Control Method for Self-Mobile Device with Rotating Brush, Self-Mobile Device, and Storage Medium

Abstract

The present invention belongs to the technical field of self - moving device control, and discloses a control method for a self - moving device provided with a rolling brush, a self - moving device and a storage medium. The method includes: obtaining a preset planned path corresponding to a working area and a target boundary located in the working area determined based on the position of the self - moving device provided with the rolling brush; controlling the self - moving device provided with the rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path. The present invention can solve the problems of poor cleaning effect in some working areas and time - consuming re - cleaning, and thus can ensure the cleaning effect and cleaning rate.

Description

Technical Field

[0001] The present invention relates to the technical field of self - moving device control, and particularly to a control method for a self - moving device with a rotary brush, a self - moving device, and a storage medium. Background Art

[0002] Currently, a driving device for user operation is provided on a snow removal device with a rotary brush. When the user starts the driving device, the snow removal device with a rotary brush can move to a corresponding position for cleaning according to the user's operation. However, when the user operates manually, the regularity and integrity of the path movement of the snow removal device in the working area or the error of manual operation are not considered. Moreover, during the movement of the snow removal device with a rotary brush, some cleaning objects may be deflected to one side of the snow removal device or some objects may be left in the middle area of the forward direction. At this time, there will be a problem that some working areas are not cleaned thoroughly. If the user manually operates to re - clean the uncleaned area, it may lead to spending more time on cleaning.

[0003] Therefore, those skilled in the art urgently need to find a new technical solution to solve the above - mentioned technical problems. Summary of the Invention

[0004] Based on this, in view of the above - mentioned technical problems, it is necessary to provide a control method for a self - moving device with a rotary brush, a self - moving device, and a storage medium to solve the technical problems of poor cleaning effect and time - consuming re - cleaning of the snow removal device in the prior art.

[0005] To achieve the above object, a control method for a self - moving device with a rotary brush is provided, and the method includes:

[0006] Obtain a preset planned path corresponding to the working area and a target boundary in the working area determined based on the position of the self - moving device with a rotary brush;

[0007] Control the self - moving device with a rotary brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path.

[0008] Optionally, before obtaining the target boundary in the working area determined based on the position of the self - moving device with a rotary brush, it further includes:

[0009] Determine the boundary of the working area with the minimum distance and not located at the target position based on the position of the self - moving device with a rotary brush as the target boundary;

[0010] Or / and, determine the machine orientation based on the position of the self - moving device with a rotary brush, and determine the boundary of the working area in the corresponding direction and not located at the target position based on the machine orientation as the target boundary.

[0011] Optionally, controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes:

[0012] Controlling the self - moving device equipped with a rolling brush to adjust the movement angle corresponding to the direction of the target boundary according to the preset planned path, and pile up the cleaning objects to different positions on the target boundary of the working area.

[0013] Optionally, controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes:

[0014] During the process of controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the first planned path in the preset planned path, determining whether the self - moving device equipped with a rolling brush is blocked by the cleaning objects;

[0015] When it is determined that the self - moving device equipped with a rolling brush is blocked by the cleaning objects, controlling the self - moving device equipped with a rolling brush to move from the first planned path to the second planned path in the preset planned path, and controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the second planned path in the preset planned path.

[0016] Optionally, controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes:

[0017] Adjusting the spacing in the initial preset planned path to obtain preset planned paths with different spacings;

[0018] Controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the preset planned paths with different spacings.

[0019] Optionally, controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes:

[0020] Offsetting the initial preset planned path to obtain an offset preset planned path;

[0021] Controlling the self - moving device equipped with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the offset preset planned path.

[0022] Optionally, a first camera and a second camera are provided on the self - moving device provided with a rolling brush; the method further includes:

[0023] Controlling the first camera and / or the second camera in the self - moving device provided with a rolling brush to identify the current depth of the cleaning object on the preset planned path;

[0024] When it is determined that the current depth does not reach the preset depth threshold, controlling the self - moving device provided with a rolling brush to pause pushing the cleaning objects in the working area to the target boundary of the working area according to the preset planned path;

[0025] When it is determined that the current depth reaches the preset depth threshold, controlling the self - moving device provided with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path.

[0026] Optionally, before controlling the first camera and / or the second camera in the self - moving device provided with a rolling brush to identify the current depth of the cleaning object on the preset planned path, it includes:

[0027] When it is determined that the first camera in the self - moving device provided with a rolling brush is blocked, controlling the second camera in the self - moving device provided with a rolling brush to turn on the depth - recognition function;

[0028] When it is determined that the second camera in the self - moving device provided with a rolling brush is blocked, controlling the first camera in the self - moving device provided with a rolling brush to turn on the depth - recognition function;

[0029] When it is determined that neither the first camera nor the second camera in the self - moving device provided with a rolling brush is blocked, controlling the first camera and the second camera in the self - moving device provided with a rolling brush to turn on the depth - recognition function.

[0030] To achieve the above - mentioned purpose, a self - moving device is further provided, including a rolling brush, a controller and a memory. The memory stores a control program for the self - moving device provided with a rolling brush, and the controller controls the rolling brush and the self - moving device provided with a rolling brush to control and implement the steps of the above - mentioned control method for the self - moving device provided with a rolling brush.

[0031] To achieve the above - mentioned purpose, a computer - readable storage medium is further provided. The computer - readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the above - mentioned control method for the self - moving device provided with a rolling brush.

[0032] The control method for a self - moving device provided with a rolling brush according to the present invention includes: obtaining a preset planned path corresponding to a working area and a target boundary located in the working area determined based on the position of the self - moving device provided with a rolling brush; controlling the self - moving device provided with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path; thus, the self - moving device with a rolling brush can automatically complete the cleaning work in the working area through the preset planned path, and the planned path is regular and complete, solving the problems of poor cleaning effect in some working areas and time - consuming re - cleaning, and further ensuring the cleaning effect and cleaning rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0034] Figure 1 FIG. is a flowchart of an embodiment of the control method for a self - moving device provided with a rolling brush according to the present invention.

[0035] Figure 2 FIG. is a schematic block diagram of an embodiment of the self - moving device according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0037] As Figure 1 shown, a method for the regional work of a self - moving device provided by an embodiment of the present invention can be applied to a controller in the self - moving device. Among them, the controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function. The method includes the following steps:

[0038] S10. Obtain a preset planned path corresponding to the working area and a target boundary located in the working area determined based on the position of the self - moving device provided with a rolling brush.

[0039] Understandably, the working area refers to the area where the self - moving device with a rolling brush performs cleaning work. Among them, this area can be a regular - shaped area or an irregular - shaped area. Regular - shaped areas such as rectangular or oblong areas, and irregular - shaped areas such as L - shaped, T - shaped, funnel - shaped, or multi - convex areas. In this area, there are multiple boundaries, that is, this area is enclosed by multiple boundaries; the self - moving device equipped with a rolling brush refers to a device applied in a snow - removal environment. Among them, a rolling brush can be set at the head of the device, and the rolling brush can rotate rapidly under the drive of a rolling - brush motor to sweep the snow on the ground to the front side of the self - moving device; the preset planned path refers to the path of the device movement planned based on the shape of the working area, such as the self - moving device equipped with a rolling brush walks according to the path shape of the bow - shaped sweep. Taking the rectangular area of the regular - shaped area as an example, there are four boundaries in the rectangular area. If one side of the short boundary is close to the house door and the other side is close to the entrance of the road, the two long boundaries can be used to accumulate snow; the position of the self - moving device equipped with a rolling brush can be obtained through a positioning device installed on its fuselage. Among them, the positioning device can be a single RTK antenna, or can also include a dual RTK antenna, an odometer, and an IMU sensor; the target boundary refers to at least one boundary determined from the above - mentioned working area, which is used to accumulate snow.

[0040] This embodiment mainly obtains an automated planned path and a target boundary for pushing snow, so that in the subsequent process of the self - moving device equipped with a rolling brush working, the path has regularity and integrity.

[0041] S20. Control the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path.

[0042] Understandably, the cleaning objects can mainly be snow. Snow can be divided into dry snow and wet snow. In addition, leaves, soil, and ice mixed in the snow can all be considered as cleaning objects.

[0043] The self - moving device equipped with a rolling brush in this embodiment can move along the preset path and push the cleaning objects until the cleaning objects in the working area are pushed to the target boundary, solving the problem of incomplete cleaning caused by manual operation of the user. Further, in this process, the self - moving device performs automatic cleaning according to the specified path, and can also clean the cleaning objects offset by the self - moving device in the previous path in the next path, and at the same time can also clean the missed cleaning objects, thereby ensuring the cleaning effect of the self - moving device, and at the same time there is no need to return to the area where the cleaning objects are offset in the working area, ensuring the cleaning rate of the self - moving device.

[0044] It should be noted that during the cleaning process of a self - moving device equipped with a rolling brush, the angle at which the rolling brush transports the cleaning object can be set. The cleaning object can be partially transported to the right side of the forward direction of the self - moving device and partially to one side of the forward direction of the self - moving device, or the cleaning object can be entirely transported to one side of the forward direction of the self - moving device.

[0045] In one embodiment, before obtaining the target boundary located in the working area determined based on the position of the self - moving device equipped with a rolling brush, it further includes:

[0046] Determining the boundary of the working area with the minimum distance and not located at the target position based on the position of the self - moving device equipped with a rolling brush as the target boundary;

[0047] Or / and, determining the machine orientation based on the position of the self - moving device equipped with a rolling brush, and determining the boundary of the working area in the corresponding direction and not located at the target position based on the machine orientation as the target boundary.

[0048] It can be understood that the target position refers to the position where there is an object. For example, there is a door of a house in a boundary, that is, this boundary is close to the door of the house. The specific way to determine the target position can be for the self - moving device to walk around the working area by itself, collect data in the working area through a vision sensor or lidar to form the objects in the working area and the objects where the working area boundary is located, or after the self - moving device walks around the working area by itself, form a working map, and the user determines the objects in the working area boundary in the working area; the machine orientation refers to the direction where the self - moving device is equipped with a rolling brush, that is, the moving direction when the machine is working;

[0049] Specifically, in real - time, obtain the position of the self - moving device equipped with a rolling brush in the working map, and obtain the distances between the position of the self - moving device in the working map and each boundary of the working area. After determining the boundary with the minimum distance, determine whether this boundary is located at the target position. After determining that this boundary is not located at the target position, then determine this boundary as the target boundary. After determining that this boundary is located at the target position, determine the boundary with the second - smallest distance and the boundary that is not located at the target position as the boundary of the working area with the minimum distance and not located at the target position (that is, the target boundary); after obtaining the position of the self - moving device equipped with a rolling brush in the working map, the machine orientation can be determined by analyzing the position, determine the boundary of the working area corresponding to the machine orientation, and after determining that the boundary of the machine orientation is not located at the target position, the secondary boundary can be determined as the target boundary; in addition, the above two situations can also be combined, that is, the target boundary can be determined through the machine orientation, the minimum distance, and not being located at the target position;

[0050] In this embodiment, by obtaining the self-position of the self-mobile device and determining the boundary of the working area with the minimum distance and not located at the target position through the self-position, it is ensured that the self-mobile device can push the cleaning objects to the target boundary along a path that meets the requirements, improving the cleaning efficiency; by determining the boundary of the working area corresponding to the corresponding direction and not located at the target position through the orientation of the machine as the target boundary, it is ensured that while the device is piling up the cleaning objects, it can directly push the cleaning objects to the target boundary, improving the cleaning efficiency; overall, the self-mobile device can more intelligently and accurately determine the target boundary, so as to more effectively push the cleaning objects to the target position, improving the overall performance and cleaning effect of the snow removal device.

[0051] In one embodiment, controlling the self-mobile device with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes:

[0052] Controlling the self-mobile device with a rolling brush to adjust the movement angle corresponding to the direction of the target boundary according to the preset planned path, and piling up the cleaning objects to different positions of the target boundary of the working area.

[0053] Understandably, the preset planned path is planned according to the above-mentioned working area. Among them, controlling the walking wheels of the self-mobile device can control the self-mobile device to walk according to the preset planned path; the movement angle refers to the moving direction of the fuselage in the self-mobile device with a rolling brush, and it is also adjusted through the walking wheels;

[0054] In this embodiment, in the preset planned path, the self-mobile device should be parallel to the target boundary to ensure that when the self-mobile device with a rolling brush walks along a parallel path, the cleaning objects offset from the rolling brush can be continuously cleaned in the next path (when the self-mobile device is located on the last path of the preset planned path, the cleaning objects can also be offset outside, and there is no need to clean at this time). In addition, working along multiple paths parallel to the target boundary can pile up the cleaning objects to different positions of the target boundary of the working area, thereby avoiding excessive accumulation of cleaning objects at one position of the boundary.

[0055] In one embodiment, controlling the self-mobile device with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes:

[0056] During the process of controlling the self-mobile device with a rolling brush to pile up the cleaning objects in the working area to the target boundary of the working area according to the first planned path in the preset planned path, it is determined whether the self-mobile device with a rolling brush is blocked by the cleaning objects;

[0057] When it is determined that the self - moving device equipped with a rolling brush is blocked by the cleaning object, control the self - moving device equipped with a rolling brush to move from the first planned path to the second planned path in the preset planned path, and control the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the second planned path in the preset planned path.

[0058] Understandably, the cleaning object blocking can be determined when, after the self - moving device starts the rolling brush device, it is determined that the current parameter of the rolling brush motor corresponding to the rolling brush device is rising and reaches the preset current parameter threshold (the preset current parameter when blocking occurs), but through the positioning device, it is determined that the machine position has not changed. At this time, it can be determined that the self - moving device equipped with a rolling brush is blocked by the cleaning object; there are multiple cleaning paths in the preset planned path, and each two paths are processed according to the process corresponding to the first planned path and the second planned path as described above, and no further examples will be given here; controlling the self - moving device equipped with a rolling brush to move from the first planned path to the second planned path specifically involves the switching between paths. Since there is a cleaning order between paths, the path switching can be performed according to the cleaning order at this time. The path switching specifically involves the turning process of the self - moving device, and the turning method is not limited here. It should be noted that the second planned path is the next path after the first planned path (it can be one of the paths in the preset planned path or the last path in the preset planned path); the reason for the cleaning object blocking is that the distribution of cleaning objects in each area of the working area is uneven. It is possible that during the process of the rolling brush pushing the cleaning object to the target boundary, there has been too much accumulation of cleaning objects around the target boundary. When the high - speed rotating bristles in the rolling brush hit the cleaning object during high - speed rotation, they will get stuck and cause blocking. In addition, the blocking distances between the paths in the preset planned path may not be the same. For example, the first planned path may be blocked 0.5 m away from the target boundary, and the second planned path may be blocked 0.1 m away from the target boundary, etc.

[0059] When this embodiment detects that it is blocked by a cleaning object, it can make an intelligent response. That is, when the self - moving device encounters a cleaning object blocking, it directly switches to the next cleaning path, enabling the self - moving device to get rid of the blocking object, avoid being trapped, improve the adaptability of the device in a complex environment, and also ensure the coherence and efficiency of the cleaning operation.

[0060] In one embodiment, the controlling the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes:

[0061] Adjust the spacing in the initial preset planned path to obtain preset planned paths with different spacings;

[0062] Control the self - moving device equipped with a rotary brush to push the cleaning objects in the working area to the target boundary of the working area along the preset planned paths with different spacings.

[0063] Understandably, the path spacings in the initially planned initial preset planned paths are equidistant at the beginning. However, considering that during the operation of the self - moving device with a rotary brush, some cleaning objects may be left in the middle area in the forward direction of the self - moving device. At this time, the spacing of the self - moving device on each path can be adjusted, including reducing the spacing.

[0064] In a specific embodiment, the spacing of the self - moving device on each path can be changed, and the spacings between the paths can be equidistant.

[0065] In a more specific embodiment, the offset distance of the cleaning object can be identified by a camera installed on the self - moving device, and then the size of the spacing can be adjusted. Further, if the offset distance of the cleaning object identified by the camera is less than the preset offset distance, the spacing of the next path is reduced by the offset distance. If the offset distance of the cleaning object identified by the camera is greater than or equal to the preset offset distance (the offset distance may be on multiple paths), the spacings of multiple paths are reduced by the offset distance.

[0066] In this embodiment, the cleaning cleanliness of the working area can be ensured by changing the spacing of the paths, that is, the cleaning effect of the working area is ensured.

[0067] In one embodiment, controlling the self - moving device equipped with a rotary brush to push the cleaning objects in the working area to the target boundary of the working area along the preset planned path includes:

[0068] Offset the initial preset planned path to obtain an offset preset planned path.

[0069] Control the self - moving device equipped with a rotary brush to push the cleaning objects in the working area to the target boundary of the working area along the offset preset planned path.

[0070] Understandably, the path spacings in the initially planned initial preset planned paths are parallel at the beginning. However, considering that during the operation of the self - moving device with a rotary brush, some cleaning objects may be left in the middle area in the forward direction of the self - moving device. At this time, the offset of the self - moving device on each path can be adjusted, such as the orientation angles of the body of the self - moving device are different.

[0071] In a specific embodiment, the offset of the self - moving device on each path can be changed, and the offsets between the paths can be equal.

[0072] In a more specific embodiment, the offset distance of the cleaning object can also be recognized by a camera installed on the self - moving device, and then the size of the offset amount can be adjusted. Further, if the offset distance of the cleaning object recognized by the camera is less than the preset offset distance, the offset amount of the next path is changed through the offset distance. If the offset distance of the cleaning object recognized by the camera is greater than or equal to the preset offset distance (the offset distance may be located on multiple paths), the offset amounts of multiple paths are changed through the offset distance;

[0073] This embodiment can ensure the cleaning degree of the working area by changing the offset amount of the self - moving device, that is, ensure the cleaning effect of the working area.

[0074] In one embodiment, a first camera and a second camera are provided on the self - moving device provided with a rotary brush; the method further includes:

[0075] Control the first camera and / or the second camera in the self - moving device provided with a rotary brush to recognize the current depth of the cleaning object on the preset planned path;

[0076] When it is determined that the current depth has not reached the preset depth threshold, control the self - moving device provided with a rotary brush to pause pushing the cleaning object in the working area to the target boundary of the working area according to the preset planned path;

[0077] When it is determined that the current depth has reached the preset depth threshold, control the self - moving device provided with a rotary brush to push the cleaning object in the working area to the target boundary of the working area according to the preset planned path.

[0078] It can be understood that the first camera and the second camera can be set at high positions of the self - moving device to recognize the snow depth at each position in the working area. Here, it is explained that the first camera and the second camera are depth cameras set according to positions, such as setting cameras from left - right position perspectives or at high positions. It should be noted that only two cameras are described here. In actual need, multiple cameras can be set to recognize information from multiple angles of the self - moving device; the preset depth threshold is a depth that is predefined for the self - moving device to perform cleaning. At this time, the self - moving device needs to start the rotary brush to clean at this position;

[0079] This embodiment recognizes the current depth of the cleaning object on the preset planned path in real time. When the current depth has not reached the preset depth threshold, the self - moving device can intelligently pause working, avoiding negative impacts on the cleaning of the working area. In addition, when the self - moving device performs cleaning operations, it can be more intelligent and flexible to perform adaptive control according to the depth of the cleaning object, improving the efficiency and accuracy of the cleaning operation.

[0080] In one embodiment, before the first camera and / or the second camera in the self - moving device provided with a rolling brush controls to identify the current depth of the cleaning object on the preset planned path, it includes:

[0081] When it is determined that the first camera in the self - moving device provided with a rolling brush is blocked, control the second camera in the self - moving device provided with a rolling brush to turn on the depth - recognition function;

[0082] When it is determined that the second camera in the self - moving device provided with a rolling brush is blocked, control the first camera in the self - moving device provided with a rolling brush to turn on the depth - recognition function;

[0083] When it is determined that neither the first camera nor the second camera in the self - moving device provided with a rolling brush is blocked, control the first camera and the second camera in the self - moving device provided with a rolling brush to turn on the depth - recognition function.

[0084] Understandably, whether the camera is blocked can be specifically determined by the information entropy value of the captured picture (it is determined that the camera is blocked by an object after the information entropy value is within the preset information entropy value range) or by determining the edge value of the picture through edge detection using the Sobel operator or the Canny operator (it is determined that the camera is blocked by an object after the edge value of the picture is within the preset edge value range);

[0085] In this embodiment, when it is detected that the first camera or the second camera in the self - moving device provided with a rolling brush is blocked, the cameras can be automatically switched. In this way, when one camera is blocked, the device can still perform depth perception through the other camera; in addition, the real - time monitoring and the automatic switch control mechanism effectively improve the adaptability and reliability of the self - moving device in a complex environment.

[0086] The present invention provides a control method for a self - moving device provided with a rolling brush, belonging to the technical field of self - moving device control. It acquires a preset planned path corresponding to a working area and a target boundary in the working area determined based on the position of the self - moving device provided with a rolling brush; controls the self - moving device provided with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path. In this way, the self - moving device with a rolling brush can automatically complete the cleaning work in the working area through the preset planned path, and the planned path is regular and complete, which can solve the problems of poor cleaning effect in some working areas and time - consuming re - cleaning, and further ensure the cleaning effect and cleaning rate; by obtaining the self - position of the self - moving device and determining the boundary of the working area with the minimum distance and not at the target position through the self - position, it ensures that the self - moving device can push the cleaning objects to the target boundary along a path that meets the requirements, improving the cleaning efficiency; by determining the boundary of the working area corresponding to the direction of the machine and not at the target position as the target boundary, it ensures that when the self - moving device piles up the cleaning objects, it can directly push the cleaning objects to the target boundary, improving the cleaning efficiency; in the preset planned path, it works along multiple paths parallel to the target boundary, and can push the cleaning objects to different positions of the target boundary of the working area, thereby avoiding excessive accumulation of cleaning objects at one position of the boundary; when the self - moving device encounters an obstacle of a cleaning object, it directly switches to the next cleaning path, enabling the self - moving device to get rid of the obstacle and avoid being trapped, improving the adaptability of the device in a complex environment, and also ensuring the coherence and high efficiency of the cleaning operation; the cleaning cleanliness of the working area can be ensured by changing the spacing of the path; the cleaning cleanliness of the working area can be ensured by changing the offset of the self - moving device; it real - time identifies the current depth of the cleaning objects on the preset planned path, and when the current depth does not reach the preset depth threshold, the self - moving device can intelligently pause work to avoid negative impacts on the cleaning of the working area; the real - time monitoring and automatic switch control mechanism effectively improve the adaptability and reliability of the self - moving device in a complex environment.

[0087] It should be understood that the magnitudes of the sequence numbers of the steps in the above - mentioned embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0088] Such as Figure 2As shown, a self - moving device is also provided, which includes a rolling brush, a controller, and a memory. The memory stores a control program for the self - moving device with a rolling brush. The controller controls the rolling brush and the self - moving device with a rolling brush to implement the steps of the control method for the self - moving device with a rolling brush described in the above embodiments. Among them, the rolling brush is detachably arranged on the head of the self - moving device. When the self - moving device is working, the rolling brush on the head can be turned on simultaneously to perform the cleaning function.

[0089] The execution functions of the controller correspond one - to - one with the control method for the self - moving device with a rolling brush in the above embodiments. For the specific limitations of the controller, reference can be made to the limitations of the control method for the self - moving device with a rolling brush in the foregoing text, and details will not be repeated here. The processes executed by each sub - module in the above controller can be referred to the limitations of the control method for the self - moving device with a rolling brush in the foregoing text, and details will not be repeated here. It can be implemented in whole or in part through software, hardware, and their combinations. Each sub - module can be embedded in the controller in hardware form or be independent of the controller, or be stored in the memory of the controller in software form, so as to facilitate the controller to call and execute the operations corresponding to the above - mentioned sub - modules.

[0090] 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. Computer - readable instructions are stored on the readable storage media. When the computer - readable instructions are executed by one or more processors, one or more processors are caused to implement the steps of the control method for the self - moving device with a rolling brush described in the above embodiments.

[0091] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or an external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0092] Those skilled in the art can clearly understand that in practical applications, the above functions can be allocated to different functional units or modules as needed, that is, the internal structure of the self-mobile device can be divided into different functional units or modules to complete all or part of the functions described above.

[0093] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some 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 invention, and should all be included in the protection scope of the present invention.

Claims

1. A control method for a self - moving device provided with a rolling brush, characterized in that, The method includes: Obtaining a preset planned path corresponding to the working area and a target boundary located in the working area determined based on the position of the self - moving device equipped with a rotary brush; the target boundary refers to at least one boundary for snow accumulation determined from the working area; Before obtaining the target boundary located in the working area determined based on the position of the self - moving device equipped with a rotary brush, it further includes: Determining the boundary of the working area with the minimum distance and not located at the target position based on the position of the self - moving device equipped with a rotary brush as the target boundary; Or / and, determining the machine orientation based on the position of the self - moving device equipped with a rotary brush, and determining the boundary of the working area in the corresponding direction and not located at the target position based on the machine orientation as the target boundary; Specifically, in real - time, obtain the position of the self - moving device equipped with a rotary brush on the working map, and obtain the distances between the position of the self - moving device on the working map and the boundaries of the working area. After determining the boundary with the minimum distance, determine whether this boundary is located at the target position. After determining that this boundary is not located at the target position, determine this boundary as the target boundary. After determining that this boundary is located at the target position, determine the boundary with the second - smallest distance and not located at the target position as the target boundary of the working area with the minimum distance and not located at the target position; after obtaining the position of the self - moving device equipped with a rotary brush on the working map, determine the machine orientation by parsing the position, determine the boundary of the working area corresponding to the machine orientation, and after determining that the boundary of the machine orientation is not located at the target position, determine the boundary with the second - smallest distance as the target boundary; Controlling the self - moving device equipped with a rotary brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path; The controlling the self - moving device equipped with a rotary brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes: Offsetting the initial preset planned path to obtain an offset preset planned path; Controlling the self - moving device equipped with a rotary brush to push the cleaning objects in the working area to the target boundary of the working area according to the offset preset planned path; The method further includes: If the offset distance of the cleaning object recognized by the camera in the self - moving device equipped with a rotary brush is less than the preset offset distance, change the offset amount of the next path according to the offset distance. If the offset distance of the cleaning object recognized by the camera in the self - moving device equipped with a rotary brush is greater than or equal to the preset offset distance, change the offset amounts of multiple paths according to the offset distance; The self - moving device equipped with a rotary brush is provided with a first camera and a second camera; the method further includes: Controlling the first camera / or the second camera in the self - moving device equipped with a rotary brush to recognize the current depth of the cleaning object on the preset planned path; When determining that the current depth has not reached the preset depth threshold, controlling the self - moving device equipped with a rotary brush to pause pushing the cleaning objects in the working area to the target boundary of the working area; When it is determined that the current depth reaches a preset depth threshold, control the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path.

2. The control method for a self - moving device equipped with a rolling brush according to claim 1, wherein: The step of controlling the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes: Controlling the self - moving device equipped with a rolling brush to adjust the movement angle corresponding to the direction of the target boundary according to the preset planned path, and pushing the cleaning objects to different positions on the target boundary of the working area.

3. The control method of the self - moving device provided with a rolling brush according to claim 1, characterized in that, The step of controlling the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes: During the process of controlling the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the first planned path in the preset planned path, determine whether the self - moving device equipped with a rolling brush is blocked by the cleaning objects; When it is determined that the self - moving device equipped with a rolling brush is blocked by the cleaning objects, control the self - moving device equipped with a rolling brush to move from the first planned path to the second planned path in the preset planned path, and control the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the second planned path in the preset planned path.

4. The control method for a self - moving device provided with a rotary brush according to any one of claims 1 to 3, characterized in that, The step of controlling the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned path includes: Adjust the spacing in the initial preset planned path to obtain preset planned paths with different spacings; Control the self - moving device equipped with a rolling brush to push the cleaning objects in the working area to the target boundary of the working area according to the preset planned paths with different spacings.

5. The control method of the self - moving device provided with a rolling brush according to claim 1, characterized in that, Before controlling the first camera and / or the second camera in the self - moving device equipped with a rolling brush to identify the current depth of the cleaning objects on the preset planned path, it includes: When it is determined that the first camera in the self - moving device equipped with a rolling brush is blocked, control the second camera in the self - moving device equipped with a rolling brush to turn on the depth - identifying function; When it is determined that the second camera in the self - moving device equipped with a rolling brush is blocked, control the first camera in the self - moving device equipped with a rolling brush to turn on the depth - identifying function; When it is determined that neither the first camera nor the second camera in the self - moving device equipped with a rolling brush is blocked, control the first camera and the second camera in the self - moving device equipped with a rolling brush to turn on the depth - identifying function.

6. A self - moving device, characterized in that, It includes a rolling brush, a controller and a memory. The memory stores a control program for the self - moving device equipped with a rolling brush, and the controller controls the rolling brush and the self - moving device to implement the steps of the area - working method of the self - moving device according to any one of claims 1 to 5.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the control method for the self-moving device provided with a rolling brush according to any one of claims 1 to 5.

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