Control method of self-moving device, self-moving device, and storage medium

Abstract

The application relates to a self-moving device control method, a self-moving device and a storage medium, and relates to the technical field of robot control. The self-moving device comprises a positioning device and a cutter head. The self-moving device control method comprises the following steps: obtaining the running state of the self-moving device; obtaining position data when the running state is a first state; the first state corresponds to detection of an obstacle in the running direction of the self-moving device; the position data comprises the current position of the positioning device; determining a marking area based on the position data and an effective cutting width; the width of the marking area is less than or equal to the effective cutting width; and controlling the self-moving device to drive away from the marking area at a preset angle. By using the above method, the area of the missed working area of the self-moving device can be reduced when the obstacle is encountered, and the working efficiency of the self-moving device is improved.

Description

Technical Field

[0001] This application relates to the field of robot control technology, specifically to a control method for a self-moving device, a self-moving device, and a storage medium. Background Technology

[0002] With the accelerating pace of human life, the application of self-moving devices is becoming increasingly widespread globally. Examples include automatic vacuum cleaners and automatic floor mops for room cleaning, and automatic lawnmowers for garden maintenance. Self-moving devices move within the work area to perform driving or tasks.

[0003] In traditional technologies, obstacles are detected and avoided during the movement of the mobile device. However, due to the fact that many obstacles are temporary or their size cannot be detected, the avoidance area is often too large, resulting in the omission of work in non-obstacle working areas. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a control method, a self-moving device, and a storage medium for a self-moving device that can reduce the area of ​​the working area missed by the self-moving device when encountering obstacles, thereby improving the working efficiency of the self-moving device.

[0005] In a first aspect, this application provides a control method for a self-moving device, the self-moving device including a positioning device and a cutter head, the method comprising:

[0006] Obtain the running status from the mobile device;

[0007] When the operating state is the first state, location data is acquired; the first state corresponds to the detection of an obstacle in the direction of travel of the self-moving device; the location data includes: the current position of the positioning device;

[0008] The marking area is determined based on location data and the effective cutting width; the width of the marking area is less than or equal to the effective cutting width.

[0009] Control the self-moving device to drive away from the marked area at a preset angle.

[0010] The aforementioned control method for the self-moving device detects the operating status of the device to determine if there are obstacles in its direction of travel. When an obstacle is detected, the method acquires its position data and effective cutting width. Based on the current position of the positioning device and the effective cutting width of the self-moving device, a marked area is determined, and then the self-moving device is controlled to move away from the marked area. By determining the marked area using the current position of the positioning device and the effective cutting width of the self-moving device, the area of ​​the working area missed by the self-moving device when encountering obstacles can be reduced, thereby improving the working efficiency of the self-moving device.

[0011] In some embodiments, the length of the marked area is less than or equal to a first distance, which corresponds to the distance from the current position of the positioning device to the foremost edge of the self-moving device.

[0012] In some of these embodiments, the front end of the self-moving device has a floating structure that can be elastically deformed.

[0013] In some embodiments, when the self-moving device comes into contact with an obstacle, the starting point of the marking area corresponds to a floating distance offset from the current position of the positioning device toward the obstacle; the floating distance is determined by the compression distance of the floating structure when the self-moving device comes into contact with the obstacle.

[0014] In some embodiments, before determining the marked area based on location data and effective cutting width, the method further includes:

[0015] The motion status of the mobile device is obtained; the motion status includes: turning left, turning right, and going straight;

[0016] The central axis of the marked area is determined based on the motion state of the self-moving device.

[0017] In some embodiments, determining the central axis of the marked area based on the motion state of the self-moving device includes:

[0018] If the movement is straight, the centerline of the self-moving device will be used as the centerline of the marked area;

[0019] If the movement state is a left turn, obtain the first straight line parallel to the central axis of the self-moving device, and use the first straight line as the central axis of the marked area; wherein, the vertical distance between the first straight line and the central axis of the self-moving device is equal to the diameter of the cutter head, and the first straight line is located on the left side of the self-moving device;

[0020] If the movement state is a right turn, obtain a second straight line parallel to the central axis of the self-moving device, and use the second straight line as the central axis of the marked area; wherein, the vertical distance between the second straight line and the central axis of the self-moving device is equal to the diameter of the cutter head, and the second straight line is located on the right side of the self-moving device.

[0021] In some embodiments, obtaining the motion state of the mobile device includes:

[0022] Obtain the wheel speeds of multiple wheels from the mobile device; wheel speeds include: wheel rotation speed and wheel direction;

[0023] The motion state of the self-moving device is determined based on the wheel speeds of multiple wheels.

[0024] In some embodiments, the operating state further includes: a second state; the above method further includes:

[0025] When the operating state is the second state, the self-moving device is controlled to travel and / or operate along a preset path; the second state corresponds to the detection that there are no obstacles in the direction of travel of the self-moving device.

[0026] Secondly, this application provides a computer-readable storage medium storing a computer program for performing the methods described in the above embodiments.

[0027] Thirdly, this application provides a self-moving device suitable for performing at least one work task in a work area, comprising: a body; a drive component connected to the body for driving the self-moving device to move; a positioning device connected to the body and configured to collect position data; the position data including: the current position of the positioning device; and a control circuit coupled to at least the drive component and the positioning device; wherein the control circuit is at least configured to perform the method described in the above embodiments. Attached Figure Description

[0028] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0029] Figure 1 A flowchart illustrating a control method for a self-moving device according to an embodiment of this application is shown;

[0030] Figure 2 A schematic diagram of the structure of a self-moving device according to an embodiment of this application is shown;

[0031] Figure 3 This invention provides a schematic diagram of the effective cutting width corresponding to the self-moving device of a single blade disc according to an embodiment of the present application.

[0032] Figure 4 This invention illustrates a schematic diagram of the driving path of a self-moving device for re-cutting after encountering an obstacle, according to an embodiment of this application.

[0033] Figure 5 This invention illustrates a schematic diagram of the travel path of a mobile device detecting temporary obstacles according to an embodiment of this application.

[0034] Figure 6 This illustration shows a schematic diagram of the marked area when the self-moving device is moving straight, according to an embodiment of this application.

[0035] Figure 7This illustration shows a schematic diagram of the marked area when the self-moving device is in a left-turning state according to an embodiment of this application;

[0036] Figure 8 This illustration shows a schematic diagram of the marked area when the self-moving device is in a right-turning state according to an embodiment of this application;

[0037] Figure 9 This illustration shows a schematic diagram of a self-moving device traveling and / or working in a work area according to an embodiment of this application. Detailed Implementation

[0038] 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.

[0039] The self-moving device is suitable for performing at least one work task in a work area and typically includes a body and drive components, sensor components, working components, and control circuitry connected to the body. The control circuitry is coupled to the drive components, sensor components, and working components, and controls the operation of the drive components and working components based on sensor data output from the sensor components. The sensor components may include vision components, positioning devices, collision sensing components, lift detection components, etc. The drive components typically include a drive motor and drive wheels connected to the drive motor; optionally, they may also include driven wheels to jointly drive the self-moving device. The working components may include at least one of the following: a lawnmower blade, a leaf blower head, and a snowplow head.

[0040] When traditional automated mobile devices (AMPs) travel or operate within a work area, certain scenarios may encounter inherent or temporary obstacles in their direction of travel. Therefore, AMPs can define marked areas based on detected obstacles and prevent the device from entering these areas to avoid collisions. Since AMPs can only detect the presence of obstacles but not their exact size, a relatively large marked area is often used. However, when the actual obstacle size is small, a large non-obstacle area may exist within the marked area, resulting in significant missed areas. For example, when the AMP is a lawnmower, it cannot mow the non-obstacle areas (grass) within the marked area. When the actual obstacle within the marked area is small, the grass area is large, and the lawnmower's failure to mow this area can easily lead to large missed areas. Conversely, if the marked area is too small, the AMP may frequently collide with obstacles, becoming trapped within the obstruction and impacting its efficiency.

[0041] Figure 1 The diagram shown is a flowchart illustrating a control method for a self-moving device provided in an exemplary embodiment of this application. Exemplarily, the control method in this embodiment is applied to a self-moving device, which includes a positioning device and a cutter head. The self-moving device is configured to travel and / or operate within a working area. Figure 1 As shown, the control method in this application embodiment includes steps S110 to S140.

[0042] Step S110: Obtain the running status of the mobile device.

[0043] In this embodiment, the operating state of the self-moving device may include, but is not limited to, a first state and a second state. The first state corresponds to detecting an obstacle in the direction the self-moving device is traveling, and the second state corresponds to detecting no obstacle in the direction the self-moving device is traveling.

[0044] In this embodiment, obstacles may include, but are not limited to, inherent obstacles and temporary obstacles. Inherent obstacles may include, but are not limited to, trees, utility poles, billboards, and artificial hills. Temporary obstacles may include, but are not limited to, vehicles, pedestrians, and other self-moving devices.

[0045] In this embodiment, the default operating state of the self-moving device upon startup is the second state. Within the working area, when an obstacle is detected in the direction of travel of the self-moving device, the operating state of the self-moving device is switched from the second state to the first state.

[0046] In this embodiment, when the self-moving device is in the first state, but when it is detected in real time that there is no obstacle in the direction of travel of the self-moving device, the operating state of the self-moving device is switched from the first state to the second state.

[0047] Step S120: When the running state is the first state, acquire location data; the first state corresponds to detecting an obstacle in the driving direction of the self-moving device; the location data includes: the current position of the positioning device.

[0048] like Figure 2 The diagram shown is a structural schematic of a lawnmower according to Embodiment 1 of this application. The lawnmower depicted is used for intelligent mowing of lawns. Figure 2 As shown, the lawnmower may include a floating structure 210, a cutting component 220, and a moving component 230. The cutting component 220 is used for mowing grass.

[0049] In this embodiment, the cutting assembly 220 may include, but is not limited to, one or more blades, which rotate to cut grass when the lawnmower is working in the work area.

[0050] In this embodiment, the moving component 230 is mounted on the body of the lawnmower to support the lawnmower's movement on the grass. This application does not specifically limit the structure of the moving component 230. For example, the moving component 230 can be a track, rollers, etc.

[0051] In one embodiment, the moving component 230 may include two rear drive wheels and two front driven wheels. Understandably, the moving component 230 may also consist of two front drive wheels and two rear driven wheels, or four drive wheels, or one rear drive wheel and one front driven wheel.

[0052] In this embodiment, the positioning device is installed on the body of the self-moving device, and the installation location may include, but is not limited to: the front of the body, the top of the body, the rear of the body, and the bottom of the body. For example, such as Figure 3 As shown, when the self-moving device is a lawnmower, the positioning device can be installed on top of the lawnmower.

[0053] In another embodiment, the positioning device may also be installed inside the body of the self-moving device.

[0054] In this embodiment, the positioning device may be an RTK (Real-time kinematic) module, used to detect the current location of the self-moving device in real time.

[0055] In this embodiment, the self-moving device can detect in real time whether there are obstacles in the direction of travel of the self-moving device through Hall sensors and / or ultrasonic sensors.

[0056] Step S130: Determine the marking area based on the location data and the effective cutting width; the width of the marking area is less than or equal to the effective cutting width.

[0057] For example, a self-moving device can be a lawnmower, which may include multiple blades, such as a dual-blade lawnmower, a triple-blade lawnmower, etc.

[0058] In this embodiment, the effective cutting width of the self-moving device can be determined based on the positional relationship of the multiple cutter discs and the diameter of each cutter disc. For example, as... Figure 3 As shown, when the self-moving device is a single-disc lawnmower with a disc diameter of d cm, the effective cutting width of the self-moving device is equal to the disc diameter d cm. When the self-moving device is a double-disc lawnmower with both discs having a diameter of d cm, and the two discs are arranged side-by-side and adjacent to each other in a direction perpendicular to the central axis of the self-moving device, the effective cutting width is 2d cm. And so on, without further elaboration.

[0059] By limiting the width of the marked area to within the effective cutting width, the lawnmower can detect obstacles and mow grass in the adjacent working area during its zigzag movement.

[0060] Step 140: Control the self-moving device to drive away from the marked area at a preset angle.

[0061] In this embodiment, as Figure 4 As shown, there is an obstacle at position 1 in the working area. When the running state is the first state, the self-moving device determines the marked area based on the position data and the effective cutting width, and controls the self-moving device to drive away from the marked area at a preset angle.

[0062] In this embodiment, as Figure 4 As shown, there is an obstacle at location 1 in the work area. When the self-moving device travels and / or works in the work area according to the preset path, it comes into contact with the obstacle and determines the marked area corresponding to the obstacle. It can then turn around and continue to complete the mowing operation of the entire work area until the original preset path is completed. After that, it travels to location 2 to mow the area behind the obstacle.

[0063] In another embodiment, such as Figure 5 As shown, an obstacle exists at location 1 within the work area. The self-moving device can avoid the obstacle at a preset angle. Since this obstacle may be temporary, after the self-moving device arrives at location 2 from location 1, it travels from location 2 towards the marked area to perform obstacle detection again in the marked area. This helps reduce the impact of temporary obstacles on the self-moving device. When the obstacle still exists, such as... Figure 4 As shown, the self-moving device can perform lawn mowing operations along the path of position 2-position 3-position 4-position 5.

[0064] By using a preset deflection angle to move away from the marked area, the self-moving device can avoid repeated collisions with obstacles in front of it.

[0065] The aforementioned control method for the self-moving device detects the operating status of the device to determine if there are obstacles in its direction of travel. When an obstacle is detected, the method acquires its position data and effective cutting width. Based on the current position of the positioning device and the effective cutting width of the self-moving device, a marked area is determined, and then the self-moving device is controlled to move away from the marked area. By determining the marked area using the current position of the positioning device and the effective cutting width of the self-moving device, the area of ​​the working area missed by the self-moving device when encountering obstacles can be reduced, thereby improving the working efficiency of the self-moving device.

[0066] In some embodiments, the length of the marked area may be less than or equal to a first distance, which corresponds to the distance from the current position of the positioning device to the foremost point of the self-moving device.

[0067] In some embodiments, the front end of the self-moving device has a floating structure that can be elastically deformed.

[0068] In this embodiment, the floating structure undergoes elastic deformation when the self-moving device comes into contact with an obstacle.

[0069] By installing a flexible, deformable floating structure at the front of the fuselage, the damage to the fuselage when it collides or comes into contact with obstacles can be reduced, thereby improving the durability and safety of the self-moving equipment.

[0070] In some embodiments, when the self-moving device comes into contact with an obstacle, the starting point of the marking area corresponds to a floating distance offset from the current position of the positioning device toward the obstacle; the floating distance is determined by the compression distance of the floating structure when the self-moving device comes into contact with the obstacle.

[0071] In this embodiment, because the floating structure has the property of elastic deformation, when the self-moving device comes into contact with an obstacle, the floating structure will generate a compression distance.

[0072] In this embodiment, a flexible floating device is installed at the front of the self-moving device. When the self-moving device comes into contact with an obstacle, the starting point of the marking area corresponds to a floating distance offset from the current position of the positioning device towards the obstacle. For example, the floating distance can be 10 centimeters. When the self-moving device comes into contact with an obstacle, the starting point of the marking area can correspond to a 10-centimeter offset from the current position of the positioning device towards the obstacle (the self-moving device's travel direction).

[0073] In another embodiment, no elastically deformable floating device is installed in front of the self-moving device. When the self-moving device comes into contact with an obstacle, the starting point of the marking area can be the current position of the positioning device.

[0074] By using the above method, when the self-moving device comes into contact with an obstacle, the length of the marked area can be limited to the shortest distance between the positioning device and the obstacle, which can effectively reduce the area of ​​the marked area, help reduce the area of ​​the working area missed by the self-moving device, and improve the working efficiency of the self-moving device.

[0075] In some embodiments, before determining the marking area based on location data and effective cutting width, the method may further include: acquiring the motion state of the self-moving device; the motion state includes: turning left, turning right, and going straight; and determining the centerline of the marking area based on the motion state of the self-moving device.

[0076] In one embodiment of this example, if the movement is straight, the marked area is determined to be directly in front of the self-moving device; if the movement is turning left, the marked area is determined to be on the left side of the self-moving device; and if the movement is turning right, the marked area is determined to be on the right side of the self-moving device.

[0077] In this embodiment, when the self-moving device comes into contact with an obstacle, the wheel speeds of multiple wheels of the self-moving device can be obtained through ODO (Odometer), and the motion state of the self-moving device can be determined based on the wheel speeds. The wheel speeds can include the wheel rotation speed and the wheel direction.

[0078] The above method can determine the positional relationship between the marked area and the self-moving device based on the movement state of the self-moving device, which helps to locate the marked area more accurately, reduce the area of ​​missed work areas, and improve the working efficiency of the self-moving device.

[0079] In some embodiments, such as Figure 6 As shown, if the movement is straight, determining that the marked area is directly in front of the self-moving device can include: using the central axis of the self-moving device as the central axis of the marked area.

[0080] In this embodiment, one or more cutter heads in the self-moving device can be symmetrically distributed along the central axis of the self-moving device. When the movement is straight, the central axis of the self-moving device is used as the central axis of the marking area, and the marking area can be accurately positioned in front of multiple cutter heads.

[0081] In another embodiment, such as Figure 6As shown, when one or more cutter heads in the self-moving device are asymmetrically distributed along the central axis of the self-moving device, the central axis of the cutter head region corresponding to the self-moving device is obtained, and this central axis of the cutter head region is used as the central axis of the marked region. The central axis of the cutter head region is parallel to the central axis of the self-moving device.

[0082] The above method helps to accurately position the marking area directly in front of the cutter head area, making the marking area more precise, reducing the area of ​​missed work areas, and improving the working efficiency of the self-moving equipment.

[0083] In some embodiments, such as Figure 7 As shown, if the movement state is a left turn, determining that the marking area is on the left side of the self-moving device can include: obtaining a first straight line parallel to the central axis of the self-moving device, and using the first straight line as the central axis of the marking area; wherein, the vertical distance between the first straight line and the central axis of the self-moving device is equal to the diameter of the cutter head, and the first straight line is located on the left side of the self-moving device.

[0084] In this embodiment, the self-moving device has a cutter head. When the cutter head is symmetrically distributed along the central axis of the self-moving device, a first straight line parallel to the central axis of the self-moving device is obtained, and the first straight line is used as the central axis of the marking area.

[0085] In another embodiment, when the self-moving device has one or more cutter heads, and the multiple cutter heads are symmetrically distributed along the central axis of the self-moving device, the vertical distance between the first straight line and the central axis of the self-moving device is equal to the effective cutting width.

[0086] In another embodiment, when one or more cutter heads in the self-moving device are asymmetrically distributed along the central axis of the self-moving device, a first straight line parallel to the central axis of the cutter head region is obtained, and this first straight line is used as the central axis of the marked region. The perpendicular distance between the first straight line and the central axis of the cutter head region is equal to the effective cutting width.

[0087] By using the above method, when the obstacle is not in front of the left side of the self-moving device, it is easier to accurately locate the marked area on the left side of the self-moving device. This facilitates the self-moving device to perform grass mowing operations on the front right side of the machine, reduces the area of ​​grass missed in obstacle encounters, and improves the working efficiency of the lawnmower.

[0088] In some embodiments, such as Figure 8 As shown, if the motion state is a right turn, determining that the marking area is on the right side of the self-moving device can include: obtaining a second straight line parallel to the central axis of the self-moving device, and using the second straight line as the central axis of the marking area; wherein, the vertical distance between the second straight line and the central axis of the self-moving device is equal to the diameter of the cutter head, and the second straight line is located on the right side of the self-moving device.

[0089] In this embodiment, the self-moving device has a cutter head. When the cutter head is symmetrically distributed along the central axis of the self-moving device, a second straight line parallel to the central axis of the self-moving device is obtained, and the second straight line is used as the central axis of the marking area.

[0090] In another embodiment, when the self-moving device has one or more cutter heads, and the multiple cutter heads are symmetrically distributed along the central axis of the self-moving device, the vertical distance between the second straight line and the central axis of the self-moving device is equal to the effective cutting width.

[0091] In another embodiment, when one or more cutter heads in the self-moving device are asymmetrically distributed along the central axis of the self-moving device, a second straight line parallel to the central axis of the cutter head region is obtained, and this second straight line is used as the central axis of the marked region. The perpendicular distance between the second straight line and the central axis of the cutter head region is equal to the effective cutting width.

[0092] By using the above method, when the obstacle is not in front of the left side of the self-moving device, it is easier to accurately locate the marked area on the left side of the self-moving device. This facilitates the self-moving device to perform grass mowing operations on the front right side of the machine, reduces the area of ​​grass missed in obstacle encounters, and improves the working efficiency of the lawnmower.

[0093] In some embodiments, the operating state may further include a second state; the above method may further include: when the operating state is the second state, controlling the self-moving device to travel and / or operate along a preset path; the second state corresponds to detecting that there are no obstacles in the travel direction of the self-moving device.

[0094] In this embodiment, the preset path can be a bow-shaped path within the working area.

[0095] In another embodiment, such as Figure 9 As shown, when the self-moving device travels and / or works along the boundary of the work area along a preset path, the boundary of the work area is not considered an obstacle.

[0096] This application also provides a self-moving device suitable for performing at least one work task in a work area, comprising: a body; a drive component connected to the body for driving the self-moving device to move; a positioning device connected to the body and configured to collect position data; the position data including: the current position of the positioning device; and a control circuit coupled to at least the drive component and the positioning device; wherein the control circuit is at least configured to perform the methods described above.

[0097] The aforementioned self-moving device detects the presence of obstacles in the direction of travel by monitoring its operating status. When an obstacle is detected in the direction of travel, a marking area is determined by the current position of the positioning device and the effective cutting width of the self-moving device. This reduces the area of ​​the working area missed by the self-moving device when it encounters an obstacle, thereby improving the working efficiency of the self-moving device.

[0098] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the methods according to the various embodiments of this application described above, which will not be repeated here.

[0099] The computer program product 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.

[0100] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the methods according to the various embodiments of this application described above, and will not be repeated here.

[0101] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0102] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0103] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0104] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0105] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0106] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A control method for a self-moving device, the self-moving device comprising a positioning device and a cutter head, characterized in that, The method includes: The operating state of the self-moving device is obtained; when the operating state is a first state, location data is obtained; the first state corresponds to the detection of an obstacle in the driving direction of the self-moving device; the location data includes: the current position of the positioning device; The motion state of the self-moving device is obtained, including: turning left, turning right, and going straight; Based on the motion state of the self-moving device, the central axis of the marking area is determined; the determination of the central axis of the marking area based on the motion state of the self-moving device includes: if the motion state is straight, the central axis of the self-moving device is used as the central axis of the marking area; if the motion state is a left turn, a first straight line parallel to the central axis of the self-moving device is obtained, and the first straight line is used as the central axis of the marking area; wherein, the vertical distance between the first straight line and the central axis of the self-moving device is equal to the diameter of the cutter head, and the first straight line is located on the left side of the self-moving device; if the motion state is a right turn, a second straight line parallel to the central axis of the self-moving device is obtained, and the second straight line is used as the central axis of the marking area; wherein, the vertical distance between the second straight line and the central axis of the self-moving device is equal to the diameter of the cutter head, and the second straight line is located on the right side of the self-moving device; The marking region is determined based on the location data and the effective cutting width; the width of the marking region is less than or equal to the effective cutting width. Control the self-moving device to drive away from the marked area at a preset angle.

2. The method as described in claim 1, characterized in that, The length of the marked area is less than or equal to a first distance, which corresponds to the distance from the current position of the positioning device to the foremost point of the self-moving device.

3. The method as described in claim 1, characterized in that, The front end of the self-moving device has a floating structure that can be elastically deformed.

4. The method as described in claim 3, characterized in that, When the self-moving device comes into contact with the obstacle, the starting point of the marking area corresponds to a floating distance offset from the current position of the positioning device toward the obstacle; the floating distance is determined by the compression distance of the floating structure when the self-moving device comes into contact with the obstacle.

5. The method as described in claim 1, characterized in that, The step of obtaining the motion state of the self-moving device includes: The wheel speeds of multiple wheels of the self-moving device are obtained; the wheel speeds include: wheel rotation speed and wheel direction; The motion state of the self-moving device is determined based on the wheel speeds of the multiple wheels.

6. The method as described in claim 1, characterized in that, The operating state further includes: a second state; the method further includes: When the operating state is the second state, the self-moving device is controlled to travel and / or operate along a preset path; the second state corresponds to the detection that there are no obstacles in the travel direction of the self-moving device.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1 to 6.

8. A self-moving device adapted to perform at least one work task in a work area, characterized in that, include: body; A drive component, connected to the body, is used to drive the self-moving device to move; A positioning device, connected to the body, is configured to collect location data; The location data includes: the current location of the positioning device; The control circuit is coupled at least to the drive assembly and the positioning device; The control circuit is configured to perform the method described in any one of claims 1-6.

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