1203 can be divided into a map acquisition unit, a state detection unit, a size acquisition unit, a path generation unit, a work control unit, and the specific functions of each unit are described in the above embodiments, which will not be repeated here.

[0146] The processor 1201 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0147] The memory 1202 can be an internal storage unit of the mobile device 1200, such as a hard disk or a memory of the mobile device 1200. The memory 1202 can also be an external storage device of the mobile device 1200, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the mobile device 1200. Optionally, the memory 1202 can include both the internal storage unit and the external storage device of the mobile device 1200. The memory 1202 is used to store computer programs and other programs and data required by the mobile device 1200. The memory 1202 can also be used to temporarily store data that has been output or will be output.

[0148] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0149] The integrated module, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be implemented by a computer program instructing related hardware to complete. The computer program can be stored in a computer readable storage medium and can implement the steps of the above-mentioned method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0150] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0151] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A work control method of a self-moving device, characterized by, The method comprises: in response to a job instruction, obtaining a job map corresponding to the job instruction, wherein the job map contains an initial job path, and the initial job path is generated based on a first size of the self-moving device; detecting a connection state of the self-moving device; if it is detected that the self-moving device is circumscribed by an additional functional module, obtaining a second size of the additional functional module; generating an actual job path according to the first size and the second size; controlling the self-moving device to perform a job along the actual job path; the generating of the actual job path according to the first size and the second size comprises: generating an actual size of the self-moving device according to the first size and the second size; obtaining an inflation coefficient corresponding to the actual size; inflating the actual size according to the inflation coefficient to obtain a third size; generating an actual job path according to the third size.

2. The work control method of a self-moving device according to claim 1, characterized by, The first size comprises a first lateral size and a first longitudinal size, and the second size comprises a second lateral size and a second longitudinal size, and the generating of the actual size of the self-moving device according to the first size and the second size comprises: determining a maximum value between the first lateral size and the second lateral size as an actual lateral size; determining a sum of the first longitudinal size and the second longitudinal size as an actual longitudinal size.

3. The work control method of a self-moving device according to claim 2, characterized by, The inflation coefficient comprises a lateral inflation coefficient and a longitudinal inflation coefficient, and the inflating of the actual size according to the inflation coefficient to obtain a third size comprises: inflating the actual lateral size according to the lateral inflation coefficient to obtain a third lateral size; inflating the actual longitudinal size according to the longitudinal inflation coefficient to obtain a third longitudinal size; wherein the third size comprises the third lateral size and the third longitudinal size.

4. The work control method of a self-moving device according to claim 3, characterized by, The longitudinal inflation coefficient is greater than the lateral inflation coefficient, and the longitudinal inflation coefficient has a positive correlation with the corresponding longitudinal size.

5. The work control method of a self-moving device according to claim 3, characterized by, The generating of the actual job path according to the third size comprises: updating a no-entry area in the job map according to the third lateral size, generating a new job path according to the updated job map and the third size, wherein the new job path does not pass through the no-entry area.

6. The work control method of a self-moving device according to claim 3 or 4, characterized by, The generating of the actual job path according to the third size comprises: generating a no-turn area in the job map according to the third longitudinal size and updating the job map; generating an actual job path according to the updated job map and the third size, wherein a path for entering the no-turn area and a path for exiting the no-turn area in the actual job path are the same path.

7. The work control method of a self-moving apparatus according to claim 1, characterized by, The method further comprises: if the self-moving device is not circumscribed by an additional functional module, controlling the self-moving device to perform a job according to the initial job path.

8. A self-moving device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the job control method of the self-moving device according to any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by the processor to implement the job control method of the self-moving device according to any one of claims 1 to 7.

Images