Collaborative operation control method, self-moving device and storage medium

Abstract

The embodiment of the invention provides a collaborative operation control method, self-moving equipment and a storage medium. The method comprises the following steps: triggering a collaborative operation instruction; receiving and responding to the collaborative operation instruction, and controlling first self-moving equipment to operate in an operation area along a first operation path; the cooperative operation instruction is received and responded, a second self-moving device is controlled to execute cooperative operation in the operation area along a second operation path, and the first operation path and the second operation path can cover the operation area. According to the embodiment of the invention, the first self-moving equipment and the second self-moving equipment can be controlled to carry out cooperative operation based on different operation paths in the operation area, so that the operation efficiency is effectively improved, repeated rolling of the operation area is avoided, and the cleanliness and attractiveness of the operation area are guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a collaborative operation control method, a self-moving equipment and a storage medium. Background Art

[0002] With the continuous advancement of science and technology and the rapid development of artificial intelligence, the use of self-moving equipment (for example, mowing robots, cleaning robots, food delivery robots, etc.) to replace manual work can greatly improve work efficiency.

[0003] In order to facilitate the self-moving device to work in the work area, the work path needs to be planned so that the work path covers the work area. In addition, in the related art, in order to avoid missing work, the self-moving device usually needs to repeatedly work along the work path, which increases the working time of the self-moving device, reduces the working efficiency, and repeatedly rolls the work area, thereby affecting the cleanliness and aesthetics of the work area. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a collaborative work control method, a self-moving device and a storage medium to solve the problem that the self-moving device repeatedly performs operations along the work path, which increases the operation time of the self-moving device, reduces the operation efficiency, and affects the cleanliness and aesthetics of the work area.

[0005] In a first aspect, an embodiment of the present application provides a collaborative work control method, the method comprising: triggering a collaborative work instruction; receiving and responding to the collaborative work instruction, controlling a first self-moving device to operate in a work area along a first work path; receiving and responding to the collaborative work instruction, controlling a second self-moving device to perform a collaborative work in the work area along a second work path, wherein the first work path and the second work path may cover the work area.

[0006] In a possible implementation, the triggering of the collaborative operation instruction includes: responding to the collaborative operation instruction sent by the user terminal or the server, or generated by the first mobile device.

[0007] In a possible implementation, the first working path is an arcuate path along a first direction, and the second working path is an arcuate path along a second direction, and the first direction intersects or is parallel to the second direction.

[0008] In a possible implementation manner, the first working path and the second working path form a double-arc path, the first working path is a transverse arcuate path, and the second working path is a longitudinal arcuate path.

[0009] In a possible implementation, the first working path and the second working path form a single arcuate path, and the first working path and the second working path are both transverse arcuate paths, or both longitudinal arcuate paths.

[0010] In one possible implementation, controlling the first self-moving device to operate in the working area along the first working path includes: controlling the first self-moving device to operate in the working area along the first working path starting from the first end point of the single arch path; controlling the second self-moving device to perform collaborative work in the working area along the second working path includes: controlling the second self-moving device to perform collaborative work in the working area along the second working path starting from the second end point of the single arch path.

[0011] In a possible implementation manner, the first working path and the second working path are spaced apart from each other.

[0012] In a possible implementation, the method further includes: if the first self-moving device or the second self-moving device detects any self-moving device during movement, controlling the first self-moving device or the second self-moving device to stop moving until no self-moving device is detected.

[0013] In a second aspect, an embodiment of the present application provides a self-moving device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the collaborative job control method as described above is implemented.

[0014] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor in a self-mobile device, the self-mobile device implements the collaborative job control method as described above.

[0015] The collaborative work control method, self-moving device and storage medium provided in the embodiments of the present application can control the first self-moving device and the second self-moving device to perform collaborative work based on different work paths in the work area, effectively improving the work efficiency, avoiding repeated crushing of the work area, and ensuring the cleanliness and beauty of the work area. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0017] Figure 1 It is a schematic diagram of the hardware structure of a mobile device provided in one embodiment of the present application.

[0018] Figure 2 It is a flowchart of a collaborative operation control method provided in one embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of a first operation path and a second operation path provided by an embodiment of the present application.

[0020] Figure 4 It is a flowchart of a collaborative operation control method provided by another embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of a first operating path and a second operating path provided by another embodiment of the present application.

[0022] Figure 6 It is a schematic diagram of a first operating path and a second operating path provided by another embodiment of the present application.

[0023] Figure 7 It is a schematic diagram of a first operating path and a second operating path provided by another embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0026] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. The following embodiments and features in the embodiments may be combined with each other without conflict.

[0027] With the continuous advancement of science and technology and the rapid development of artificial intelligence, the use of self-moving equipment (for example, mowing robots, cleaning robots, food delivery robots, etc.) to replace manual work can greatly improve work efficiency.

[0028] In order to facilitate the self-moving equipment to work in the work area, the work path needs to be planned so that the work path covers the work area. In addition, in order to avoid missing work, the self-moving equipment usually repeats the work along the work path, which increases the working time of the self-moving equipment, reduces the working efficiency, and repeatedly rolls the work area, thereby affecting the cleanliness and aesthetics of the work area.

[0029] Taking the mowing robot as an example, the mowing robot integrates technologies such as motion control, multi-sensor fusion and path planning, and is widely used in the maintenance of home garden lawns and the trimming of large lawns. In order to control the mowing robot to achieve mowing operations, it is necessary to plan the mowing path of the mowing robot so that the mowing robot can completely cover the operating area to operate. In addition, methods such as repeated mowing back and forth and reducing the interval between mowing paths are often used to avoid missing mowing. However, these methods not only make mowing take a long time, but also repeatedly crush the lawn, affecting the growth of the lawn and even causing irreversible damage to the lawn.

[0030] See also Figure 1 The figure is a schematic diagram of the hardware structure of a self-equipment device provided in an embodiment of the present application. The collaborative operation control method in the embodiment of the present application is applied to Figure 1 In the self-moving device 1 shown, the self-moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, an operating mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18 and a bus 19 arranged on the body. The processor 12 is respectively coupled to the memory 11, the power supply 13, the sensor 14, the operating mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19. The self-moving device 1 is an electronic device with a self-moving function, such as a lawn mowing robot, a cleaning robot, a food delivery robot, etc.

[0031] The memory 11 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 12, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0032] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 12. The non-volatile memory may include a disk storage device and a flash memory.

[0033] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the path planning method executed on the mobile device 1 can be implemented.

[0034] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1 .

[0035] The processor 12 may include one or more processing units, for example, the processor 12 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0036] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the above-mentioned path planning method.

[0037] The power source 13 is used to power the self-moving device. In one embodiment of the present application, the power source 13 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0038] The sensor 14 is used to obtain information for the mobile device 1, such as obtaining environmental information and movement information of the mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0039] The operating mechanism 15 is used to perform corresponding operating tasks, such as mowing, cruising, sweeping, and spraying pesticides. In some embodiments of the present application, the operating mechanism 15 may include a motor, a transmission mechanism, and a cutter disc. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.

[0040] The communication module 16 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 16 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0041] The positioning module 17 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 17 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0042] The driving wheel 18 is used to realize the movement of the self-moving device. In some embodiments of the present application, the driving wheel 18 can realize the movement function of the self-moving device according to the control of the processor 12. In some embodiments of the present application, the driving wheel 18 may include a left driving wheel and a right driving wheel.

[0043] The bus 19 is at least used to provide a channel for mutual communication among the memory 11 , the processor 12 , the power supply 13 , the sensor 14 , the operating mechanism 15 , the communication module 16 , the positioning module 17 , and the driving wheel 18 in the mobile device 1 .

[0044] In other embodiments of the present application, the self-moving device 1 may further include an anti-collision part and a steering assembly, etc. The anti-collision part may be used to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to enable the driving wheel 18 to adjust the driving direction.

[0045] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0046] See also Figure 2 FIG. 1 is a flowchart of a collaborative operation control method provided by an embodiment of the present application. The collaborative operation control method can be applied to Figure 1 The self-moving device 1 shown. The collaborative operation control method includes the following steps:

[0047] S101, triggering a collaborative operation instruction.

[0048] In one embodiment of the present application, the collaborative operation instruction may be triggered in response to a collaborative operation instruction sent by a user terminal or a server, or generated by the first mobile device.

[0049] S102, receiving and responding to a collaborative operation instruction, and controlling a first autonomous mobile device to operate in an operation area along a first operation path.

[0050] S103, receiving and responding to the collaborative operation instruction, controlling the second autonomous moving device to perform the collaborative operation in the operation area along the second operation path. The first operation path and the second operation path may cover the operation area.

[0051] In one embodiment of the present application, a collaborative operation instruction and a first operation path are sent to a first self-mobile device through a user terminal or a server, and a collaborative operation instruction and a second operation path are sent to a second self-mobile device. The collaborative operation instruction is used to control the first self-mobile device and the second self-mobile device to perform collaborative operations in the operation area. Collaborative operations refer to the first self-mobile device and the second self-mobile device performing operations in the operation area simultaneously or synchronously. For example, the server is a server for remotely controlling multiple self-mobile devices to perform collaborative operations, and the server can communicate with multiple self-mobile devices through a wireless communication network. For example, the wireless communication network can be a cloud network, a local area network, etc.

[0052] In one embodiment of the present application, the first operating path is an arcuate path along a first direction, and the second operating path is an arcuate path along a second direction, and the first direction intersects or is parallel to the second direction.

[0053] For example, the first direction is the horizontal direction, and the second direction is perpendicular to the horizontal direction. In this way, the first working path and the second working path form a double-arc path, the first working path is a transverse arc path along the horizontal direction, and the second working path is a longitudinal arc path along the horizontal direction perpendicular to the horizontal direction.

[0054] See also Figure 3 FIG. 1 is a schematic diagram of a first operation path and a second operation path provided by an embodiment of the present application. Figure 3 In the figure, the solid line is the first working path, and the dotted line is the second working path. The first self-moving device and the second self-moving device start from a common starting point A. The first self-moving device moves along the first working path, that is, along a horizontally lateral arcuate path, and performs work in the working area, such as mowing the lawn. The area where the first self-moving device works is the first area. The second self-moving device moves along the second working path, that is, along a longitudinal arcuate path perpendicular to the horizontal direction, and performs work in the working area, such as mowing the lawn. The area where the second self-moving device works is the second area. The first working path and the second working path cover the working area, so that the first area and the second area also cover the working area.

[0055] based on Figure 3It can be seen that the first working path and the second working path have the same distance and extend in perpendicular directions to each other. In this way, the first area where the first self-moving equipment operates and the second area where the second self-moving equipment operates can cover the working area. The collaborative operation of the first self-moving equipment and the second self-moving equipment effectively improves the working efficiency. There is no need for a single self-moving equipment to move back and forth in the working area to perform operations, which reduces the crushing of the working area and effectively ensures the cleanliness and beauty of the working area.

[0056] See also Figure 4 FIG. 1 is a flowchart of a collaborative operation control method provided by another embodiment of the present application. The collaborative operation control method can be applied to Figure 1 The self-moving device 1 shown. The collaborative operation control method includes the following steps:

[0057] S201, triggering a collaborative operation instruction.

[0058] S202, receiving and responding to a collaborative operation instruction, and controlling a first autonomous mobile device to operate in an operation area along a first operation path.

[0059] S203, receiving and responding to the collaborative operation instruction, controlling the second autonomous moving device to perform the collaborative operation in the operation area along the second operation path. The first operation path and the second operation path may cover the operation area.

[0060] S303: If the first self-moving device or the second self-moving device detects any self-moving device during the moving process, the first self-moving device or the second self-moving device is controlled to stop operating until no self-moving device is detected.

[0061] In one embodiment of the present application, during the moving operation, the first self-moving device or the second self-moving device detects through a sensor whether there is another self-moving device in front of it. If another self-moving device is detected in front of it, the first self-moving device or the second self-moving device stops the moving operation until no self-moving device is detected, and then continues the moving operation.

[0062] For example, during the moving operation, the first self-moving device and the second self-moving device may meet at the intersection of the first operation path and the second operation path. The intersection may be as follows: Figure 3 To avoid a collision between the first self-moving device and the second self-moving device, when one of the self-moving devices detects the presence of another self-moving device in front of it, the moving operation can be stopped and the moving operation can be continued until the other self-moving device is no longer on the working path of the self-moving device.

[0063] In one embodiment of the present application, the sensor is a camera device. During the mobile operation, the first self-moving device or the second self-moving device captures an image of the environment ahead in real time (for example, at preset time intervals), and detects whether there is another self-moving device ahead by performing feature recognition on the image of the environment ahead. If it is recognized that the image of the environment ahead includes another self-moving device, it is determined that there is another self-moving device ahead. If it is not recognized that the image of the environment ahead includes another self-moving device, it is determined that there is no other self-moving device ahead.

[0064] In another embodiment of the present application, the sensor is an infrared sensor. During the moving operation, the first self-moving device or the second self-moving device emits infrared rays to the front in real time (for example, at preset time intervals) to determine whether reflected infrared rays are received to detect whether there is another self-moving device in front. If reflected infrared rays are received, it is determined that there is another self-moving device in front; if reflected infrared rays are not received, it is determined that there is no other self-moving device in front.

[0065] In another embodiment of the present application, the first direction and the second direction are both horizontal directions, so that the first working path and the second working path form an arcuate path covering the working area. For example, the first working path and the second working path form a single arcuate path, and the extension directions of the first working path and the second working path are parallel, for example, both extend in the horizontal direction or both extend perpendicular to the horizontal direction. The first working path and the second working path are both transverse arcuate paths, or both are longitudinal arcuate paths.

[0066] In another embodiment of the present application, the starting points of the first working path and the second working path are different. In response to the collaborative work instruction, the first self-moving device is controlled to start from the first end point of the single arched path to work in the working area along the first working path, and the second self-moving device is controlled to start from the second end point of the single arched path to perform collaborative work in the working area along the second working path, and the first self-moving device and the second self-moving device move toward each other.

[0067] See also Figure 5 FIG. 1 is a schematic diagram of a first operation path and a second operation path provided by another embodiment of the present application. Figure 5In the figure, the solid line is the first working path, and the dotted line is the second working path. The first working path and the second working path form an arched path covering the working area, so that the first area and the second area also cover the working area. The first self-moving device starts to move horizontally to the right from the first end point A1 of the arched path, that is, the starting point of the first working path, and the second self-moving device starts to move horizontally to the left from the second end point B1 of the arched path, that is, the starting point of the second working path. In this way, the first self-moving device and the second self-moving device move toward each other to perform collaborative work. If the moving speeds of the first self-moving device and the second self-moving device are the same, the first self-moving device and the second self-moving device complete the work in the working area when they move to the center point C1 of the arched path, that is, the intersection of the first working path and the second working path.

[0068] In another embodiment of the present application, the first working path and the second working path have the same starting point, and the first working path and the second working path form a single arcuate path covering the working area.

[0069] In another embodiment of the present application, the first self-moving device and the second self-moving device are controlled to move from the center point of the single arcuate path, and the first self-moving device moves away from the second self-moving device.

[0070] See also Figure 6 FIG. 1 is a schematic diagram of a first operation path and a second operation path provided by another embodiment of the present application. Figure 6 In the figure, the solid line is the first working path, and the dotted line is the second working path. The first working path and the second working path form an arched path covering the working area. The first self-moving device starts to move horizontally to the left from the center point C2 of the arched path, that is, the starting point of the first working path, and the second self-moving device starts to move horizontally to the right from the center point C2 of the arched path, that is, the starting point of the second working path. In this way, the first self-moving device and the second self-moving device move in opposite directions to perform collaborative work. When the first self-moving device moves to the first end point A2 of the arched path and the second self-moving device moves to the second end point B2 of the arched path, the work in the working area is completed.

[0071] In another embodiment of the present application, the first working path and the second working path are spaced apart from each other. For example, the first working path and the second working path are arcuate paths spaced apart from each other.

[0072] See also Figure 7 FIG. 1 is a schematic diagram of a first operation path and a second operation path provided by another embodiment of the present application. Figure 7In the figure, the solid line is the first working path, the dotted line is the second working path, the white area is the sub-area of ​​the first area, and the gray area is the sub-area of ​​the second area. The first working path and the second working path cover the working area, so that the first area and the second area also cover the working area. The first self-moving device starts from the starting point A3 of the first working path, moves downward in a direction perpendicular to the horizontal direction, and when it moves to the boundary of the working area, turns to move along the boundary of the working area to cross a sub-area in the second area, and continues to turn to move upward in a direction perpendicular to the horizontal direction, and repeats this cycle until it reaches the end point A4 of the first working path. The second self-moving device starts from the starting point B3 of the second working path, moves upward in a direction perpendicular to the horizontal direction, and when it moves to the boundary of the working area, turns to move along the boundary of the working area to cross a sub-area in the first area, and continues to turn to move downward in a direction perpendicular to the horizontal direction, and repeats this cycle until it reaches the end point B4 of the second working path. Based on Figure 7 The setting of the first working path and the second working path increases the turning radius of the self-moving device when turning, and reduces the wear of the self-moving device on the working area during the turning process.

[0073] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0074] The computer-readable storage medium may be the internal memory of the self-mobile device described in the above embodiment, such as the hard disk or memory of the self-mobile device. The computer-readable storage medium may also be an external storage device of the self-mobile device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the self-mobile device.

[0075] In one embodiment of the present application, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the self-mobile device, etc.

[0076] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0077] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0078] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0079] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0080] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A collaborative operation control method, characterized in that: The method comprises: Trigger collaborative work instructions; receiving and responding to the collaborative operation instruction, and controlling the first self-moving device to operate in the operation area along the first operation path; The collaborative operation instruction is received and responded to, and a second self-moving device is controlled to perform a collaborative operation in the operation area along a second operation path, wherein the first operation path and the second operation path can cover the operation area.

2. The collaborative operation control method according to claim 1, characterized in that: The triggering collaborative operation instruction includes: Responding to a collaborative operation instruction sent by a user terminal or a server, or generated by the first mobile device.

3. The collaborative operation control method according to claim 1, characterized in that: The first working path is an arcuate path along a first direction, and the second working path is an arcuate path along a second direction, and the first direction intersects or is parallel to the second direction.

4. The collaborative operation control method according to claim 3, characterized in that: The first working path and the second working path form a double arcuate path, the first working path is a transverse arcuate path, and the second working path is a longitudinal arcuate path.

5. The collaborative operation control method according to claim 3, characterized in that: The first working path and the second working path form a single arcuate path, and the first working path and the second working path are both transverse arcuate paths, or both longitudinal arcuate paths.

6. The collaborative operation control method according to claim 5, characterized in that: The controlling the first self-moving device to operate in the operating area along the first operating path includes: Control the first self-moving device to start from the first end point of the single arcuate path and operate in the operating area along the first operating path; The controlling the second self-moving device to perform the collaborative operation in the operation area along the second operation path includes: The second self-moving device is controlled to perform collaborative work in the work area along the second work path starting from the second end point of the single arcuate path.

7. The collaborative operation control method according to claim 1, characterized in that: The first working path and the second working path are arranged at an interval from each other.

8. The collaborative operation control method according to any one of claims 1 to 7, characterized in that: The method further comprises: If the first self-moving device or the second self-moving device detects any self-moving device during movement, the first self-moving device or the second self-moving device is controlled to stop moving until no self-moving device is detected.

9. A self-propelled device, characterized in that: The self-mobile device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the self-mobile device implements the collaborative job control method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor in a mobile device, the collaborative job control method according to any one of claims 1 to 8 is implemented.

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