Method for moving self-equipped equipment over a large area, self-equipped equipment, and storage medium

Abstract

The present invention belongs to the technical field of mobile device movement, and discloses a method for moving a mobile device over a large area, a mobile device, and a storage medium. The method includes: when the mobile device is determined to have moved to a first target location point in a large area through positioning information of the mobile device, controlling the mobile device to perform a backward movement according to a preset movement strategy, and moving the mobile device to a historical movement location point; controlling the mobile device to perform a large-angle turning movement at a historical movement location point according to a preset turning strategy, and moving the mobile device to a first turning location point in the large area; controlling the mobile device to perform a backward movement movement at the first turning location point, and moving the mobile device to a second target location point in the large area; and controlling the mobile device to continue to perform the moving movement movement at the second target location point until the large area movement work is completed. The present invention can ensure the neatness of the work after completion in the large area, and meet the overall visual effect.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile self-equipment, and in particular to a method for moving a self-equipment over a large area, the self-equipment and a storage medium. Background Art

[0002] In the field of smart garden management, autonomous devices, especially lawn mowers, have brought significant changes to garden maintenance with their ability to work autonomously. For example, a lawn mower can complete mowing tasks within a specific work area. Its core operating principle is that the mower can autonomously plan its path and perform corresponding tasks based on pre-defined work area boundaries. However, in actual applications, if the work area is too large, the mower will miss or incompletely cut the work area during normal movement or turns. In other words, it cannot guarantee that the grass in the work area will remain neat after the work, which in turn affects the user's overall visual experience of the work area.

[0003] Therefore, those skilled in the art are in urgent need of finding a new technical solution to solve the above technical problems. Summary of the Invention

[0004] Based on this, it is necessary to provide a method for moving a self-moving device over a large area, a self-moving device and a storage medium to address the above technical problems, so as to solve the technical problem in the prior art that the moving process of the self-moving device affects the overall visual effect.

[0005] To achieve the above object, a method for moving a self-moving device over a large area is provided, the method comprising:

[0006] When it is determined based on the positioning information of the self-mobile device that the self-mobile device has moved to a first target location point in the large area, controlling the self-mobile device to perform a backward action according to a preset movement strategy, and moving the self-mobile device to a historical movement location point;

[0007] Controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area;

[0008] Controlling the self-moving device to perform a backward movement at the first turning position to move the self-moving device to a second target position in the large area; the second target position and the first target position are both located at a turning position in the large area;

[0009] The self-moving device is controlled to continue to perform the moving action at the second target location until the large-area moving operation is completed.

[0010] Optionally, controlling the mobile device to perform a backward movement according to a preset movement strategy to move the mobile device to a historical movement location point includes:

[0011] Acquire position adjustment information of the mobile device from the historical moving position point to the first target position point;

[0012] determining a moving path of the self-moving device according to the position adjustment information;

[0013] The self-moving device is controlled to perform a backward movement at a preset backward speed according to the moving path until it is determined that the last position point of the self-moving device coincides with the historical moving position point.

[0014] Optionally, controlling the self-moving device to perform a backward movement at a preset backward speed along the moving path includes:

[0015] Obtaining an angle relationship corresponding to the first target position point; the angle relationship refers to the angle formed by the boundary where the position point is located;

[0016] When it is determined that the angle relationship is the first preset angle relationship, the wheel speeds of the left and right wheels in the self-moving device are controlled to perform a backward action at a preset backward speed, and the position of the self-moving device is adjusted to a historical moving position point corresponding to the moving path.

[0017] Optionally, controlling the self-moving device to perform a backward movement at a preset backward speed along the moving path includes:

[0018] When it is determined that the angle relationship is the second preset angle relationship, the self-moving device is directly controlled to perform a backward action at a preset backward speed according to the distance information corresponding to the moving path, and the position of the self-moving device is adjusted to the historical moving position point corresponding to the moving path.

[0019] Optionally, controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy to move the self-moving device to a first turning position point in the large area includes:

[0020] After controlling the wheel speeds of the left and right wheels of the self-moving device, a steering action at a preset steering speed is performed at the historical moving position point to move the self-moving device to the first turning position point in the large area.

[0021] Optionally, controlling the self-moving device to perform a backward motion at the first turning position point to move the self-moving device to a second target position point in the large area includes:

[0022] When it is determined that the angle relationship corresponding to the first target position point is a first preset angle relationship, controlling the self-moving device to perform a backward action at the target historical moving position point toward the first target position point;

[0023] After determining that the self-moving device has moved to the target completion point in the large area, the self-moving device is controlled to perform a forward action after completing the turning action at the target completion point, and the self-moving device is moved to a second target position point in the large area; after completing the turning action at the target completion point, the orientation of the self-moving device is consistent with the orientation of the self-moving device at the first turning position point.

[0024] Optionally, controlling the self-moving device to continue to perform the moving action at the second target location until the large-area moving operation is completed includes:

[0025] When it is determined that the self-moving device is not located at the bottom corner position in the large area, controlling the self-moving device to move to a second turning position point corresponding to the second target position point;

[0026] Controlling the self-moving device to accelerate and move a preset distance from the second turning position within a first preset time, and controlling the self-moving device to decelerate and move to a third target position in the large area within a second preset time;

[0027] When it is determined that the angle relationship corresponding to the third target position point is the first preset angle relationship or the second preset angle relationship, the self-moving device is controlled to perform a turning action of a preset shape at the third target position point until the movement work is completed in the large area.

[0028] Optionally, after controlling the self-moving device to decelerate and move to a third target location point in the large area within the second preset time, the method further includes:

[0029] When it is determined that the angle relationship corresponding to the third target position point is the third preset angle relationship, the self-moving device is controlled to perform accelerated movement at the third target position point until the movement work is completed in the large area.

[0030] To achieve the above-mentioned purpose, a self-mobile device is also provided, including a controller and a memory, wherein the memory stores a self-mobile device large-area movement program, and the controller controls the self-mobile device large-area movement program to control execution to implement the steps of the above-mentioned self-mobile device large-area movement method.

[0031] To achieve the above-mentioned purpose, a computer-readable storage medium is further provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for large-area movement of a mobile device are implemented.

[0032] The method for moving a self-moving device over a large area provided by the present invention includes: when the self-moving device is determined to have moved to a first target location point in a large area through positioning information of the self-moving device, controlling the self-moving device to perform a backward movement according to a preset movement strategy, and moving the self-moving device to a historical movement location point; controlling the self-moving device to perform a large-angle turning movement at the historical movement location point according to a preset turning strategy, and moving the self-moving device to a first turning location point in the large area; controlling the self-moving device to perform a backward movement at the first turning location point, and moving the self-moving device to a second target location point in the large area; the second target location point and the first target location point are both located at a turning position in the large area; and controlling the self-moving device to continue to perform the moving movement at the second target location point until the movement of the large area is completed. In this way, by controlling the self-moving device to perform related actions, the probability of the self-moving device causing missed work in a large area can be reduced, or the processing completeness of the self-moving device in a large area can be improved, thereby ensuring the neatness of the work after completion in the large area and satisfying the overall visual effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0034] Figure 1 It is a flowchart of an embodiment of a method for large-area movement of a mobile device according to the present invention.

[0035] Figure 2 It is a schematic diagram of an embodiment of a method for large-area movement of a mobile device according to the present invention.

[0036] Figure 3 It is a schematic diagram of an embodiment of a method for large-area movement of a mobile device according to the present invention.

[0037] Figure 4 It is a schematic diagram of an embodiment of a method for large-area movement of a mobile device according to the present invention.

[0038] Figure 5 It is a schematic diagram of an embodiment of a method for large-area movement of a mobile device according to the present invention.

[0039] Figure 6 It is a schematic block diagram of an embodiment of a mobile device of the present invention.

[0040] in, Figure 3 and Figure 4 The illustrated A and C are the first preset angle relationship, and B and D are the second preset angle relationship. Figure 4 and Figure 5 The dotted line in represents the planned path of the mobile device. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a regional operation method for a mobile device, which can be applied to a controller in the mobile device, wherein the controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function. The method includes the following steps:

[0043] S10, when it is determined through the positioning information of the self-mobile device that the self-mobile device has moved to a first target location point in a large area, the self-mobile device is controlled to perform a backward action according to a preset movement strategy, and the self-mobile device is moved to a historical movement location point.

[0044] Understandably, a variety of sensors or components for positioning may be provided in the mobile device, including one or more of an RTK positioning sensor, a wheel speed meter, an IMU sensor, and a visual sensor. In this way, positioning information may be acquired through the above sensors or components, wherein the positioning information may include one or more of GPS information, rotation speed information, horizontal information, or image information. A large area refers to a working area with a larger area, wherein various plants such as grass may grow in the area. The first target position point may refer to a position point in the large area that needs to be processed, which may be a position point where the turning position of the mobile device is located. When the mobile device moves to the first target position point, the mobile device needs to perform a slow deceleration movement. The preset movement strategy may refer to the backward speed of the mobile device, the position point reached after the backward movement, etc. The historical position point may refer to the position point that the mobile device has passed in the process of moving forward according to the planned path.

[0045] S20, controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area.

[0046] Understandably, the preset turning strategy may refer to the self-moving device turning at a larger angle. At the same time, during the turning process, the self-moving device moves forward and backward, and also involves acceleration and deceleration. The specific requirement is to ensure that no excessively large missed area is formed after the self-moving device turns, that is, to ensure the cleaning effect in the working area; the first turning position point may refer to the position point reached by the self-moving device after turning, and this position point is also a point located in a large area.

[0047] S30, controlling the self-moving device to perform a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both located at the turning position in the large area.

[0048] It can be understood that the second target position point may refer to another position point in the large area that needs to be processed. This position point may be a position point where the self-moving device is located at the turning position, that is, the first target position point and the second position point are located at the turning position in the large area at the same time. In addition, this point can be understood as an area point that the self-moving device cannot process during the turning process.

[0049] S40: Control the self-moving device to continue moving at the second target location until the large-area movement is completed.

[0050] Understandably, the moving action may refer to the self-moving device moving forward in a straight line according to the planned path. The forward moving action may mow the grass in the missed area. In addition, the trajectory in the planned path may be parallel to the boundary in the large area. Moving in a parallel relationship may ensure that each area in the large area presents a uniform cleaning effect. The width between paths may be exactly equal to the cutting diameter of the mowing blade in the self-moving device. Completing the moving work in a large area is equivalent to the self-moving device executing forward, turning, and backward execution according to the planned path. The moving path may be like a bow-shaped sweeping path. The mark of the completed movement indicates that the self-moving device has completed the moving work of the entire large area.

[0051] In the embodiment of steps S10 to S40, the self-moving device performs automatic movement work in a large area. The first target position point in the large area can first retreat to the historical movement position point, and then perform a large-angle turning action at the historical movement position point. Finally, the first turning position point after the turn is completed performs a backward action, and after the backward action is completed, the forward movement is continued. In this way, the probability of the self-moving device causing missed work in a large area can be reduced or the processing completeness of the self-moving device in a large area can be improved, thereby ensuring the neatness after the work is completed in the large area and meeting the overall visual effect.

[0052] It should be noted that the moving work of the self-moving device may be equivalent to the moving device walking forward.

[0053] In some embodiments, controlling the self-mobile device to perform a backward action according to a preset movement strategy to move the self-mobile device to a historical movement location point includes:

[0054] Acquire position adjustment information of the mobile device from the historical moving position point to the first target position point;

[0055] determining a moving path of the self-moving device according to the position adjustment information;

[0056] The self-moving device is controlled to perform a backward movement at a preset backward speed according to the moving path until it is determined that the last position point of the self-moving device coincides with the historical moving position point.

[0057] It can be understood that the position adjustment information is the posture adjustment information of the mobile device determined based on the positioning information. Specifically, the posture adjustment information generated by the mobile device during the movement from the historical movement position point to the first target position point is recorded by the positioning sensor or component of the mobile device. For example, when a small turn is performed at a certain position, specifically when the normal movement direction is changed by a hard object on the ground, the position adjustment information is obtained from the recorded posture adjustment information. The movement path may refer to the path taken by the mobile device to retreat to the historical movement position point, wherein the path may be the same as the forward path taken by the mobile device from the historical position point to the first target position point. The preset retreat speed can be automatically adjusted. When the distance is long enough, the retreat speed can be higher, and when the distance is short, the retreat speed can be lower. The lower speed can prevent the mobile device from failing to accurately move to the correct position point. The final position point of the mobile device is equivalent to the current position point after the mobile device stops moving. By comparing the position data of the current position point with the recorded historical movement position points, if the data are the same, it can be determined that the final position point coincides with the historical movement position point.

[0058] In this embodiment, by retreating to the historical moving position point and overlapping with it, the mobile device can accurately return to the previous position, thereby improving the accuracy of navigation of the mobile device. In addition, the mobile device is controlled to retreat to the historical moving position point of the previous work so that in the next step, the mobile device has enough space to perform a large-angle turn.

[0059] In some embodiments, as Figure 3 As shown, the controlling the self-moving device to perform a backward movement at a preset backward speed according to the moving path includes:

[0060] Obtaining an angle relationship corresponding to the first target position point; the angle relationship refers to the angle formed by the boundary where the position point is located;

[0061] When it is determined that the angle relationship is the first preset angle relationship, the wheel speeds of the left and right wheels in the self-moving device are controlled to perform a backward action at a preset backward speed, and the position of the self-moving device is adjusted to a historical moving position point corresponding to the moving path.

[0062] Understandably, the angular relationship may refer to the size of the angle formed by the two boundaries in the turning position where the first position point is located. The size of the angle may vary with the shape of the working area. When the shape of the working area is a rectangular area, the angle may be 90 degrees. In the case of other shapes, the angle relationship may be an obtuse angle or an acute angle. The first preset angular relationship may refer to the size of the acute angle. The wheel speed adjustment of the left and right wheels involves the principle of differential drive, that is, the two travel motors control one drive wheel respectively, and the backward movement is achieved by adjusting the speed difference between the two motors. The preset backward speed may refer to the closed-loop control algorithm. The controller in the self-mobile device will monitor the actual speed of the left and right wheels in real time, and compare it with the backward speed. The current output of the motor is adjusted through the closed-loop control algorithm to make the actual speed gradually approach the preset backward speed.

[0063] In this embodiment, after determining that the angle relationship is the first preset angle relationship (at an acute angle, the spatial position is relatively narrow, and the self-moving device needs to accurately control the wheel speed corresponding to the backward action), by adjusting the wheel speed of the left and right wheels and the backward action, the self-moving device can return to the historical moving position point more accurately, ensuring the positioning accuracy of the device on the moving path.

[0064] In some embodiments, as Figure 3 As shown, the controlling the self-moving device to perform a backward movement at a preset backward speed according to the moving path includes:

[0065] When it is determined that the angle relationship is the second preset angle relationship, the self-moving device is directly controlled to perform a backward action at a preset backward speed according to the distance information corresponding to the moving path, and the position of the self-moving device is adjusted to the historical moving position point corresponding to the moving path.

[0066] It can be understood that the second preset angle relationship may refer to the angle of the obtuse angle; the distance information may refer to the distance corresponding to each moving position point in the moving path;

[0067] In this embodiment, after determining that the angle relationship is the second preset angle relationship (at an obtuse angle, the spatial position is wider and the self-moving device can directly perform a backward action), the self-moving device is directly controlled to retreat through the distance information, and the self-moving device can return to the historical moving position point more accurately, ensuring the positioning accuracy of the device on the moving path.

[0068] In some embodiments, as Figure 3 As shown, the controlling the self-moving device to perform a backward action at the first turning position point to move the self-moving device to a second target position point in the large area includes:

[0069] When it is determined that the angle relationship corresponding to the first target position point is a first preset angle relationship, controlling the self-moving device to perform a backward action at the target historical moving position point toward the first target position point;

[0070] After determining that the self-moving device has moved to the target completion point in the large area, the self-moving device is controlled to perform a forward action after completing the turning action at the target completion point, and the self-moving device is moved to a second target position point in the large area; after completing the turning action at the target completion point, the orientation of the self-moving device is consistent with the orientation of the self-moving device at the first turning position point.

[0071] It can be understood that the first preset angle relationship is consistent with the content mentioned above and will not be repeated here; the first position point is located at the turning position, and the movement of the self-moving device to the first position point is equivalent to the movement of the self-moving device to the turning position; the target completion point is also a position point located at the turning position, and its position is spaced apart from the first target position point. The turning action is completed at the target completion point because the omitted working area is in the bottom corner area close to the turning position, and the working direction of the self-moving device needs to be adjusted by turning. In this way, the self-moving device needs to retreat in a straight line to the turning completion point first, and then perform the retreat processing after turning; the second target position point is the position point mentioned above, and the self-moving device needs to be controlled to retreat to this position point subsequently;

[0072] In this embodiment, the self-moving device is controlled to perform two backward movements to the turning position to process the missed areas caused by the turning of the self-moving device, thereby ensuring the neatness of the work in the large area after completion and ensuring the overall visual effect.

[0073] In some embodiments, as Figure 4 As shown, the controlling the self-moving device to continue to perform the moving action at the second target location until the large-area moving work is completed includes:

[0074] When it is determined that the self-moving device is not located at the bottom corner position in the large area, controlling the self-moving device to move to a second turning position point corresponding to the second target position point;

[0075] Controlling the self-moving device to accelerate and move a preset distance from the second turning position within a first preset time, and controlling the self-moving device to decelerate and move to a third target position in the large area within a second preset time;

[0076] When it is determined that the angle relationship corresponding to the third target position point is the first preset angle relationship or the second preset angle relationship, the self-moving device is controlled to perform a turning action of a preset shape at the third target position point until the movement work is completed in the large area.

[0077] Understandably, the bottom corner position that is not located in the large area is equivalent to the turning position of the self-moving device in the planned path. At this time, the self-moving device will continue to move at the second target position point in the planned path. Preferably, the self-moving device in this embodiment moves in a bow-shaped planned path; the second turning position point is also located in a turning position area of the planned path. The self-moving device can turn at the second target position point and then move to the second turning position point (the turning process is such as the differential control of the left and right wheels mentioned above), wherein the acceleration at the second turning position point for a preset distance is to move to the next position point - the third target position point, and the acceleration speed can be calculated by the vehicle body distance, such as completing it with a distance of 3 vehicle bodies. Acceleration; the third target position point is located in another turning position area of the planned path. In the planned path, the movement order of the third target position point is located after the second target position point (the third target position point is only a position point located after the second target position point and can be considered not to be the same position point as the first target position point. The first target position point mentioned above is a position point located before the second target position point). The deceleration to move to the third target position point in the large area is to move the self-mobile device to the outside of the boundary of the large area. The preset shape of the turn may refer to a U-turn or a turn of other shapes, specifically, the turn is processed in a shorter moving distance. During the turning process, the rotation speed of one wheel is higher than the rotation speed of the other wheel.

[0078] In this embodiment, by obtaining a second turning position point corresponding to the second target position point, and controlling the self-moving device to accelerate and decelerate within a preset time, the device can be moved more efficiently in a large area, which helps to reduce unnecessary path deviation and time waste, and improve overall work efficiency; by controlling the self-moving device to move a preset distance within a specific time, and combining deceleration and turning actions, it can be ensured that the device accurately reaches the target position point. This control method helps to reduce positioning errors and ensure that the device can work according to the predetermined path and plan; when it is determined that the angle relationship corresponding to the third target position point is the first preset angle relationship or the second preset angle relationship, the self-moving device can automatically perform a turning action of a preset shape. The flexible turning strategy enables the self-moving device to adapt to the needs of different angles and directions, increasing the applicability of the self-moving device in different environments and scenarios.

[0079] In some embodiments, as Figure 5 As shown, after controlling the self-moving device to decelerate and move to the third target location point in the large area within the second preset time, the method further includes:

[0080] When it is determined that the angle relationship corresponding to the third target position point is the third preset angle relationship, the self-moving device is controlled to perform accelerated movement at the third target position point until the movement work is completed in the large area.

[0081] It can be understood that the third preset angle relationship may refer to the angle size of a right angle;

[0082] In this embodiment, when it is determined that the turning position of the mobile device is a right angle, that is, the moving path of the mobile device is a straight line, the mobile device is directly controlled to accelerate and move at the third target position point after the turn, thereby improving overall work efficiency.

[0083] The present invention provides a method for moving a self-moving device over a large area, which belongs to the technical field of self-moving device movement. When it is determined through the positioning information of the self-moving device that the self-moving device has moved to a first target position point in a large area, the self-moving device is controlled to perform a backward action according to a preset movement strategy, and the self-moving device is moved to a historical movement position point; the self-moving device is controlled to perform a large-angle turning action at the historical movement position point according to a preset turning strategy, and the self-moving device is moved to a first turning position point in the large area; the self-moving device is controlled to perform a backward action at the first turning position point, and the self-moving device is moved to a second target position point in the large area; the second target position point and the first target position point are both located at a turning position in the large area; and the self-moving device is controlled to continue to perform the moving action at the second target position point until the movement of the large area is completed. In this way, the self-moving device performs automatic movement work in a large area. The first target position point in the large area can first retreat to the historical movement position point, and then perform a large-angle turn at the historical movement position point. Finally, the first turning position point after the turn is completed performs a backward movement, and after the backward movement is completed, the forward movement is continued. In this way, the probability of the self-moving device causing missed work in a large area can be reduced or the processing completeness of the self-moving device in a large area can be improved, thereby ensuring the neatness after the work is completed in the large area and meeting the overall visual effect.

[0084] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0085] like Figure 6 A self-moving device is also provided, comprising a controller and a memory. The memory stores a program for moving a self-moving device over a large area. The controller controls the execution of the program to implement the steps of the method for moving a self-moving device over a large area. The self-moving device may be a lawn mower used for weeding, and may be detachable into a front and a body. A blade for weeding may be provided at the bottom of the front.

[0086] The execution function of the controller corresponds one-to-one to the method for large-area movement of a self-equipped device in the above embodiment. For the specific definition of the controller, please refer to the definition of the method for large-area movement of a self-equipped device above, which will not be repeated here. The execution process of each sub-module in the above-mentioned controller can be referred to the definition of the method for large-area movement of a self-equipped device above, which will not be repeated here. It can be implemented in whole or in part by software, hardware and a combination thereof. Each sub-module can be embedded in or independent of the controller in hardware form, or it can be stored in the memory of the controller in software form, so that the controller can call and execute the operations corresponding to the above sub-modules.

[0087] 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 medium. When the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the method for large-area movement of a mobile device described in the above embodiment.

[0088] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related 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-mentioned methods.

[0089] Any reference to storage, database, or other medium may include nonvolatile and / or volatile memory. Nonvolatile 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), 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).

[0090] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and 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.

[0091] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for moving a self-propelled device over a large area, characterized in that: The method comprises: When it is determined based on the positioning information of the self-mobile device that the self-mobile device has moved to a first target location point in the large area, controlling the self-mobile device to perform a backward action according to a preset movement strategy, and moving the self-mobile device to a historical movement location point; The controlling the mobile device to perform a backward action according to a preset movement strategy to move the mobile device to a historical movement position point includes: Acquire position adjustment information of the mobile device from the historical moving position point to the first target position point; determining a moving path of the self-moving device according to the position adjustment information; Controlling the self-moving device to perform a backward movement at a preset backward speed along the moving path until it is determined that the last position point of the self-moving device coincides with the historical moving position point; Controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area; Controlling the self-moving device to perform a backward movement at the first turning position to move the self-moving device to a second target position in the large area; the second target position and the first target position are both located at a turning position in the large area; Controlling the self-moving device to continue to move forward in a straight line at the second target location until the large-area movement is completed; The controlling the self-moving device to perform a backward motion at the first turning position point to move the self-moving device to a second target position point in the large area includes: When it is determined that the angle relationship corresponding to the first target position point is a first preset angle relationship, controlling the self-moving device to perform a backward action toward the first target position point at the first turning position point; the first preset angle relationship is an acute angle; After determining that the self-moving device has moved to the turning completion point in the large area, the self-moving device is controlled to perform a forward action after completing the turning action at the turning completion point, and the self-moving device is moved to a second target position point in the large area; after completing the turning action at the turning completion point, the orientation of the self-moving device is consistent with the orientation of the self-moving device at the first turning position point.

2. The method for moving a self-moving device over a large area according to claim 1, wherein: The controlling the self-moving device to perform a backward movement at a preset backward speed according to the moving path includes: Obtaining an angle relationship corresponding to the first target position point; the angle relationship refers to the angle formed by the boundary where the position point is located; When it is determined that the angle relationship is the first preset angle relationship, the wheel speeds of the left and right wheels in the self-moving device are controlled to perform a backward action at a preset backward speed, and the position of the self-moving device is adjusted to a historical moving position point corresponding to the moving path.

3. The method for moving a mobile device over a large area according to claim 2, wherein: The controlling the self-moving device to perform a backward movement at a preset backward speed according to the moving path includes: When it is determined that the angle relationship is the second preset angle relationship, the self-moving device is directly controlled to perform a backward action at a preset backward speed according to the distance information corresponding to the moving path, and the position of the self-moving device is adjusted to the historical moving position point corresponding to the moving path.

4. The method for moving a mobile device over a large area according to claim 1, wherein: The controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy to move the self-moving device to a first turning position point in the large area includes: After controlling the wheel speeds of the left and right wheels of the self-moving device, a steering action at a preset steering speed is performed at the historical moving position point to move the self-moving device to the first turning position point in the large area.

5. The method for moving a mobile device over a large area according to claim 1, wherein: The controlling the self-moving device to continue to perform the moving action at the second target location until the large-area moving operation is completed includes: When it is determined that the self-moving device is not located at the bottom corner position in the large area, controlling the self-moving device to move to a second turning position point corresponding to the second target position point; Controlling the self-moving device to accelerate and move a preset distance from the second turning position within a first preset time, and controlling the self-moving device to decelerate and move to a third target position in the large area within a second preset time; When it is determined that the angle relationship corresponding to the third target position point is the first preset angle relationship or the second preset angle relationship, the self-moving device is controlled to perform a turning action of a preset shape at the third target position point until the movement work is completed in the large area.

6. The method for moving a self-moving device over a large area according to claim 5, wherein: After controlling the self-moving device to decelerate and move to a third target location point in the large area within the second preset time, the method further includes: When it is determined that the angle relationship corresponding to the third target position point is the third preset angle relationship, the self-moving device is controlled to perform accelerated movement at the third target position point until the movement work is completed in the large area.

7. A self-propelled device, characterized in that: The device comprises a controller and a memory, wherein the memory stores a large-area movement program of a mobile device, and the controller controls the large-area movement program of the mobile device to control the steps of the large-area movement method of the mobile device according to any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for moving a mobile device over a large area are implemented as claimed in any one of claims 1 to 6.

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