Spraying control method for self-moving equipment, self-moving equipment and readable storage medium

Abstract

This invention belongs to the field of spray control technology for self-moving equipment, and discloses a spray control method for self-moving equipment, a self-moving equipment, and a readable storage medium. The method includes: when the self-moving equipment receives a spray control command, controlling the self-moving equipment to perform a spraying operation along a preset path; when the self-moving equipment moves to a target location point in the preset path, controlling the self-moving equipment to stop the spraying operation at the target location point, and after the self-moving equipment passes the target location point, continuing to control the self-moving equipment to perform the spraying operation along the preset path. This invention can automatically turn the spraying operation in the spraying equipment on or off through the self-moving equipment, and the spraying operation can be matched with different target locations of the self-moving equipment, avoiding waste of sprayed liquid in the spraying equipment and improving the automation level of spraying by the self-moving equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of self-moving device spraying control, and in particular to a self-moving device spraying control method, a self-moving device and a readable storage medium. BACKGROUND

[0002] At present, there are various garden devices applied in gardens, which can set spraying devices according to use scenarios, such as setting spraying devices for storing snow removing agents on snow sweepers or setting liquid for weeding on other robots, but most of the garden devices rely on manual operation to open or close the spraying function of the spraying device, cannot realize spraying automation, and have the problem of inaccurate timing when opening or closing, causing liquid waste.

[0003] Therefore, those skilled in the art urgently need to find a method to solve the above spraying problems. SUMMARY

[0004] Therefore, it is necessary to provide a self-moving device spraying control method, a self-moving device and a readable storage medium to solve the problems of insufficient automation of spraying devices and liquid waste in the prior art.

[0005] To achieve the above purpose, a self-moving device spraying control method is provided, which comprises:

[0006] When the self-moving device receives a spraying control instruction, the self-moving device is controlled to perform a spraying operation in a preset path;

[0007] When it is determined that the self-moving device moves to a target position point in the preset path, the self-moving device is controlled to stop the spraying operation at the target position point, and after the self-moving device passes through the target position point, the self-moving device is controlled to continue to perform the spraying operation in the preset path.

[0008] Optionally, the control of the self-moving device to perform the spraying operation in the preset path comprises:

[0009] determining whether the working area corresponding to the preset path has been fully sprayed by the self-moving device; after an area in the working area is sprayed, the area is marked as a sprayed area;

[0010] When it is determined that the working area corresponding to the preset path has not been fully sprayed by the self-moving device, the self-moving device is controlled to continue to perform the spraying operation in the working area corresponding to the preset path.

[0011] Optionally, the control of the self-moving device to perform the spraying operation in the preset path comprises:

[0012] acquiring a working parameter in the self-moving device;

[0013] determining a spraying amount in the self-moving device according to the working parameter;

[0014] controlling the self-moving device to perform a spraying operation in a preset path according to the spraying amount.

[0015] Optionally, the controlling the self-moving device to perform a spraying operation in a preset path comprises:

[0016] identifying a current snow amount of a working area by a preset sensor in the self-moving device;

[0017] determining a spraying amount in the self-moving device according to the current snow amount;

[0018] controlling the self-moving device to perform a spraying operation in a preset path according to the spraying amount.

[0019] Optionally, the determining the self-moving device to move to a target position point in the preset path comprises:

[0020] determining the self-moving device to move to a target position point in the preset path after determining the self-moving device to move to a position point of a pre-recorded working area;

[0021] or, determining the self-moving device to move to a target position point in the preset path after determining the self-moving device to move to a position point in a working area where a skid occurs;

[0022] or, determining the self-moving device to move to a target position point in the preset path after determining a current of a working motor in the self-moving device reaches a preset current threshold;

[0023] or, determining the self-moving device to move to a target position point in the preset path after determining the self-moving device to move to a turning point of a working area;

[0024] or, determining the self-moving device to move to a target position point in the preset path after determining a first snow amount in a working area where the self-moving device moves to a position point does not conform to a first preset snow amount;

[0025] or, determining the self-moving device to move to a target position point in the preset path after determining the self-moving device is located at a position point outside the working area.

[0026] Optionally, the continuing to control the self-moving device to perform a spraying operation in a preset path further comprises:

[0027] identifying a second snow amount in the preset path through a preset sensor in the self-moving device;

[0028] after determining that the second snow amount reaches a second preset snow amount, controlling the self-moving device to continue to perform the spraying operation on the same area in the preset path, and after determining that a third snow amount currently remaining reaches a third preset snow amount, controlling a working device in the self-moving device to perform the snow shoveling operation in the preset path;

[0029] after determining that the second snow amount does not reach the second preset snow amount, controlling the working device in the self-moving device to perform the snow shoveling operation in the preset path.

[0030] Optionally, after the continuing control of the self-moving device to perform the spraying operation in the preset path, the method further comprises:

[0031] after determining that the target position point is a turning point corresponding to a moving obstacle, when determining that the moving obstacle is not on the turning point during the spraying operation, controlling the self-moving device to move to the turning point to perform the spraying operation according to a preset working condition.

[0032] Optionally, the control of the self-moving device to perform the spraying operation in the preset path comprises:

[0033] determining a first spraying amount corresponding to the working area of the self-moving device under a unit area spraying amount;

[0034] when the first spraying amount is more than a storage amount in the self-moving device, controlling the self-moving device to reduce the unit area spraying amount based on the working area, controlling the self-moving device to perform the spraying operation in the preset path according to the reduced unit area spraying amount, or controlling the self-moving device to change a spraying width of the self-moving device under the reduced unit area spraying amount, and controlling the self-moving device to perform the spraying operation in the preset path according to the reduced unit area spraying amount and the changed spraying width.

[0035] To achieve the above object, the application further provides a self-moving device, wherein the memory stores a self-moving device spraying control program, and the controller controls the self-moving device spraying control program to implement the steps of the self-moving device spraying control method.

[0036] To achieve the above object, the application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the self-moving device spraying control method.

[0037] The self-moving device spraying control method provided by the present invention includes: when the self-moving device receives a spraying control command, controlling the self-moving device to perform a spraying operation in a preset path; when the self-moving device is determined to have moved to a target location point in the preset path, controlling the self-moving device to stop the spraying operation at the target location point, and after the self-moving device passes the target location point, continuing to control the self-moving device to perform a spraying operation in the preset path; in this way, the spraying operation in the spraying device can be automatically turned on or off by the self-moving device, and the spraying operation can be matched with different target locations of the self-moving device, avoiding waste of sprayed liquid in the spraying device and improving the automation level of the self-moving device spraying. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic flowchart of a spray control method for a self-moving device according to an embodiment of the present invention.

[0040] Figure 2 This is a schematic block diagram of a self-moving device according to an embodiment of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1 As shown, an embodiment of the present invention provides a spraying control method for a self-moving device, which can be applied to the controller in a self-moving device. The controller can also be understood as an MCU (Microcontroller Unit) or other device with the same control function. The method includes the following steps S10 to S20:

[0043] S10, when the self-moving device receives a spraying control command, control the self-moving device to perform a spraying operation in a preset path.

[0044] Understandably, the self-moving device is a robot applied in the yard, and the specific function is determined based on the installed function module. When the self-moving device is a snow sweeper, the function module can include a snow sweeping module and a spraying module. The snow sweeping module can be a module composed of a snow shovel, a snow rolling blade, and a snow throwing cylinder. The spraying module can be a funnel-shaped device provided with a control valve at the opening of the funnel. The control valve can be opened or closed under the control of the controller. In the specific installation position, the snow sweeping module can be arranged at the front position of the self-moving device, and the spraying module can be arranged at the rear position of the self-moving device at the same time. One of the modules can also be installed at the body position of the self-moving device. The function module mentioned above can also be replaced by a grass cutting module. The spraying control instruction can be an instruction issued by the user through the terminal, can be an instruction opened after a preset time point, can be an instruction opened after the self-moving device identifies the snowfall operation through a preset sensor, or can be an instruction opened after the mechanical spraying switch of the spraying device of the self-moving device is opened. The spraying operation is the operation of spraying liquid by the spraying module mentioned above. The liquid can be a snow melting agent to accelerate the snow melting effect, can be a liquid for plant water supplement, or can be a liquid for other disinfection functions. In addition, in the spraying operation, the liquid spraying angle can be vertically inclined to the rear to avoid spraying to the body of the self-moving device. The spraying width can be determined according to the requirements. If it is required to complete the spraying in a shorter time, the spraying width can be increased. If it is required to save the liquid in the spraying module, the spraying width can be reduced. The spraying rate can also be set according to the requirements. The spraying rate is adjusted by the electric control. The controller can be electrically connected with the control valve of the spraying device. The user can also customize the spraying rate when the current automatic plan is executed / manually controlled. The preset path refers to the working path of the self-moving device in the working area, which is planned in advance and stored in the preset map corresponding to the working area. The planning method can refer to the length of the working area (such as planning an arch-shaped path in the working area based on the longest side), can refer to the position of the snow throwing position point (such as planning an arch-shaped path from the position far away from the snow throwing position point to the position close to the snow throwing position point based on the position of the snow throwing position point), and can refer to the position of the charging station (such as taking the position of the charging station as the ending position point of the self-moving device, and planning an arch-shaped path in the working area based on the position point).

[0045] The spraying operation in the embodiment is the operation of spraying while moving of the self-moving device. The spraying radiation range can cover the preset path corresponding to the working area in the self-moving device.

[0046] S20, when it is determined that the self-moving device moves to the target position point in the preset path, the self-moving device is controlled to stop the spraying operation at the target position point, and after the self-moving device passes through the target position point, the self-moving device is controlled to continue the spraying operation in the preset path.

[0047] It can be understood that the target position point is a target position point in the preset path, which includes but is not limited to a pre-recorded bump point or a convex point (a position point corresponding to uneven road surface, or a position point corresponding to an ice column or snow), an escape point (a position point at which the self-moving device slips, caused by snow or other road conditions), a thick hard snow point (a position point at which the self-moving device is blocked from advancing), a turning point (a turning position point in the preset path or a position point for bypassing an obstacle), a snow quantity insufficient position point (a position point at which the snow quantity is insufficient), and a position point outside a working area (the position point outside the working area corresponds to the fact that it does not affect normal needs of a user).

[0048] After passing through the target position point, the specific process of continuing to control the self-moving device to perform the spraying operation in the preset path can be: determining, by a positioning sensor of the self-moving device, in a preset map, that the self-moving device has passed through a grid corresponding to the target position point in the preset path, determining, in the preset map, that a grid in which the self-moving device is currently located in the preset path is a new grid, and then continuing to control the self-moving device to perform the spraying operation in the new grid in the preset path, wherein the preset map is obtained by rasterizing the working area in advance, each grid represents a small area in the working area, each grid corresponds to a potential energy, the self-moving device moves from a position with high potential energy to a position with low potential energy according to the height of the potential energy, and the area of each grid can be determined according to requirements and can be set to a body width or the like.

[0049] In the above target position points, the self-moving device is not controlled to perform the spraying operation, and the specific reason is that when the self-moving device is still in the spraying operation at the above target position points, the spraying liquid in the self-moving device is wasted. For example, the bump point or the convex point or the escape point mentioned above can cause the self-moving device to slip, and if the spraying operation is not stopped, the self-moving device can spray in multiple directions due to the slip. In the thick hard snow point mentioned above, the self-moving device needs to move forward multiple times by the snow removing device, and if the spraying operation is not stopped, the self-moving device can be in the spraying liquid in the same area. In the snow quantity insufficient position point mentioned above, it is indicated that the current position point does not need too much spraying liquid. In the position point outside the working area mentioned above, it is indicated that the current position point does not need the spraying liquid.

[0050] In the embodiment of steps S10 to S20, when the self-moving device receives the spraying control instruction, the spraying operation of the self-moving device in the preset path is controlled; when it is determined that the self-moving device moves to the target position point in the preset path, the spraying operation of the self-moving device in the target position point is controlled to stop, and after the self-moving device passes through the target position point, the spraying operation of the self-moving device in the preset path is continued to be controlled. In this way, the spraying operation of the spraying device can be automatically started or stopped by the self-moving device, the spraying operation can be fitted with different target position points of the self-moving device, the waste of spraying liquid in the spraying device is avoided, and the automation degree of the self-moving device spraying is improved.

[0051] In an embodiment, the control of the self-moving device to perform the spraying operation in the preset path comprises:

[0052] determining whether the working area corresponding to the preset path has been fully sprayed by the self-moving device; after a region in the working area is sprayed, the region is marked as a sprayed region;

[0053] when it is determined that the working area corresponding to the preset path has not been fully sprayed by the self-moving device, the spraying operation of the self-moving device in the working area corresponding to the preset path is continued to be controlled.

[0054] As can be understood, the working area is the area in which the self-moving device works, which can be divided into a plurality of small areas, and the spraying operation is performed on the small areas, that is, the sprayed region is marked in the preset map, wherein the sprayed region is the region marked at a historical time.

[0055] The self-moving device in the embodiment can identify each region in the working area when performing the spraying operation, determine whether the current region is the marked sprayed region, and continue to control the self-moving device to perform the spraying operation in the working area corresponding to the preset path to complete the spraying work target when the region is not completed.

[0056] In an embodiment, the control of the self-moving device to perform the spraying operation in the preset path comprises:

[0057] obtaining a working parameter in the self-moving device;

[0058] determining a spraying amount in the self-moving device according to the working parameter;

[0059] controlling the self-moving device to perform the spraying operation in the preset path according to the spraying amount.

[0060] Understandably, operating parameters refer to the machine parameters involved in the operation of the self-moving device. These parameters can be used to dynamically adjust the spraying volume in the spraying equipment, such as the moving speed, moving acceleration, walking motor power, and walking motor current of the self-moving device. All of the above-mentioned parameters have direct or indirect data conversion relationships. The spraying volume is related to the operating parameters, such as the amount of spraying under the current operating parameters.

[0061] Specifically, the spray volume corresponding to the spraying operation can be controlled by the control valve in the spraying equipment. If a larger spray volume is required, the control valve is controlled to allow a larger liquid flow. The larger the operating parameters mentioned above are, the larger the spray volume will be.

[0062] This embodiment dynamically adjusts the spraying volume in the self-moving device based on the working parameters. The specific reason is that if the spraying volume per unit area is fixed, the larger the working parameters, the smaller the spraying volume per unit area. In order to ensure that the spraying volume per unit area corresponding to larger working parameters is the same as or close to the same as the spraying volume per unit area corresponding to smaller working parameters, the spraying volume per unit area of ​​the working area can be increased when the working parameters are larger.

[0063] In one embodiment, controlling the self-moving device to perform a spraying operation along a preset path includes:

[0064] The current snow accumulation in the work area is identified by a preset sensor in the self-moving device;

[0065] The spraying amount in the self-moving device is determined based on the current snow accumulation.

[0066] The self-moving device is controlled to perform spraying operations along a preset path based on the spray volume.

[0067] Understandably, a preset sensor refers to a sensor capable of identifying the amount of snow in a work area, such as a vision sensor, a laser sensor, and a load sensor. A vision sensor can accurately detect the depth and distribution of snow through a depth vision sensor or a combination of a vision sensor and stereo vision methods. A laser sensor emits a laser pulse and then measures the time required for the laser pulse to travel from the emission point to the target and back to the receiver. By measuring the time difference, the propagation distance of the light can be calculated, thereby inferring the depth of the snow. Alternatively, a laser sensor can analyze point cloud data to identify snow surfaces at different heights, thereby calculating the snow depth. A load sensor is a snow removal device installed in a self-moving device. By analyzing the power parameters of the corresponding working motor of the snow removal device, the load of the current work area is determined, thereby inferring the depth of the snow. The spraying amount is related to the current amount of snow, such as the amount of spraying required for the current snow amount.

[0068] This embodiment dynamically adjusts the spray volume in the self-moving equipment based on the current snow accumulation, providing real-time adaptability and more effectively handling different snow thicknesses and densities. It avoids overuse of spray liquid, reduces costs, and minimizes potential environmental impact. The adaptive spraying operation ensures efficient cleaning under different snow conditions, enabling faster and more precise completion of work area cleaning tasks and improving work efficiency.

[0069] In one embodiment, determining that the self-moving device has moved to the target location point in the preset path includes:

[0070] After determining the location point where the self-moving device moves to the pre-recorded work area, determine the target location point where the self-moving device moves to the preset path;

[0071] Alternatively, after determining the location point of the self-moving device in the work area, slippage occurs, and the self-moving device is determined to move to the target location point in the preset path;

[0072] Alternatively, upon determining that the current of the motor operating in the self-moving device reaches a preset current threshold, the self-moving device is determined to move to the target location point in the preset path.

[0073] Alternatively, after determining the turning point where the self-moving device moves to the work area, determine the target location point in the preset path where the self-moving device moves.

[0074] Alternatively, at a location point where the first snow accumulation in the work area is determined to be inconsistent with the first preset snow accumulation, the target location point in the preset path is determined for the self-moving device to move to.

[0075] Alternatively, after determining that the self-moving device is located outside the work area, the self-moving device is moved to a target location point in the preset path.

[0076] Understandably, the pre-recorded location points in the work area are designated as bumps, protrusions, or icicles. This means that after the user executes the automatic snow removal plan for the first time or manually activates terrain recording on the terminal, the mobile device may slip (slippage occurs when the positioning sensors and RTK in the mobile device determine that the device's position has not moved, but the wheels of the mobile device move). Specifically, when the mobile device moves for the first time in the work area, once slippage is detected, the current location point is recorded as the slippage point on the preset map. Slippage points in the work area refer to icicles or thick snow locations formed outside of the recorded bumps, protrusions, or icicles (i.e., escape points formed after a period of time beyond the recorded location points), or slippage points that are not recorded but exist. In other words, the mobile device may slip when the user does not execute the automatic snow removal plan completely for the first time or when the snow removal equipment's motor is accumulating snow. Specifically, the current location point is recorded using the same method described above. The following are considered as points: a slip point; a location where the current reaches a preset current threshold (i.e., the working motor current in the snow removal equipment reaches a preset current threshold), which may correspond to thick, hard snow. For example, if the working motor current of the snowplow is greater than 17A, the current location of the self-moving device can be considered to have thick, hard snow; a turning point (i.e., a location in the preset path indicating a turning direction or a location to bypass an obstacle), specifically, by determining whether the current location is a turning point in the preset path, or by determining whether there is an obstacle at the current location using a visual sensor, the location to bypass the obstacle is used as the turning point in the preset path; a location where the first snow accumulation does not meet the first preset snow accumulation refers to a location where the snow accumulation is insufficient or nonexistent, specifically, the snow accumulation at the current location is determined by a preset sensor; a location outside the working area refers to a location not required by the user for snow removal, specifically, by determining whether the current location is within the working area corresponding to the preset map.

[0077] In this embodiment, the target location point will control the automatic mobile device to stop spraying in real time, avoiding excessive use of spraying liquid, reducing costs, and minimizing potential environmental impact; spraying operations can be omitted in non-spraying areas, which can speed up the work progress and improve work efficiency.

[0078] It should be noted that at the turning points mentioned above, the turning radius of the self-moving device is increased. This increase in turning radius is achieved by adding spraying equipment to the self-moving device, thus increasing the width of the spraying equipment's body on top of the original turning radius.

[0079] In one embodiment, after continuing to control the self-moving device to perform the spraying operation in the preset path, the method further includes:

[0080] The second snow accumulation in the preset path is identified by a preset sensor in the self-moving device;

[0081] After determining that the second snow accumulation has reached the second preset snow accumulation, the self-moving device is controlled to continue spraying the same area in the preset path. After determining that the current remaining third snow accumulation has reached the third preset snow accumulation, the working device in the self-moving device is controlled to perform snow shoveling in the preset path.

[0082] After determining that the second snow accumulation has not reached the second preset snow accumulation, the working device in the self-moving device is controlled to perform a snow shoveling operation in the preset path.

[0083] Understandably, the self-moving device is equipped with snow removal equipment for performing snow removal operations. After spraying the work area, snow removal operations can be performed on the work area. The preset sensor is the same as the sensor mentioned above, and will not be described again here. The third preset snow accumulation is less than the second preset snow accumulation.

[0084] This embodiment can identify the amount of snow in the preset path in real time after the spraying operation is completed, and determine whether the automatic mobile device needs to continue spraying in the same area. If so, spraying continues, and the automatic mobile device is controlled to perform snow removal only after the snow accumulation decreases. If not, the automatic mobile device is directly controlled to perform snow removal. In this way, this embodiment can determine the timing of snow removal operation. The automatic mobile device is controlled to perform snow removal only when the snow accumulation reaches a certain condition, which can also speed up the clearing of snow in the work area (snow removal is not directly performed when the snow accumulation does not reach a certain condition).

[0085] In one embodiment, after continuing to control the self-moving device to perform the spraying operation in the preset path, the method further includes:

[0086] After determining that the target location is a turning point corresponding to the moving obstacle, if it is determined during the spraying operation that the moving obstacle is not at the turning point, the self-moving device is controlled to move to the turning point according to preset working conditions to perform the spraying operation.

[0087] Understandably, moving obstacles correspond to turning points. When a moving obstacle exists at a certain location, the self-moving device needs to go around the obstacle (the location of the obstacle is the turning point) and then return to the preset path. In addition, moving obstacles have the property of movement, such as movable objects or living things. The preset working conditions refer to the completion of the spraying operation at the location closest to the turning point in the preset path or at other locations in the preset path.

[0088] Specifically, after an obstacle is identified by a visual sensor, the shape of the obstacle is analyzed. The image analysis results are matched with the preset object to determine that the obstacle is a moving obstacle. At the location point corresponding to the moving obstacle, the self-moving device is controlled to turn and return to the preset path. During the spraying operation on the preset path, if it is determined that the obstacle is not located at the original turning point, the location point closest to the turning point in the preset path is planned, or after spraying is completed at other locations on the preset path, the self-moving device is controlled to move to the turning point to perform the spraying operation.

[0089] In this embodiment, after detecting that the moving obstacle is not located at the original turning point, the self-moving device is controlled to perform a spraying operation at that turning point to ensure the integrity of the spraying in the work area.

[0090] In one embodiment, controlling the self-moving device to perform a spraying operation along a preset path includes:

[0091] Determine the first spraying amount corresponding to the working area of ​​the self-moving device at the unit area spraying amount;

[0092] When the first spray volume exceeds the storage volume in the self-moving device, the self-moving device is controlled to reduce the spray volume per unit area based on the working area. The self-moving device is then controlled to perform a spraying operation in the preset path based on the reduced spray volume per unit area. Alternatively, the self-moving device is controlled to change its spray width while reducing the spray volume per unit area. The self-moving device is then controlled to perform a spraying operation in the preset path based on the reduced spray volume per unit area and the changed spray width.

[0093] Understandably, the spray volume per unit area can be set according to user needs, such as how many liters of spray liquid to spray in a 1 square meter area; the first spray volume refers to the total amount of spray liquid calculated based on the spray volume per unit area and the area of ​​the working area; the storage volume refers to the total amount of spray liquid sprayed by the spraying equipment in the self-moving equipment; the spray volume will also change when the spray width changes. When the spray volume per unit area remains constant, the spray volume increases when the spray width increases. However, this embodiment is based on reducing the spray volume per unit area. Therefore, it is possible to increase or decrease the spray width according to needs. The total spray volume corresponding to reducing the spray volume per unit area and increasing the spray width is lower than the total spray volume corresponding to keeping the spray volume and spray width constant.

[0094] This embodiment determines whether to dynamically adjust the total spraying volume based on the relationship between the storage volume and the first spraying volume, which can reduce the number of times the spraying liquid needs to be added, thereby improving work efficiency.

[0095] In another embodiment, the current storage level of the spraying liquid is detected by an ultrasonic level detection sensor installed in the self-moving device. The ultrasonic waves emitted by the ultrasonic level detection sensor can achieve step detection and provide feedback on the spraying liquid information at multiple levels. In addition, the spraying liquid information can be sent to a terminal through the self-moving device's communication device to remind the user of the current storage level of the self-moving device.

[0096] In one embodiment, controlling the self-moving device to perform a spraying operation along a preset path includes:

[0097] When the self-moving device detects a sloped area with a preset angle in the preset path, it controls the self-moving device to perform a spraying operation at a high position in the sloped area, and controls the self-moving device not to perform a spraying operation or to reduce the spraying amount corresponding to the spraying operation at a low position in the sloped area.

[0098] Understandably, the slope area refers to the area located in the working area, and the preset angle refers to the common angle range of the slope. Specifically, the slope area can be identified by the IMU sensor set in the mobile device. That is, if a certain area is identified and the mobile device body is tilted at a preset angle, the current area can be determined to be the slope area.

[0099] In this embodiment, normal spraying is performed at the high position of the slope area, while spraying is not performed or the spraying volume is reduced at the low position of the slope area. The specific reason is that the liquid in the high position flows to the low position, and the flowing liquid melts the snow in the low position, thereby reducing the spraying volume.

[0100] This invention provides a spraying control method for a self-moving device. When the self-moving device receives a spraying control command, it is controlled to perform a spraying operation along a preset path. When the self-moving device reaches a target location point on the preset path, the spraying operation is stopped at that target location point. After the self-moving device passes the target location point, the spraying operation continues along the preset path. In this way, the spraying operation can be automatically turned on or off by the self-moving device. The spraying operation can be matched with different target locations of the self-moving device, avoiding waste of spraying liquid and improving the automation level of the self-moving device's spraying. The spraying volume in the self-moving device is dynamically adjusted according to the current snow accumulation, providing real-time adaptability and more effectively handling different snow thicknesses and densities. Overuse of spraying liquid is avoided, reducing costs and potential environmental impact. The adaptive spraying operation ensures efficient clearing under different snow conditions, enabling faster... It can quickly and accurately complete the cleaning tasks of the work area, improving work efficiency; it can control the automatic mobile device to stop spraying operations in real time at the target location point to avoid overuse of spraying liquid, reduce costs, and reduce potential environmental impact; it can stop spraying operations in non-spraying areas, which can speed up the work progress and improve work efficiency; it can determine the timing of snow removal operations based on the current snow accumulation, and control the automatic mobile device to perform snow removal operations only when the snow accumulation reaches a certain condition, which can also speed up the clearing of snow in the work area; after detecting that the moving obstacle is no longer located at the original turning point, it controls the automatic mobile device to perform spraying operations at the turning point to ensure the integrity of spraying in the work area; it can determine whether to dynamically adjust the total spraying volume based on the relationship between the storage volume and the first spray volume, which can reduce the number of times spraying liquid is added, thereby improving work efficiency; it can perform normal spraying operations at the high position of the slope area, while not performing spraying operations or reducing the corresponding spraying volume at the low position of the slope area, by flowing liquid from the high position to the low position, thereby reducing the spraying volume.

[0101] 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 the present invention.

[0102] like Figure 2 As shown, a self-moving device is also provided. The self-moving device includes a controller and a memory. The memory stores a spraying control program for the self-moving device, and the controller controls the spraying control program to implement the steps of the spraying control method for the self-moving device. The self-moving device may include a detachable front end and a body. The detachable front end is equipped with a functional module, which may include snow removal equipment.

[0103] The controller's execution functions correspond one-to-one with the self-moving equipment spraying control method described in the above embodiments. Specific limitations of the controller can be found in the limitations of the self-moving equipment spraying control method described above, and will not be repeated here. Each sub-module in the controller can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in or independent of the processor in the controller in hardware form, or stored in the controller's memory in software form, so that the processor can call and execute the operations corresponding to each sub-module.

[0104] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions. 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, cause one or more processors to implement the steps of the self-moving device spraying control method described in the above embodiment.

[0105] 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), etc.

[0106] 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 system can be divided into different functional units or modules to complete all or part of the functions described above.

[0107] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A self-moving device spray control method characterized by, The method comprises: controlling the self-moving device to perform a spraying operation in a preset path when the self-moving device receives a spraying control instruction; the preset path is a working path planned in advance in a yard snow removal scenario, and the spraying operation is an operation of spraying snow-melting liquid to a snow accumulation area; controlling the self-moving device to stop the spraying operation at a target position point in the preset path when it is determined that the self-moving device moves to the target position point, and continuing to control the self-moving device to perform the spraying operation in the preset path after the self-moving device passes through the target position point; the target position point is an unsprayed position point in the yard snow removal scenario that needs to be stopped from spraying due to easy snow-melting liquid waste, and the target position point includes a pre-recorded bulge point or a convex point, an escape point, a thick and hard snow point, a turning point, a snow accumulation area with insufficient snow, and a non-working area position point; the determination that the self-moving device moves to the target position point in the preset path comprises: determining that the self-moving device moves to the target position point in the preset path when it is determined that the self-moving device moves to a pre-recorded working area position point; or, determining that the self-moving device moves to the target position point in the preset path when it is determined that the self-moving device slips after moving to a position point in the working area; or, determining that the self-moving device moves to the target position point in the preset path when it is determined that the current of a working motor in the self-moving device reaches a preset current threshold; or, determining that the self-moving device moves to the target position point in the preset path when it is determined that the self-moving device moves to a turning point of the working area; or, determining that the self-moving device moves to the target position point in the preset path when it is determined that the self-moving device moves to a position point in the working area where a first snow accumulation amount does not meet a first preset snow accumulation amount; or, determining that the self-moving device moves to the target position point in the preset path when it is determined that the self-moving device is located at a position point outside the working area; the control of the self-moving device to perform the spraying operation in the preset path comprises: controlling the self-moving device to perform the spraying operation at a high position of a slope area with a preset angle in the preset path and controlling the self-moving device not to perform the spraying operation or to reduce a spraying amount corresponding to the spraying operation at a low position of the slope area when the self-moving device identifies that the slope area exists in the preset path.

2. The self-moving device spray control method of claim 1, wherein, the control of the self-moving device to perform the spraying operation in the preset path comprises: determining whether a working area corresponding to the preset path has been fully sprayed by the self-moving device; after a region in the working area is sprayed, the region in the working area is marked as a sprayed region; when it is determined that the working area corresponding to the preset path has not been fully sprayed by the self-moving device, continuing to control the self-moving device to perform the spraying operation in the working area corresponding to the preset path.

3. The self-moving device spray control method of claim 1, wherein, the control of the self-moving device to perform the spraying operation in the preset path comprises: obtaining a working parameter in the self-moving device; determining a spraying amount in the self-moving device according to the working parameter; The spraying amount is used to control the self-moving device to perform the spraying operation in the preset path.

4. The self-moving device spray control method of claim 1, wherein, The control of the self-moving device to perform the spraying operation in the preset path comprises: identifying a current snow amount of a working area by a preset sensor in the self-moving device; determining a spraying amount in the self-moving device according to the current snow amount; The spraying amount is used to control the self-moving device to perform the spraying operation in the preset path.

5. The self-moving device spray control method of claim 1, wherein, After the self-moving device continues to perform the spraying operation in the preset path, the method further comprises: identifying a second snow amount in the preset path by the preset sensor in the self-moving device; determining that the second snow amount reaches a second preset snow amount, the self-moving device continues to perform the spraying operation to the same area in the preset path, and when determining that a third snow amount remaining at present reaches a third preset snow amount, the working device in the self-moving device performs the snow shoveling operation in the preset path; determining that the second snow amount does not reach the second preset snow amount, the working device in the self-moving device performs the snow shoveling operation in the preset path.

6. The self-moving device spray control method of claim 1, wherein, After the self-moving device continues to perform the spraying operation in the preset path, the method further comprises: when determining that the target position point is a turning point corresponding to a moving obstacle and determining that the moving obstacle is not on the turning point during the spraying operation, the self-moving device is controlled to move to the turning point to perform the spraying operation according to a preset working condition.

7. The self-moving device spray control method of claim 1, wherein, The control of the self-moving device to perform the spraying operation in the preset path comprises: determining a first spraying amount corresponding to the working area of the self-moving device under a unit area spraying amount; when the first spraying amount is more than a storage amount in the self-moving device, the self-moving device is controlled to reduce the unit area spraying amount based on the working area, to control the self-moving device to perform the spraying operation in the preset path according to the reduced unit area spraying amount, or to control the self-moving device to change a spraying width of the self-moving device under the reduced unit area spraying amount, to control the self-moving device to perform the spraying operation in the preset path according to the reduced unit area spraying amount and the changed spraying width.

8. A self-moving device, characterized in that, The self-moving device spraying control program comprises a controller and a memory, the memory stores the self-moving device spraying control program, and the controller controls the self-moving device spraying control program to implement the steps of the self-moving device spraying control method 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 a processor to implement the steps of the self-moving device spraying control method according to any one of claims 1 to 7.

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