A control method and control device of a self-moving device and related device

Abstract

The application discloses a control method and device of a self-moving device and related equipment, wherein the control method comprises the following steps: acquiring a target moving path of the self-moving device, the target moving path comprising a path from a current working position of the self-moving device to a target working position; determining whether the target moving path comprises a non-working path, the non-working path comprising a path in which the self-moving device does not need to perform a cutting operation; and if the target moving path comprises the non-working path, controlling a cutting tool of the self-moving device to be lifted to a preset height when it is monitored that the self-moving device moves to the non-working path, so that the self-moving device does not perform the cutting operation in the non-working path, thereby ensuring the safety of the non-working path.

Description

Technical Field

[0001] This invention relates to the field of automated work technology, and more specifically to a control method, control device, and related equipment for an automated moving device. Background Technology

[0002] Self-moving devices are widely popular due to their ability to automatically complete pre-set tasks. For example, automatic lawnmowers can automatically cut vegetation in lawns. Self-moving devices typically consist of a walking mechanism and a cutting tool. The walking mechanism propels the device within the work area, while the cutting tool performs the cutting operation during this movement. However, the cutting tool continues cutting regardless of whether the path requires cutting, leading to safety issues on paths where cutting is not necessary. Summary of the Invention

[0003] This invention discloses a control method, control device, and related equipment for self-moving equipment, in order to improve the safety of paths that do not require cutting operations.

[0004] In a first aspect, the present invention discloses a control method for a self-moving device, comprising: acquiring a target movement path of the self-moving device, the target movement path including a path from the current working position of the self-moving device to a target working position; determining whether the target movement path includes a non-operational path, the non-operational path including a path where the self-moving device does not need to perform cutting operations; if the target movement path includes the non-operational path, then when the self-moving device is detected to have moved to the non-operational path, controlling the cutting tool of the self-moving device to be raised to a preset height so that the self-moving device does not perform cutting operations on the non-operational path.

[0005] In some optional examples, determining whether the target movement path includes a non-operational path includes: determining whether the target movement path includes a non-planned path, wherein the non-planned path is a cutting path of the self-moving device that is not pre-set; if it includes a non-planned path, then determining that the target movement path includes a non-operational path, wherein the non-planned path is the non-operational path.

[0006] In some optional examples, determining whether the target movement path includes an unplanned path includes: determining whether the target movement path includes a signal search path, wherein the signal search path includes the path by which the self-moving device moves to a target location where the positioning signal meets a preset quality requirement and the path from the target location back to the planned path; if the signal search path is included, then the target movement path of the self-moving device is determined to include an unplanned path, wherein the signal search path is the unplanned path.

[0007] In some optional examples, determining whether the target movement path includes a non-planned path includes: determining whether the target movement path includes a location search path; wherein the location search path includes a path between a first location and a second location, the first location being a location on a first planned path, the second location being a location on a second planned path, and the location search path not overlapping with the first planned path and the second planned path; if a location search path is included, then the target movement path is determined to include the non-planned path, and the location search path is the non-planned path.

[0008] In some optional examples, determining whether the target movement path includes an unplanned path includes: determining whether the target movement path includes a transfer path, the transfer path including the path of the self-moving device moving from the first work area to the second work area; if a transfer path is included, then determining that the target movement path includes the unplanned path, the transfer path being the unplanned path.

[0009] In some optional examples, determining whether the target movement path includes an unplanned path includes: determining whether the target movement path includes a return charging path, wherein the return charging path includes the path taken by the self-moving device from the first working area to the charging location; if the return charging path is included, then the target movement path includes the unplanned path, and the return charging path is the unplanned path.

[0010] In some optional examples, the method further includes: if a planned path is included, determining that the target movement path includes a work path, the work path being the planned path, the planned path being a pre-set cutting path for the self-moving device, and controlling the cutting tool of the self-moving device to perform a cutting operation when the self-moving device is detected to have moved to the work path.

[0011] In some optional examples, the planned path includes a bow-shaped path within the first working area, an obstacle avoidance path, a boundary path of the first working area, and a boundary path of an isolated island within the first working area.

[0012] In some optional examples, determining whether the target movement path includes a non-operational path includes: determining whether the target movement path includes an already-operated path, wherein the already-operated path includes the path where the self-moving device has completed the cutting operation; if it includes an already-operated path, then determining that the target movement path includes the non-operational path, wherein the already-operated path is the non-operational path.

[0013] In some optional examples, after the cutting tool of the self-moving device is raised to a preset height, the method further includes: controlling the cutting tool of the self-moving device to stop working.

[0014] Secondly, the present invention discloses a control device for a self-moving device, comprising: a path acquisition module, configured to acquire a target movement path of the self-moving device, the target movement path including a path from the current working position of the self-moving device to the target working position; a path determination module, configured to determine whether the target movement path includes a non-operational path, the non-operational path including a path where the self-moving device does not need to perform cutting operations; and a cutting control module, configured to control the cutting tool of the self-moving device to rise to a preset height when the target movement path includes the non-operational path and when the self-moving device is detected to have moved to the non-operational path, so that the self-moving device does not perform cutting operations on the non-operational path.

[0015] Thirdly, the present invention discloses a control device, comprising: a memory for storing at least one set of instructions; and a processor for executing the at least one set of instructions to perform the control method of the self-moving device as described in any of the preceding claims.

[0016] Fourthly, the present invention discloses a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded by a processor and executed as described in any of the preceding claims, the control method for the self-moving device.

[0017] Fifthly, the present invention discloses a self-moving device, including a control device for the self-moving device as described above.

[0018] The present invention discloses a control method, control device, and related equipment for a self-moving device. The method acquires the target movement path of the self-moving device, which includes a path from the current working position of the self-moving device to the target working position. It determines whether the target movement path includes a non-operational path, which includes paths where the self-moving device does not need to perform cutting operations. If the target movement path includes a non-operational path, when the self-moving device is detected to have moved to a non-operational path, the method controls the cutting tool of the self-moving device to be raised to a preset height, so that the self-moving device does not perform cutting operations on the non-operational path, thereby ensuring the safety of the non-operational path. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the background art, the accompanying drawings used in the embodiments of the present invention or the background art will be described below.

[0020] Figure 1This is a flowchart of a control method for a self-moving device disclosed in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of a signal search path disclosed in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of a location search path disclosed in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of another location search path disclosed in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of another location search path disclosed in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of a transition path disclosed in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of a regression charging path disclosed in an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of a recharge path and a completed path disclosed in an embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram illustrating the lifting height of a cutting tool according to an embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the structure of a control device for a self-moving device disclosed in an embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of the structure of a control device disclosed in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] As an optional implementation of the disclosed content of this invention, an embodiment of this invention discloses a control method for a self-moving device, which includes an automatic lawnmower, etc. Figure 1 As shown, the control method includes:

[0033] S101: Obtain the target movement path from the mobile device;

[0034] During operation, the self-moving device moves within a pre-set work area map and performs tasks such as cutting. While moving, it determines a target movement path based on its current work position and the work area map. This target path includes the route from the self-moving device's current work position to the target work position. The target work position refers to the location the self-moving device needs to reach in the next time period.

[0035] S102: Determine whether the target movement path includes non-operational paths;

[0036] After determining the target movement path of the self-moving device, it can be determined whether the target movement path includes non-operational paths based on the target movement path and the preset judgment conditions. These non-operational paths include paths where the self-moving device does not need to perform cutting operations.

[0037] S103: If the target movement path includes a non-operational path, when the self-moving device is detected to have moved to a non-operational path, the cutting tool of the self-moving device is controlled to be raised to a preset height so that the self-moving device does not perform cutting operations on the non-operational path.

[0038] If the target movement path includes a non-operational path, since the non-operational path is a path where the self-moving device does not need to perform cutting operations, when the self-moving device is detected to move to a non-operational path, the cutting tool of the self-moving device, such as the cutter head, is controlled to be raised to a preset height so that the self-moving device does not perform cutting operations on the non-operational path, thereby ensuring the safety of the self-moving device and other objects or people on the non-operational path.

[0039] If the target movement path includes a work path, since the work path is the path where the self-moving device needs to perform cutting operations, when the self-moving device is detected to have moved to the work path, the cutting tools of the self-moving device, such as the cutter head, are controlled to remain at the normal working height so that the self-moving device can perform cutting operations on the work path.

[0040] In practical applications, before an automated mobile device (AGD) performs a cutting operation, its cutting path is pre-set based on the work area. This pre-set path is called the planned path, ensuring the ADD performs the cutting operation within the work area according to the planned path. However, during actual operation, the ADD can also reset its movement path based on the current working status, working environment, or user instructions. This reset movement path during the ADD's operation is called the unplanned path.

[0041] Since unplanned paths are not pre-defined cutting paths, the self-moving device can be controlled to refrain from cutting operations on unplanned paths to ensure their safety. Based on this, in some embodiments of the present invention, determining whether a target movement path includes a non-operational path includes: determining whether the target movement path includes an unplanned path, where the unplanned path is not a pre-defined cutting path for the self-moving device; if it includes an unplanned path, then the target movement path is determined to include a non-operational path, and this unplanned path is a non-operational path. In other words, in some embodiments, the criterion for determining whether a target movement path includes a non-operational path is: whether the target movement path includes an unplanned path.

[0042] Since the unplanned path is the movement path reset by the self-moving device during operation, the unplanned path may overlap with the planned path. If the cutting tool of the self-moving device moves along the unplanned path and continues to cut, it will repeatedly cut the vegetation in the planned path, affecting the aesthetics of the vegetation in the planned path. Therefore, when the self-moving device is detected to have moved to the unplanned path, the cutting tool of the self-moving device, such as the cutter head, is controlled to be raised to a preset height so that the self-moving device does not perform cutting operations on the unplanned path, and the aesthetics of the vegetation on the unplanned path can also be guaranteed.

[0043] Based on this, in some other embodiments of the present invention, the control method for the self-moving device further includes: if a planned path is included, determining that the target moving path includes a working path, the working path being a planned path, the planned path being a pre-set cutting path for the self-moving device, and controlling the cutting tool of the self-moving device to perform a cutting operation when the self-moving device is detected to have moved to the working path.

[0044] It should be noted that in some embodiments, the planned path can be directly determined as the working path. However, the present invention is not limited to this. In other embodiments, in order to avoid repeated cutting affecting the aesthetics of the vegetation, the planned path cannot be directly determined as the working path. It is also necessary to determine whether the cutting operation has been completed. If the cutting operation has been completed, the planned path needs to be determined as a non-working path.

[0045] In some embodiments, the planned path may include a bow-shaped path or obstacle avoidance path within the first working area, a boundary path of the first working area, and a boundary path of an island within the first working area. The first working area can be any working area of ​​the self-moving device; the bow-shaped path is a path shaped like a bow; the obstacle avoidance path is a path for the self-moving device to avoid obstacles, such as trees and streetlights; the island can be a rockery or a swimming pool; and the unplanned path can be any movement path of the self-moving device that is not a planned path. Of course, the invention is not limited to this; in other embodiments, the unplanned path can also be one of several pre-defined types of paths, such as a signal search path, a location search path, a transition path, and a return-to-charge path.

[0046] Based on this, in some embodiments of the present invention, determining whether the target movement path includes an unplanned path includes: determining whether the target movement path includes a signal search path; if it includes a signal search path, then determining that the target movement path of the self-moving device includes an unplanned path, wherein the signal search path is an unplanned path.

[0047] like Figure 2 As shown, taking the planned path as the boundary path of the first working area B as an example, the signal search path includes path S1, where the self-moving device 10 moves from the boundary path of the first working area B to the target position A1 where the positioning signal meets the preset quality requirements, and path S2, where it returns from the target position A1 to the boundary path of the first working area B. Of course, the signal search path can be a movement path from the current working position of the self-moving device to any position where the positioning signal meets the preset quality requirements. Figure 2 This explanation uses only one signal search path as an example.

[0048] During the movement of the self-moving device 10 along the planned path, the self-moving device 10 receives positioning signals in real time to determine its current working position and to determine the target movement path based on the working area map. If the positioning signal received by the self-moving device 10 meets the preset quality requirements, such as a high signal strength, the self-moving device 10 will continue to move along the planned path. If the positioning signal received by the self-moving device 10 does not meet the preset quality requirements, such as a low signal strength, the self-moving device 10 will move towards the target position A1 where the positioning signal meets the preset quality requirements. After the positioning signal meets the preset quality requirements, the self-moving device 10 will return from the target position A1 to the planned path and continue moving along the planned path.

[0049] Since the self-moving device 10 moves to the target position A1 where the positioning signal meets the preset quality requirements, the output of the position sensor can be corrected by the output of the satellite navigation device to avoid the position sensor accumulating large errors over time. Therefore, after the self-moving device 10 returns from the target position A1 to the planned path, the high-precision output of the position sensor can be guaranteed. Thus, the accurate positioning of the current working position of the self-moving device 10 can be achieved through the satellite navigation device and the position sensor.

[0050] Since the signal search path is a movement path set in real time based on the positioning signal of the self-moving device 10, it is not a planned path and does not require cutting operations. Therefore, when the self-moving device 10 is detected moving onto the signal search path, the cutting tool of the self-moving device 10 can be raised to a preset height to prevent cutting operations on the signal search path, thus improving the safety and aesthetics of the signal search path.

[0051] In other embodiments of the present invention, determining whether the target movement path includes a non-planned path includes: determining whether the target movement path includes a location search path; if it includes a location search path, then the target movement path includes a non-planned path, and the location search path is a non-planned path.

[0052] like Figure 3 As shown, the location search path includes path S3 between the first location A2 and the second location A3. The first location A2 is a location on the first planned path S4, and the second location A3 is a location on the second planned path S5. The location search path does not overlap with the first planned path S4 and the second planned path S5.

[0053] The first planned path S4 and the second planned path S5 include bow-shaped paths, U-shaped paths, boundary paths of the first working area B, and boundary paths of isolated islands 11 within the first working area B. The first position A2 can be the position where the cutting operation ends on the first planned path S4, and the second position A3 can be the position where the cutting operation begins on the second planned path S5. Of course, the first position A2 can also be the starting position specified by the user through input commands, and the second position A3 can also be the ending position specified by the user through input commands, etc.

[0054] In some embodiments, such as Figure 3As shown, the first planned path S4 and the second planned path S5 can be bow-shaped paths in different areas within the first working area B. After the self-moving device 10 cuts along the first planned path S4, i.e., the bow-shaped path on the left side of the first working area B, it will raise the cutting tool to a preset height at the first position A2 where the cutting operation ends, and move from the first position A2 to the second position A3 along the position search path S3. Then, at the second position A3, the cutting tool will be lowered to the normal working height to start the cutting operation, and move along the second planned path S5, i.e., the bow-shaped path on the right side of the first working area B.

[0055] Of course, the present invention is not limited thereto; in other embodiments, such as Figure 4 As shown, the first planned path S4 can be a bow-shaped path, and the second planned path S5 can be the boundary path of the first working area B. After the self-moving device 10 cuts along the first planned path S4, i.e., the bow-shaped path within the first working area B, it will raise the cutting tool to a preset height at the first position A2 where the cutting operation ends, and move from the first position A2 to the second position A3 along the position search path S3. Then, at the second position A3, the cutting tool will be lowered to the normal working height to start the cutting operation, and move along the second planned path S5, i.e., the boundary path of the first working area B.

[0056] In other embodiments, such as Figure 5 As shown, the first planned path S4 can be a bow-shaped path, and the second planned path S5 can be the boundary path of the island 11 within the first working area B. After the self-moving device 10 cuts along the first planned path S4, i.e., the bow-shaped path within the first working area B, it will raise the cutting tool to a preset height at the first position A2 where the cutting operation ends, and move from the first position A2 to the second position A3 along the position search path S3. Then, at the second position A3, the cutting tool will be lowered to the normal working height to start the cutting operation, and move along the second planned path S5, i.e., the boundary path of the island 11 within the first working area B.

[0057] Of course, in other embodiments, the first planned path S4 can also be a zigzag path, the boundary path of the first working area B, or the boundary path of the island 11 within the first working area B. The second planned path S5 can also be a zigzag path, etc. The first planned path S4 and the second planned path S5 can also be paths within different working areas, which will not be elaborated here.

[0058] In other embodiments of the present invention, determining whether the target movement path includes an unplanned path includes: determining whether the target movement path includes a transfer path; if it includes a transfer path, then the target movement path includes an unplanned path, and the transfer path is an unplanned path.

[0059] like Figure 6As shown, the transition path includes path S6 for the mobile device 10 to move from the first working area B to the second working area C. The starting position A4 of the transition path can be the position where the cutting operation ends in the first working area B, and the ending position A5 of the transition path can be the position where the cutting operation begins in the second working area C. After completing the cutting operation in the first working area B, the mobile device 10 will raise the cutting tool to a preset height at the starting position A4 where the cutting operation ends, and move from the starting position A4 to the ending position A5 along the transition path S8. Then, at the ending position A5, the cutting tool will be lowered to the normal working height to start the cutting operation, and will move along the planned path in the second working area C.

[0060] Of course, the present invention is not limited to this. In some other embodiments, the starting position A4 of the transition path can also be the position where the user inputs the transition start command, and the ending position A5 of the transition path can also be the position where the user inputs the transition end command. These will not be elaborated further here.

[0061] In other embodiments of the present invention, determining whether the target movement path includes an unplanned path includes: determining whether the target movement path includes a return charging path; if it includes a return charging path, then the target movement path includes an unplanned path, and the return charging path is an unplanned path.

[0062] like Figure 7 As shown, the return charging path includes path S7 of the self-mobile device 10 moving from the first working area B to the charging location A7. Here, charging location A7 is the location of the charging station for the self-mobile device 10, and the return charging path can include the path of the self-mobile device 10 moving from its current working location A6 on the planned path within the first working area B to the charging location A7.

[0063] As the self-moving device 10 moves within the first working area B, it monitors the battery level in real time. If the battery level is low, the self-moving device 10 will raise the cutting tool to a preset height at its current working position A6 within the first working area B, and then move from the current working position A6 to the charging position A7 to charge. The cutting tool can also be stopped after being raised to the preset height at the current working position A6.

[0064] Of course, unplanned paths can also include other paths besides signal search paths, location search paths, transfer paths, and return charging paths, which will not be elaborated here. That is, in some embodiments of the present invention, the criterion for determining whether a target movement path includes an unplanned path is whether the target movement path includes signal search paths, location search paths, transfer paths, and return charging paths, etc. Furthermore, in some embodiments of the present invention, not only are unplanned paths designated as non-operational paths, but paths where operations have been completed can also be designated as non-operational paths to avoid repeated cutting and affecting the aesthetics of the vegetation.

[0065] In other embodiments of the present invention, determining whether the target movement path includes a non-operational path includes: determining whether the target movement path includes an already-operated path; if it includes an already-operated path, then the target movement path is determined to include a non-operational path, and the already-operated path is a non-operational path. The already-operated path includes the path where the self-moving device has completed the cutting operation. That is, in other embodiments, the criterion for determining whether the target movement path includes a non-operational path is: whether the target movement path includes an already-operated path.

[0066] Taking the target movement path as a return charging path as an example, such as Figure 8 As shown, the target movement path includes a return charging path S7, and the return charging path S7 includes an already-operated path, which is a bow-shaped path that overlaps with the return charging path S7. Therefore, the cutting tool of the self-moving device 10 can be controlled to be raised to a preset height within the entire return charging path, or the cutting tool of the self-moving device 10 can be controlled to be raised to a preset height only within the already-operated path of the return charging path.

[0067] In some embodiments of the present invention, after the cutting tool of the self-moving device is raised to a preset height, the cutting tool of the self-moving device is not stopped from working in order to avoid damage to the cutting tool caused by repeatedly switching the cutting tool on and off.

[0068] like Figure 9 As shown, during the cutting operation of the self-moving device 10, the cutting tool 12 has a normal working height L1 to cut vegetation above the normal working height L1 and retain vegetation below the normal working height L1. After the cutting tool 12 is raised to a preset height L2, since the preset height L2 is greater than the normal working height L1 of the cutting tool 12 when the self-moving device 10 is performing the cutting operation, even if the cutting tool 12 does not stop working, it will not cut the vegetation below the normal working height L1, and the aesthetics of the vegetation will not be damaged. When the preset height L2 is high enough, even if the cutting tool 12 does not stop working, it will not affect the safety of the self-moving device and other objects or people on the movement path.

[0069] Of course, the present invention is not limited to this. In other embodiments, in order to reduce the power consumption of the self-moving device and increase the effective usage time of the self-moving device 10, the cutting tool 12 of the self-moving device 10 can be controlled to stop working after being raised to a preset height L2. Controlling the cutting tool 12 to stop working includes controlling the cutting tool 12 to stop rotating. For example, if the cutting tool 12 is a blade disc, controlling the blade disc to stop rotating can prevent it from damaging the aesthetics of the vegetation.

[0070] As another optional implementation of the disclosure of this invention, embodiments of this invention also disclose a control device for a self-moving device, such as... Figure 10 As shown, the control device includes a path acquisition module 101, a path determination module 102, and a cutting control module 103.

[0071] The path acquisition module 101 is used to acquire the target movement path of the self-moving device, which includes the path from the current working position of the self-moving device to the target working position; the path determination module 102 is used to determine whether the target movement path includes a non-operational path, which includes paths where the self-moving device does not need to perform cutting operations; the cutting control module 103 is used to control the cutting tool of the self-moving device to rise to a preset height when the target movement path includes a non-operational path and when the self-moving device is detected to have moved to a non-operational path, so that the self-moving device does not perform cutting operations on the non-operational path.

[0072] In some embodiments of the present invention, the path determination module 102 determines whether the target movement path includes a non-operational path by: determining whether the target movement path includes a non-planned path; if it includes a non-planned path, then determining that the target movement path includes a non-operational path, and the non-planned path is a non-operational path; if it includes a planned path, then determining that the target movement path includes an operational path, and the operational path is a planned path, which is a pre-set cutting path of the self-moving device, and when the self-moving device is detected to have moved to the operational path, controlling the cutting tool of the self-moving device to perform a cutting operation.

[0073] In some embodiments of the present invention, the planned path includes a bow-shaped path within the first working area, an obstacle avoidance path, a boundary path of the first working area, and a boundary path of an isolated island within the first working area.

[0074] In some embodiments of the present invention, the path determination module 102 determines whether the target movement path includes an unplanned path by: determining whether the target movement path includes a signal search path, wherein the signal search path includes a path for the self-moving device to move to a target location where the positioning signal meets a preset quality requirement and a path for returning from the target location to the planned path; if the signal search path is included, then the target movement path of the self-moving device is determined to include an unplanned path, and the signal search path is an unplanned path.

[0075] In some embodiments of the present invention, the path determination module 102 determines whether the target movement path includes a non-planned path by: determining whether the target movement path includes a location search path; wherein, the location search path includes a path between a first position and a second position, the first position is a position on a first planned path, the second position is a position on a second planned path, and the location search path does not overlap with the first planned path and the second planned path; if the location search path is included, then the target movement path is determined to include a non-planned path, and the location search path is a non-planned path.

[0076] In some embodiments of the present invention, the path determination module 102 determines whether the target movement path includes an unplanned path by: determining whether the target movement path includes a transfer path, wherein the transfer path includes the path of the self-moving device moving from the first working area to the second working area; if the transfer path is included, then the target movement path is determined to include an unplanned path, and the transfer path is an unplanned path.

[0077] In some embodiments of the present invention, the path determination module 102 determines whether the target movement path includes an unplanned path by: determining whether the target movement path includes a return charging path, wherein the return charging path includes the path from the self-moving device to the charging location; if the return charging path is included, then the target movement path is determined to include an unplanned path, and the return charging path is an unplanned path.

[0078] In some embodiments of the present invention, the path determination module 102 determines whether the target movement path includes a non-operational path, including: determining whether the target movement path includes an already-operated path, wherein the already-operated path includes the path where the self-moving device has completed the cutting operation; if the already-operated path is included, then the target movement path is determined to include a non-operational path, and the already-operated path is a non-operational path.

[0079] In some embodiments of the present invention, after the cutting control module 103 controls the cutting tool of the self-moving device to rise to a preset height, it further includes: controlling the cutting tool of the self-moving device to stop working.

[0080] As another optional implementation of the disclosure of this invention, an embodiment of this invention discloses a control device, such as... Figure 11 As shown, the control device includes:

[0081] Memory 81 is used to store at least one set of instructions;

[0082] The processor 82 is configured to run or execute at least one set of instructions stored in the memory 81 to implement the control method for the self-moving device provided in any of the above embodiments.

[0083] Specifically, the electronic device may further include a bus, a communication interface 83, an input device 84, and an output device 85. The processor 82, memory 81, communication interface 83, input device 84, and output device 85 are interconnected via the bus.

[0084] A bus can include a pathway for transmitting information between various components of a computer system.

[0085] Processor 82 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. Processor 82 may include a main processor, and may also include a baseband chip, a modem, etc.

[0086] The memory 81 stores a program that executes the technical solution of the present invention, and may also store an operating system and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 81 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0087] Input device 84 may include a device for receiving user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touchscreen, pedometer, or gravity sensor. Output device 85 may include a device that allows information to be output to the user, such as a display screen, printer, or speaker. Communication interface 83 may include a device using any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), or Wireless Local Area Network (WLAN).

[0088] As another optional implementation of the disclosure of this invention, an embodiment of this invention discloses a computer program product, which includes computer program instructions. When the computer program instructions are run by a processor, the processor causes the processor to execute the control method of the self-moving device provided in any of the above embodiments.

[0089] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0090] As another optional implementation of the disclosure of this invention, an embodiment of this invention discloses a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded by a processor and executed as a control method for a self-moving device provided in any of the above embodiments.

[0091] 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 a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this specification 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 various 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 RAMbus dynamic RAM (RDRAM), etc.

[0092] As another optional implementation of the disclosure of this invention, an embodiment of this invention discloses a self-moving device, which includes an automatic lawnmower, etc., and includes the control device and computer-readable storage medium disclosed in the above embodiment.

[0093] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0094] The above embodiments are merely illustrative of several implementation methods described in detail, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this specification, and these all fall within the protection scope of this specification. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A control method for a self-moving device, characterized in that, include: Obtain the target movement path of the self-moving device, the target movement path including the path from the current working position of the self-moving device to the target working position; Determine whether the target movement path includes non-operational paths, wherein the non-operational paths include paths for which the self-moving device does not need to perform cutting operations; If the target movement path includes the non-operation path, then when the self-moving device is detected to have moved to the non-operation path, the cutting tool of the self-moving device is controlled to be raised to a preset height so that the self-moving device does not perform cutting operations on the non-operation path; Determining whether the target movement path includes a non-operational path includes: determining whether the target movement path includes a non-planned path, wherein the non-planned path is a cutting path of the self-moving device that is not pre-set; if it includes a non-planned path, then the target movement path includes a non-operational path, wherein the non-planned path is the non-operational path. The unplanned path includes at least one of a signal search path and a location search path. The signal search path includes a path for the self-moving device to move to a target location where the positioning signal meets a preset quality requirement and a path to return to the planned path from the target location. The location search path includes a path between a first location and a second location, where the first location is a location on a first planned path and the second location is a location on a second planned path. The location search path does not overlap with the first planned path and the second planned path.

2. The control method for a self-moving device according to claim 1, characterized in that, Determining whether the target movement path includes a non-planned path includes: Determine whether the target movement path includes a transition path, wherein the transition path includes the path along which the self-moving device moves from the first working area to the second working area; If a transition path is included, then the target movement path is determined to include the unplanned path, and the transition path is the unplanned path.

3. The control method for a self-moving device according to claim 1, characterized in that, Determining whether the target movement path includes a non-planned path includes: Determine whether the target movement path includes a return charging path, wherein the return charging path includes the path taken by the self-moving device from the first working area to the charging location; If a return charging path is included, then the target movement path is determined to include the unplanned path, and the return charging path is the unplanned path.

4. The control method for a self-moving device according to claim 1, characterized in that, Also includes: If a planned path is included, then the target movement path is determined to include a work path, which is the planned path. The planned path is a pre-set cutting path for the self-moving device. When the self-moving device is detected to have moved to the work path, the cutting tool of the self-moving device is controlled to perform a cutting operation.

5. The control method for a self-moving device according to claim 4, characterized in that, The planned path includes the bow-shaped path within the first working area, the obstacle avoidance path, the boundary path of the first working area, and the boundary path of the isolated island within the first working area.

6. The control method for a self-moving device according to claim 1, characterized in that, After the cutting tool of the self-moving device is raised to a preset height, the method further includes: The cutting tool of the self-moving device is controlled to stop working.

7. A control device for a self-moving device, characterized in that, include: The path acquisition module is used to acquire the target movement path of the self-moving device, the target movement path including the path from the current working position of the self-moving device to the target working position; The path determination module is used to determine whether the target movement path includes non-operational paths, wherein the non-operational paths include paths for which the self-moving equipment does not need to perform cutting operations. A cutting control module is configured to control the cutting tool of the self-moving device to be raised to a preset height when the target movement path includes the non-operation path and when the self-moving device is detected to have moved to the non-operation path, so that the self-moving device does not perform cutting operations on the non-operation path. Determining whether the target movement path includes a non-operational path includes: determining whether the target movement path includes a non-planned path, wherein the non-planned path is a cutting path of the self-moving device that is not pre-set; if it includes a non-planned path, then the target movement path includes a non-operational path, wherein the non-planned path is the non-operational path. The unplanned path includes at least one of a signal search path and a location search path. The signal search path includes a path for the self-moving device to move to a target location where the positioning signal meets a preset quality requirement and a path to return to the planned path from the target location. The location search path includes a path between a first location and a second location, where the first location is a location on a first planned path and the second location is a location on a second planned path. The location search path does not overlap with the first planned path and the second planned path.

8. A control device, characterized in that, include: Memory, used to store at least one set of instructions; A processor for executing the at least one set of instructions to perform the control method for the self-moving device as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor according to any one of claims 1-6.

10. A self-moving device, characterized in that, Includes the control device as described in claim 8.

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