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

Abstract

The invention discloses a control method for a self-moving device, and the method comprises the steps: obtaining a grid map of a target region, the grid map comprises a plurality of grids, and the grids are set according to the grid size; obtaining planned paths of the self-moving device in the grid map, wherein the spacing distance between the adjacent planned paths is a first integer multiple of the grid size; controlling the self-moving equipment to work according to the planned path, and marking grids covered by the effective working width of the self-moving equipment in the working process as working areas on a grid map; the effective working width is a second integer multiple of the grid size. Thus, the effective working width of the self-moving equipment and the spacing distance between the adjacent planned paths are controlled to be integer multiples of the size of the grids in the grid map, it is ensured that the corresponding working area only contains complete grids in the process that the self-moving equipment works along the planned paths each time, the grids corresponding to the working area are conveniently and accurately marked, and the working efficiency of the self-moving equipment is improved. And the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a control method for a self-moving device, a self-moving device and a computer-readable storage medium. Background Art

[0002] The resolution of a conventional raster map, i.e., the grid size, is usually set only according to the accuracy requirement. That is, if higher accuracy is required, the resolution is set to be larger, and if lower accuracy is required, the resolution is set to be smaller.

[0003] During the working process of the mobile device, the worked area needs to be marked in the grid map to distinguish it from the unworked area. The marking is based on a single grid, that is, only the entire grid can be marked at one time. If the worked area contains an incomplete grid, it is not possible to mark only the processed part of the grid in the grid map. If the entire grid is marked, the unprocessed part of the grid will be omitted, and if the entire grid is not marked, the processed part of the grid will be repeatedly processed, affecting work efficiency. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present invention provides a control method of a self-moving device, a self-moving device and a computer-readable storage medium.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a self-moving device, the method comprising:

[0007] Acquire a grid map of a target area, wherein the grid map includes a plurality of grids, and the grids are set according to a grid size;

[0008] Acquire a planned path of the mobile device in the grid map, wherein the interval between adjacent planned paths is a first integer multiple of the grid size;

[0009] The self-moving device is controlled to work according to the planned path, and the grid covered by the effective working width of the self-moving device during the working process is marked as the worked area on the grid map; the effective working width is the second integer multiple of the grid size.

[0010] In a possible implementation, the target area includes an open area, and the open area is an area where the satellite positioning signal meets a preset quality requirement;

[0011] In the open area, the first integer multiple is equal to the second integer multiple.

[0012] In a possible implementation, the target area includes a shadow area and / or a slope area, the shadow area is an area where the satellite positioning signal does not meet the quality requirements, and the slope area is an area where the slope angle value is equal to or greater than a preset slope angle value;

[0013] In the shadow area and / or the slope area, the first integer multiple is smaller than the second integer multiple;

[0014] The spacing distance is equal to the difference between the effective working width and the width of the overlap area;

[0015] The overlap area width is used to characterize the width of the grid repeatedly covered by the effective working width when the self-moving device is working along the adjacent planned paths, which is perpendicular to the moving direction of the self-moving device.

[0016] In a possible implementation manner, the planned path coincides with a center line of the effective working width.

[0017] In a possible implementation, the effective working width is a projection width of the working part of the self-moving device perpendicular to the moving direction of the self-moving device.

[0018] In a possible implementation, if the self-moving device includes a plurality of working parts, the effective working width is the sum of the projection widths of the plurality of working parts perpendicular to the moving direction of the self-moving device.

[0019] In one possible implementation, the effective working width is the difference between the width of the working part of the self-moving device perpendicular to the direction of movement of the self-moving device and a set working deviation, and the working deviation is used to characterize the width of the area within the coverage range of the working part but not covered by the effective working width perpendicular to the direction of movement of the self-moving device.

[0020] In a possible implementation manner, the grid size includes a grid length and / or a grid width.

[0021] In a possible implementation manner, if the grid size includes a grid length and a grid width, the grid length is equal to the grid width.

[0022] In a second aspect, an embodiment of the present application provides a self-moving device, comprising: a processor and a memory storing a computer program, and when the processor runs the computer program, the steps of the above method are implemented.

[0023] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0024] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: by controlling the effective working width of the self-moving device and the spacing distance of the adjacent planned paths to be integer multiples of the grid size in the grid map, it is ensured that the corresponding worked area during each working process of the self-moving device along the planned path only contains complete grids, so that all grids contained in the worked area can be marked each time, which facilitates and accurately marks the grids corresponding to the worked area, avoids the situation where the grid cannot be marked in the worked area, and solves the problem of the prior art that the grid cannot be marked due to the work area containing incomplete grids. At the same time, since the situation where the grid cannot be marked in the worked area is avoided, the self-moving device does not need to repeatedly process the processed part of the grid that cannot be marked, thereby reducing repeated work, solving the problem of repeated processing due to the work area containing incomplete grids in the prior art, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the working process of the self-mobile device;

[0026] Figure 2 A schematic diagram of converting coordinates in the real world into a grid in a raster map;

[0027] Figure 3 Schematic diagram of the prior art for a mobile device to work along a planned path Figure 1 ;

[0028] Figure 4 Schematic diagram of the prior art of moving a mobile device along a planned path Figure 2 ;

[0029] Figure 5 A schematic diagram of a flow chart of a method for controlling a self-moving device provided by an embodiment of the present invention;

[0030] Figure 6 Schematic diagram of a mobile device working along a planned path in an embodiment of the present invention Figure 1 ;

[0031] Figure 7 Schematic diagram of a mobile device working along a planned path in an embodiment of the present invention Figure 2 ;

[0032] Figure 8 A schematic diagram of the structure of a self-moving device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0034] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0035] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0036] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0037] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0038] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0040] like Figure 1 As shown, the self-moving device 100 in the embodiment of the present disclosure can move autonomously in the working area 200 to automatically perform the work task. Among them, the self-moving device can be an automatic lawn mower, an automatic sprinkler, an automatic fertilizer applicator, an automatic sweeper, an automatic snow sweeper, etc., which are suitable for unattended operation. They automatically walk on the surface of the working area to mow, sprinkle, fertilize, vacuum or sweep snow. It can also be other suitable unattended equipment, which is not limited by the embodiments of this specification. The self-moving device realizes specific functions through its working part, and the working parts of different self-moving devices may be different. For example, the working part of the automatic lawn mower is a cutter disc, the working part of the automatic sprinkler is a watering part, the working part of the automatic fertilizer applicator is a fertilizing part, and the working part of the automatic sweeper is a cleaning part. It should be noted that the self-moving device may also include a walking device such as a wheel that drives the self-moving device to move, a power device such as a motor and a transmission structure connected to the motor that provides power for the movement and operation of the self-moving device, and a power supply device such as a battery pack that provides the energy required for the work of the working part, the walking device and the power device of the self-moving device.

[0041] In the full-coverage operation mode, a self-mobile device generally moves and works along a planned path within a grid map. Among them, the grid map is a commonly used form of high-precision map, which divides the environment into a series of grids. The resolution of a conventional grid map can be determined according to the required map accuracy. For example, if a higher map accuracy is needed, the grid length r is set smaller so that the resolution, that is, 1 / r, is larger; if a lower map accuracy is needed, the grid length r is set larger so that the resolution, that is, 1 / r, is smaller. As Figure 2 shown, in the case of one-dimensional space, Figure 2 where x represents the coordinate in the real world, i is the coordinate in the discretized map (i.e., the grid map), r is the length of a grid, 1 / r represents the resolution, and i = ceil(x / r). Assuming r is equal to 10 cm, the corresponding i can be determined according to the coordinate interval where x is located. That is, if 0 < x ≤ 10 cm, then i = 1; if 10 cm < x ≤ 20 cm, then i = 2; if 20 cm < x ≤ 30 cm, then i = 3, and so on. Similarly, in the case of two-dimensional space, it corresponds to (i, j) = (ceil(x / r), ceil(y / r)), where x and y are the coordinates in the real world, and i and j are the coordinates in the discretized map (i.e., the grid map). Here, the grid map includes multiple grids, the grids are set according to the grid size, and the size of each grid is the same.

[0042] During the operation of the self-mobile device, it is necessary to mark the areas that have been worked on in the grid map. However, since the existing technology only sets the resolution of the grid map according to the accuracy requirements, there are the following two problems when marking the areas that have been worked on (taking the self-mobile device as an automatic lawn mower as an example): One problem is that during the cutting process of the automatic lawn mower, it is necessary to mark the cut areas to distinguish them from the uncut areas. The marking is carried out in the grid map, with a single grid as the unit, that is, one marking can only mark the entire grid. If the relationship between the resolution and the effective cutting width of the automatic lawn mower is not considered when setting the resolution of the grid map, it may result in incomplete grids in the cut areas, and it is impossible to only mark the cut part in the grid in the grid map. If the entire grid is marked, the uncut part in the grid will be missed; if the entire grid is not marked, the cut part in the grid will be cut repeatedly, reducing the work efficiency. For example, as Figure 3 shown, assume that the effective working width of the automatic lawn mower is 5 grids. When the automatic lawn mower works along path A, Figure 3 the direction indicated by the arrow is the moving forward direction of the automatic lawn mower. At this time, the areas that have been worked on (such as Figure 3The area shown in the diagonal line in the middle includes 2.5 grids on both sides of path A. Since the worked area includes incomplete grids, if the incomplete grids in the worked area are not marked, the cut parts of the incomplete grids will be cut repeatedly, which reduces the work efficiency. Another problem is that when the automatic lawn mower based on the real-time kinematic (RTK) method works in an open area, due to the high positioning accuracy, the overlapped area of ​​the cut areas corresponding to the adjacent cutting paths when the automatic lawn mower cuts along the adjacent cutting paths is small and can be ignored. However, when the automatic lawn mower works in a shadow area or an uneven slope area affected by the RTK positioning signal, due to the low positioning accuracy and other reasons, in order to avoid the existence of missed cutting areas between the cut areas corresponding to the adjacent cutting paths when the automatic lawn mower cuts along the adjacent cutting paths, it is necessary to increase the overlapped area between the cut areas corresponding to the adjacent cutting paths when the automatic lawn mower cuts along the adjacent cutting paths. Since the resolution and grid size of the grid map are determined before cutting, when the automatic lawn mower cuts along two adjacent paths, it is necessary to mark the first worked area, the overlapping area, and the second worked area respectively. If any of these three areas contains an incomplete grid, it is impossible to accurately mark these three areas. Figure 4 As shown, path A and path B are adjacent paths. Figure 4 The direction indicated by the arrow in the middle is the moving direction of the automatic lawn mower. Assuming that the effective working width of the automatic lawn mower is 5 grids, the corresponding cut area when the mobile device works along the path A is the first worked area (such as Figure 4 The cut area corresponding to the cut when working along the B path is the second worked area (as shown in the diagonal line in the middle) and the cut area corresponding to the cut when working along the B path is the second worked area (as shown in the Figure 4 The first and second working areas (shown in the hatched part) each include 4.5 grids, and the overlapping area of ​​the first working area and the second working area (shown in the hatched part) each include 4.5 grids. Figure 4 The slashed part in the middle) includes 0.5 grids, and there is a problem that the overlapping areas cannot be accurately marked.

[0043] Therefore, the prior art needs to solve the problem of how to create a grid map so that the grid map can simultaneously meet the two requirements of subsequent path planning and marking the cut area. After the grid size in the grid map is determined according to the requirements of path planning and marking the cut area and the grid map is created, the automatic lawn mower will not have the problem of missing cuts or low working efficiency due to the cut area including incomplete grids. Based on this, Figure 5As shown, the present application proposes a control method for a self-moving device. It should be noted that although the present disclosure provides the method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps that do not have a necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the embodiments of the present disclosure.

[0044] See also Figure 5 , is a control method for a self-moving device provided in an embodiment of the present application. The method can be executed by a control device for a self-moving device. The device can be implemented in software and / or hardware. In this embodiment, the execution subject of the method is a self-moving device as an example. The method provided in this embodiment includes:

[0045] Step S101: Obtain a grid map of the target area, the grid map includes a plurality of grids, and the grids are set according to a grid size.

[0046] It should be noted that the raster map of the target area can be generated by the mobile device itself or the cloud server, and accordingly, the mobile device can obtain the raster map of the target area from itself or the cloud server. If the mobile device obtains the raster map of the target area from itself, it can be specifically that the mobile device retrieves the raster map of the target area from its own storage device such as a memory. If the mobile device obtains the raster map of the target area from the cloud server, it can be specifically that the mobile device sends a map acquisition request for obtaining the raster map of the target area to the cloud server, and receives the raster map of the target area issued by the cloud in response to the map acquisition request. Among them, the specific operation of generating a raster map from the mobile device or the cloud server can refer to the existing related technology, which will not be repeated here.

[0047] The target area may be an area where the self-moving device is to work. For different types of self-moving devices, the type of the target area may be different accordingly. For example, for an automatic lawn mower, the type of the target area may be a grass area; for an automatic sweeper, the type of the target area may be a ground area, etc. The grid map of the target area may be a grid map containing only the target area, or may be a grid map containing both the target area and other areas such as adjacent areas of the target area.

[0048] Step S102: obtaining a planned path of a mobile device in a grid map, wherein the interval between adjacent planned paths is a first integer multiple of the grid size.

[0049] It should be noted that the planned path of the self-mobile device in the grid map can be generated by the self-mobile device itself or the cloud server. Accordingly, the self-mobile device can obtain the planned path in the grid map from itself or the cloud server. If the self-mobile device obtains the planned path in the grid map from itself, it can be specifically that the self-mobile device retrieves the planned path in the grid map from its own storage device such as a memory. If the self-mobile device obtains the planned path in the grid map from the cloud server, it can be specifically that the self-mobile device sends a path acquisition request for obtaining the planned path in the grid map to the cloud server, and receives the planned path in the grid map issued by the cloud in response to the path acquisition request.

[0050] It can be understood that in order for the self-moving device to work normally in the target area or complete the specified work task, it is necessary to control the self-moving device to work in the target area according to the planned path. Therefore, before controlling the self-moving device to work, it is necessary to first obtain the planned path of the self-moving device in the grid map. There may be multiple planned paths in the grid map, and the locations of different planned paths are usually adjacent. Adjacent planned paths refer to planned paths with the shortest distance between geographical locations in the grid map, such as Figure 6 Here, the grid size may include a grid length and / or a grid width. The grid length refers to the distance between two adjacent dividing lines in the grid map, and the grid width refers to the distance between two adjacent dividing lines in the grid map. Figure 6 In addition, if the grid size includes a grid length and a grid width, the grid length and the grid width can be set equal to each other to facilitate processing such as planning a path and marking a grid. Here, the first integer multiple can be set according to actual needs, such as being set in combination with the effective working width of the self-moving device. Generally speaking, the integer in the first integer multiple is at least greater than or equal to 2.

[0051] It should be noted that the planned path is usually planned from one side of the grid map. If the effective working width is an odd multiple of the grid size, the planned path can be located at the midline of the grid. The midline of the grid is used to divide the grid into two halves. Figure 6 As shown in , if the effective working width of the self-moving device is 5 times the grid width, path A can be set at the midline of the corresponding grid a, and path B can be set at the midline of the corresponding grid b. If the effective working width is an even multiple of the grid size, the planned path can be located at the boundary between two adjacent grids. The grid boundary is used to separate adjacent grids, such as Figure 7 As shown in , since the effective working width of the self-moving device is 6 times the grid width, the C path can be set at the boundary line between the adjacent grids a and b, and the D path can be set at the boundary line between the adjacent grids c and d.

[0052] Step S103: Control the self-moving device to work according to the planned path, and mark the grid covered by the effective working width of the self-moving device during the working process as the worked area on the grid map; the effective working width is the second integer multiple of the grid size.

[0053] It should be noted that the self-mobile device can control the self-mobile device to walk along the planned path through the walking device, and at the same time control the working part of the self-mobile device to work, so as to realize the control of the self-mobile device to work according to the planned path. The grid covered by the effective working width of the self-mobile device during the working process is marked as the working area on the grid map, which can be processed by the self-mobile device itself or the cloud server. If the self-mobile device marks the grid covered by the effective working width of the self-mobile device during the working process as the working area on the grid map, it can be specifically that the self-mobile device marks the grid covered by the effective working width of the self-mobile device during the working process as the working area on the grid map according to its own position. If the cloud server marks the grid covered by the effective working width of the self-mobile device during the working process as the working area on the grid map, it can be specifically that the self-mobile device sends a marking request including its own position and effective working width to the cloud server, so that the cloud server marks the grid covered by the effective working width of the self-mobile device during the working process as the working area on the grid map according to the marking request.

[0054] In the process of controlling the self-moving device to work according to the planned path, the grid covered by the effective working width of the self-moving device during the working process can be marked as the worked area on the grid map at the same time, so as to realize timely marking of the worked area. Here, since the effective working width is the second integer multiple of the grid size, and the interval distance of adjacent planned paths is the first integer multiple of the grid size, that is, the effective working width and the interval distance of adjacent planned paths can be the same or different integer multiples of the grid size, respectively, but the interval distance of adjacent planned paths cannot be greater than the effective working width. It can be understood that the planned path is planned from one side of the grid map, and the distance between the initial planned path and the boundary of one side of the grid map can be half of the effective working width, and the effective working width is an integer multiple of the grid size. At this time, the initial planned path is located at the boundary line of adjacent grids or the median line of the grid. Therefore, when working along the initial planned path, the grids covered by the effective working width of the self-moving device are an integer number of grids, and when working along other planned paths that are adjacent or not adjacent to the initial planned path, since the interval distance between adjacent planned paths is an integer multiple of the grid size, that is, the interval distance between other planned paths and the initial planned path is also an integer multiple of the grid size, it is ensured that the grids covered by the corresponding effective working width when the self-moving device works along other planned paths are also an integer number of grids. In other words, when the self-moving device works along the planned path, the corresponding worked area will not contain incomplete grids, so that all grids contained in the worked area can be marked each time, so as to achieve accurate marking of the worked area and avoid the situation where the grids cannot be marked in the worked area. At the same time, since the situation where unmarkable grids appear in the worked area is avoided, the self-moving device does not need to repeat the work on the worked part of the unmarkable grid or make incorrect marks on the unworked part of the unmarkable grid, thereby reducing duplication of work, improving work efficiency, and avoiding the self-moving device from missing the unworked part of the unmarkable grid.

[0055] For example, Figure 7 As shown in the figure, path C and path D are adjacent planned paths, and path C is at the boundary between adjacent grids a and b, while path D is at the boundary between adjacent grids c and d. The distance between path C and path D is 5 times the grid width, and the effective working width of the self-moving device is 6 times the grid width. Figure 7 The arrows in the figure indicate the direction of movement of the self-moving device when it moves along the C path and the D path. First, when the self-moving device moves along the C path and Figure 7When the self-moving device works in the area where the bottom row of grids is located, the grids covered by the effective working width of the self-moving device include grids e, f, g, h, i and j, that is, the corresponding worked area includes grids e, f, g, h, i and j, and grids e, f, g, h, i and j can be marked respectively; then, when the self-moving device moves along the D path with a distance of 5 times the grid width from the C path, and Figure 7 When the area where the bottom row of grids is located is working, the grids covered by the effective working width of the self-moving device include grids k, p, n, m, k and j, that is, the corresponding working area includes grids k, p, n, m, k and j, and the corresponding overlapping area includes grid j, and grids k, p, n, m and k can be marked respectively. It should be noted that for grid j included in the overlapping area, it can also be marked when the self-moving device is working along the D path.

[0056] The effective working width of the self-moving device may be adjustable or fixed. In addition, when the working part of the self-moving device is different, the effective working width of the self-moving device may also change accordingly. Here, the grid covered by the effective working width of the self-moving device during the working process is marked as the working area on the grid map, and the pixel value of the grid covered by the effective working width of the self-moving device during the working process on the grid map can be changed to a preset pixel, etc., which is not specifically limited here, as long as it can be distinguished from the grid in the non-working area.

[0057] It should be noted that the technical solution defined in the above steps S101 to S103 is the ideal solution of this application, that is, during the working process, the posture of the self-moving device has no deviation relative to the planned path, the self-moving device can work perfectly along the planned path, and the working area is the area covered by the effective working width along the planned path. However, when the self-moving device is actually working, on the basis of the planned path, the posture of the self-moving device may also be affected by the positioning error and / or heading error, and the actual path of the self-moving device is the path after the planned path is affected by the positioning error and / or heading error.

[0058] Since it is currently impossible to quantify the impact of positioning error and / or heading error on the path, the present application can only minimize the impact of positioning error and / or heading error on the actual path of the self-moving device and thus on the work results by setting the grid size. Therefore, the integers in the first integer multiple and the second integer multiple are preferably greater than or equal to 2. For example, taking the self-moving device as an automatic lawn mower, assuming that the effective working width includes two grids, if the automatic lawn mower is offset to the left relative to the planned path, only the left grid of the planned path can be marked; if the automatic lawn mower is offset to the right relative to the planned path, only the right grid of the planned path can be marked.

[0059] In summary, in the method provided by the above embodiment, by controlling the effective working width of the self-moving device and the spacing distance of the adjacent planned paths to be integer multiples of the grid size in the grid map, it is ensured that the corresponding worked area during each working process of the self-moving device along the planned path only contains complete grids, so that all grids contained in the worked area can be marked each time, which facilitates and accurately marks the grids corresponding to the worked area, avoids the situation where the grid cannot be marked in the worked area, and solves the problem of the prior art that the grid cannot be marked due to the work area containing incomplete grids. At the same time, since the situation of the grid cannot be marked in the worked area is avoided, the self-moving device does not need to repeatedly process the processed part of the grid that cannot be marked, which reduces repeated work, solves the problem of repeated processing due to the work area containing incomplete grids in the prior art, and improves work efficiency.

[0060] In a possible implementation, the target area includes an open area, where the open area is an area where the satellite positioning signal meets a preset quality requirement; in the open area, the first integer multiple is equal to the second integer multiple.

[0061] It can be understood that when the self-moving device works in an open area where the satellite positioning signal meets the preset quality requirements, it can be considered that the positioning accuracy is high at this time, and the actual path of the self-moving device can be regarded as consistent with the planned path. Therefore, when setting the planned path, the overlapping area of ​​the working area when the self-moving device works along the adjacent planned path can be ignored, that is, the problem of overlapping areas in the working area when the self-moving device works along the adjacent planned path is not considered, but the interval distance of the adjacent planned paths is directly set to be equal to the effective working width of the self-moving device, that is, the first integer multiple is set to be equal to the second integer multiple. Here, the satellite positioning signal meets the preset quality requirements and can be set according to actual needs, such as the intensity of the satellite positioning signal can be greater than the preset intensity threshold. In this way, in the open area, the first integer multiple is controlled to be equal to the second integer multiple, that is, the interval distance of the adjacent planned paths is equal to the effective working width of the self-moving device, so as to further reduce the area of ​​repeated work when the self-moving device works along the adjacent planned paths, thereby further improving the working efficiency of the self-moving device.

[0062] In a possible implementation, the target area includes a shadow area and / or a slope area, the shadow area is an area where the satellite positioning signal does not meet the quality requirements, and the slope area is an area where the slope angle value is equal to or greater than a preset slope angle value;

[0063] In the shadow area and / or slope area, the first integer multiple is smaller than the second integer multiple; the spacing distance is equal to the difference between the effective working width and the overlapping area width; the overlapping area width is used to characterize the width of the grid repeatedly covered by the effective working width when the self-moving device is working along adjacent planned paths, perpendicular to the direction of movement of the self-moving device.

[0064] It can be understood that when the self-moving device works in an area where the satellite positioning signal does not meet the preset quality requirements, that is, a shadow area, and / or an area where the slope angle value is equal to or greater than the preset slope angle value, that is, a slope area, it can be considered that the positioning accuracy is low at this time, and the actual path of the self-moving device may deviate from the planned path. Therefore, when setting the planned path, the overlapping area of ​​the working area when the self-moving device works along the adjacent planned path cannot be ignored, that is, the problem of overlapping areas of the working area when the self-moving device works along the adjacent planned path should be considered to avoid the existence of unworked areas between the adjacent planned paths after the self-moving device works along the adjacent planned paths. Therefore, the first integer multiple can be set to be less than the second integer multiple, that is, the interval distance of the adjacent planned paths is less than the effective working width of the self-moving device. At this time, the interval distance of the adjacent planned paths is equal to the difference between the effective working width and the width of the overlapping area, and the width of the overlapping area is used to characterize the width of the grid that is repeatedly covered by the effective working width when the self-moving device works along the adjacent planned paths, which is perpendicular to the moving direction of the self-moving device.

[0065] Among them, since the interval distance between adjacent planned paths is the first integer multiple of the grid size, and the effective working width is the second integer multiple of the grid size, and the interval distance between adjacent planned paths is equal to the difference between the effective working width and the width of the overlapped area, the width of the overlapped area is also an integer multiple of the grid size. In this way, in the shadow area and / or slope area, the first integer multiple is controlled to be smaller than the second integer multiple, that is, the interval distance between adjacent planned paths is equal to the difference between the effective working width of the self-moving device and the width of the overlapped area, so as to ensure that the self-moving device can process all the areas between adjacent planned paths, thereby improving the working quality and work efficiency of the self-moving device.

[0066] In a possible implementation, the planned path coincides with the midline of the effective working width. That is, when the self-moving device works along the planned path, half of the effective working width of the self-moving device is controlled to be located on the left side of the planned path, and the other half is located on the right side of the planned path.

[0067] In a possible implementation, the effective working width is the projection width of the working part of the self-moving device in a direction perpendicular to the moving direction of the self-moving device.

[0068] Among them, in the process of the self-moving device working along the planned path, usually only the projection width of the working part of the self-moving device perpendicular to the moving direction of the self-moving device is the actual working width, and the effective working width is the projection width of the working part of the self-moving device perpendicular to the moving direction of the self-moving device.

[0069] In a possible implementation, if the self-moving device includes a plurality of working parts, the effective working width is the sum of the projection widths of the plurality of working parts perpendicular to the moving direction of the self-moving device.

[0070] It can be understood that when the self-moving device includes multiple working parts, when the self-moving device is working, if each working part can fully cover the area within the coverage range of the corresponding working part, then the effective working width of the self-moving device can be considered to be the sum of the projection widths of the multiple working parts perpendicular to the forward direction of the self-moving device. Taking the self-moving device as an automatic lawn mower as an example, if the automatic lawn mower includes multiple blade discs placed side by side but not overlapping each other, and the blade discs are circular, then the effective working width of the automatic lawn mower can be considered to be the sum of the projection widths of the diameters of the multiple blade discs perpendicular to the forward direction of the self-moving device.

[0071] In one possible implementation, the effective working width is the difference between the projection width of the working part of the self-moving device perpendicular to the direction of movement of the self-moving device and the set working deviation. The working deviation is used to characterize the width of the area within the coverage range of the working part but not covered by the effective working width perpendicular to the direction of movement of the self-moving device.

[0072] It can be understood that when the self-moving device is working, affected by the working characteristics of the working part of the self-moving device itself and other factors, the working part of the self-moving device may not be able to achieve full coverage of the area within the coverage range of the working part, especially the edge area within the coverage range of the working part. At this time, the effective working width can be considered as the difference between the projection width of the working part of the self-moving device perpendicular to the moving forward direction of the self-moving device and the set working deviation, and the working deviation is used to characterize the width of the area within the coverage range of the working part but not covered by the effective working width perpendicular to the moving forward direction of the self-moving device. For example, the self-moving device is an automatic lawn mower, and the projection width of the working part of the automatic lawn mower perpendicular to the moving forward direction of the self-moving device is the diameter of the cutter disc. Since the grass is relatively soft, the cutter disc will bend the grass when the automatic lawn mower is mowing, resulting in the grass in the edge area within the coverage range of the cutter disc being unable to be cut by the cutter disc. At this time, the effective working width of the automatic lawn mower is less than the diameter of the cutter disc. It can be considered that the effective working width of the automatic lawn mower is the difference between the diameter of the cutter disc and the mowing working deviation. In this way, the effective working width of the self-moving device is determined according to the difference between the projection width of the working part of the self-moving device perpendicular to the moving direction of the self-moving device and the set working deviation, thereby improving the working quality of the self-moving device.

[0073] In a possible implementation, the method may further include:

[0074] Set the grid size according to the effective working width of the self-moving device.

[0075] It can be understood that the grid size can be set according to the effective working width of the self-moving device first, that is, the effective working width is the second integer multiple of the grid size, and then the grid map of the target area is established based on the set grid size, and the spacing distances of adjacent planned paths are planned according to the first integer multiple of the grid size, so as to ensure that the corresponding worked area only contains complete grids during each subsequent working process of the self-moving device along the planned path. In particular, when the effective working width of the self-moving device is fixed, the grid size is set according to the effective working width of the self-moving device first, and then the grid map of the target area is established based on the set grid size, and then the spacing distances of adjacent planned paths are planned according to the first integer multiple of the grid size, so as to ensure that the corresponding worked area only contains complete grids during each subsequent working process of the self-moving device along the planned path.

[0076] It should be noted that when the target area includes an open area, the grid size can be set only according to the effective working width of the self-mobile device, and when the target area includes a shadow area and / or a slope area, the grid size can be set according to the effective working width of the self-mobile device and the width of the overlapping area. In addition, if multiple grid sizes can be set according to the effective working width, the largest grid size is selected. And, if multiple grid sizes can be set according to the effective working width and the width of the overlapping area, the largest grid size is selected. It can be understood that when multiple grid sizes can be set according to the above requirements, among the multiple grid sizes, if the larger the selected grid size, the smaller the memory space required by the self-mobile device for storing grid map data, thereby saving memory space, reducing memory costs, and improving data processing efficiency; if the smaller the selected grid size, the more detailed the working area marked by the self-mobile device, and the smaller the possibility of missing processing. In practical applications, the appropriate grid size can be selected by balancing multiple requirements according to memory cost requirements, data processing efficiency requirements, and missing processing possibility requirements.

[0077] Based on the same inventive concept as the above embodiments, the above embodiments are described in detail below through a specific example. In this example, the self-moving device is an automatic lawn mower as an example.

[0078] The following is a brief description of the structure of the automatic lawn mower and the mowing process, as follows:

[0079] The automatic lawn mower is provided with a working part, i.e., a cutter disc. The cutter disc can be set on the median line of the length direction of the automatic lawn mower, or on either side of the left or right of the median line of the length direction of the lawn mower. According to the positional relationship between the midpoint of the cutter disc diameter and the median line of the lawn mower, the midpoint of the cutter disc diameter can be converted into the position of the automatic lawn mower on the grid map when planning the path, thereby performing mowing path planning.

[0080] When the automatic lawn mower mows the grass, it walks along the planned mowing path and must mark the mowed area on the grid map in real time by changing the pixel value of the mowed grid. For example, the pixel value of the unmowed grid can be set to 0, and after mowing, the pixel value of the mowed grid can be set to 1.

[0081] The process of the automatic lawn mower control method provided in this example mainly includes:

[0082] (1) Create a raster map

[0083] First, taking the grid as a square as an example, that is, the grid length is equal to the grid width, the resolution of the grid map can be set according to the effective cutting width, and the effective cutting width can be determined according to the blade diameter of the automatic lawn mower. For example, the effective cutting width can be equal to the blade diameter. The blade diameter can be the diameter of a blade, or it can be the sum of the projection widths of multiple blades perpendicular to the mowing direction of the automatic lawn mower. Here, the grid length r = blade diameter / n, where n is an integer greater than or equal to 1. If the effective cutting width of the automatic lawn mower is equal to the blade diameter, the automatic lawn mower marks the m grids every time it cuts the area corresponding to the m grids perpendicular to the mowing direction.

[0084] Since the grass is relatively soft, when the automatic lawn mower is mowing, the blade disc will bend the grass, causing the grass near the blade disc edge to be unable to be cut by the blade disc. Therefore, the actual cutting width of the blade disc (i.e., effective cutting width) may be smaller than the blade disc diameter, i.e., effective cutting width = blade disc diameter - mowing error. For example, assuming that the blade disc diameter is 30 cm, and the width that cannot be cut by the blade disc edge (i.e., mowing deviation) is 5 cm, then the effective cutting width is 25 cm.

[0085] It should be noted that, in order to reduce the memory required to store the grid map, when there are multiple optional grid sizes, the grid with the largest size is preferred to create the corresponding grid map. In addition, the above scheme can be applied to a part of the map, and the same planning does not need to be done for the entire map, for example, the area that is not cut temporarily does not need to be planned the same.

[0086] (2) Planning the mowing path

[0087] In open areas, the mowing path can be planned according to the effective cutting width. The center line of the path is the center line of the effective cutting width. The distance between the center lines of two adjacent mowing paths is the effective cutting width, and the effective cutting width is equal to the difference between the diameter of the cutter disc and the width that cannot be cut by the edge of the cutter disc.

[0088] In the shaded area or slope area, the mowing path is planned according to the effective cutting width. The center line of the path is the center line of the effective cutting width. The distance between the center lines of two adjacent mowing paths is the difference between the effective cutting width and the width of the overlapping area. The effective cutting width is equal to the difference between the diameter of the cutter disc and the width that cannot be cut by the edge of the cutter disc.

[0089] It can be understood that in the shadow area affected by the RTK positioning signal or the slope area where the RTK positioning signal deviates from the position on the slope, the RTK positioning accuracy decreases, and the positioning result of the automatic lawn mower may deviate randomly, resulting in the edge of the mowed area not actually being mowed when the automatic lawn mower cuts along the mowing path according to the positioning signal. To avoid missing cuts, the width of the overlapping area of ​​the cut areas corresponding to adjacent mowing paths when the automatic lawn mower cuts along adjacent mowing paths can be set according to the deviation of the positioning signal. At this time, taking the completion of the mowing work of two adjacent mowing paths as an example, the areas that the automatic lawn mower needs to mark include: the first worked area, the overlapping area, and the second worked area. The width of the first worked area is generally equal to the width of the second worked area.

[0090] At this time, the grid length r needs to satisfy the following conditions: r = the width of the first worked area / v and r = the width of the overlapped area / q, and v and q are integers greater than or equal to 1. If the width of the worked area corresponding to the first mowing path is equal to the blade diameter or the effective cutting width, and is 25 cm, and the width of the overlapped area is 5 cm, then r needs to satisfy r = 25 / v = 5 / q, that is, r is equal to 5 at most.

[0091] (3) Mow the grass according to the mowing path and mark the grid corresponding to the worked area

[0092] When the automatic lawn mower mows along the first mowing path, each time it cuts an area corresponding to [v+q] grids perpendicular to the mowing direction, it marks the [v+q] grids; when the automatic lawn mower mows along the second mowing path, each time it cuts an area corresponding to [v+q] grids perpendicular to the mowing direction, it marks the [v+q] grids, and so on. The q columns of grids corresponding to the overlapping areas will be marked twice.

[0093] For example, assuming that the effective cutting width of the automatic lawn mower is 5 grid widths, the adjacent mowing paths include path A and path B, the path centerline is the centerline of the effective cutting width, and the path centerline is located on the centerline of the grid. If in an open area, the distance between the centerlines of path A and path B can be the effective cutting width, that is, 5 grid widths, such as Figure 6 As shown, at this time, when the automatic lawn mower works along path A and path B respectively, the overlapping area of ​​the cut areas corresponding to path A and path B can be ignored, and the effective working width covers 5 complete grids.

[0094] Alternatively, assuming that the effective cutting width of the automatic lawn mower is 6 grid lengths, the adjacent mowing paths include path C and path D, the path centerline is the centerline of the effective cutting width, and the path centerline is located on the boundary line of adjacent grids. If in the shaded area, the spacing between the centerlines of path C and path D can be the difference between the effective cutting width and the width of the overlapped area, that is, 5 grid lengths, as Figure 7 As shown, when the automatic lawn mower works along the C path and the D path respectively, the overlapping area of ​​the cut areas corresponding to the C path and the D path only contains one complete grid, and the effective working width covers 6 complete grids.

[0095] In summary, in the method provided in the above embodiment, the grid size of the grid map is first determined according to the effective cutting width of the automatic lawn mower, and then the corresponding grid map is created according to the determined grid size. Then, the path is planned on the grid map according to the effective cutting width of the automatic lawn mower and the width of the overlapping area of ​​the cut area when working along the adjacent path. When the automatic lawn mower works in the working area along the planned path, it is ensured that the corresponding worked area only contains complete grids each time the automatic lawn mower works along the planned path, so that the automatic lawn mower can accurately mark the grids in the worked area, avoid the situation where the grids cannot be marked in the worked area, and avoid the situation of missed cutting and repeated cutting in the worked area to the greatest extent, thereby improving the work quality and work efficiency.

[0096] Based on the same inventive concept as the above embodiments, the embodiments of the present invention provide a self-moving device, such as Figure 8 As shown, the self-mobile device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 8 The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 8 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the control method of the self-moving device is implemented.

[0097] The self-moving device may also include: at least one network interface 312. The various components in the self-moving device are coupled together through a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in Figure 8 Various buses are labeled as bus system 313.

[0098] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0099] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the self-mobile device. Examples of these data include: any computer program used to operate on the self-mobile device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0100] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) or other memory; it may also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the control method of the above-mentioned self-moving device is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 5 The description of the illustrated embodiment will not be repeated here.

[0101] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0103] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A control method for a self-moving device, characterized in that: The method comprises: Acquire a grid map of a target area, wherein the grid map includes a plurality of grids, and the grids are set according to a grid size; Acquire a planned path of the mobile device in the grid map, wherein the interval between adjacent planned paths is a first integer multiple of the grid size; The self-moving device is controlled to work according to the planned path, and the grid covered by the effective working width of the self-moving device during the working process is marked as the worked area on the grid map; the effective working width is the second integer multiple of the grid size.

2. The method according to claim 1, characterized in that The target area includes an open area, and the open area is an area where the satellite positioning signal meets the preset quality requirements; In the open area, the first integer multiple is equal to the second integer multiple.

3. The method according to claim 1, characterized in that The target area includes a shadow area and / or a slope area, wherein the shadow area is an area where the satellite positioning signal does not meet the quality requirements, and the slope area is an area where the slope angle value is equal to or greater than a preset slope angle value; In the shadow area and / or the slope area, the first integer multiple is smaller than the second integer multiple; The spacing distance is equal to the difference between the effective working width and the width of the overlap area; The overlap area width is used to characterize the width of the grid repeatedly covered by the effective working width when the self-moving device is working along the adjacent planned paths, which is perpendicular to the moving direction of the self-moving device.

4. The method according to claim 1, characterized in that: The planned path coincides with a center line of the effective working width.

5. The method according to claim 1, characterized in that The effective working width is the projection width of the working part of the self-moving device perpendicular to the moving direction of the self-moving device.

6. The method according to claim 5, characterized in that If the self-moving device includes a plurality of working parts, the effective working width is the sum of the projection widths of the plurality of working parts perpendicular to the moving direction of the self-moving device.

7. The method according to claim 1, characterized in that The effective working width is the difference between the projection width of the working part of the self-moving device perpendicular to the moving direction of the self-moving device and the set working deviation. The working deviation is used to characterize the width of the area within the coverage range of the working part but not covered by the effective working width perpendicular to the moving direction of the self-moving device.

8. The method according to claim 1, characterized in that The grid size includes a grid length and / or a grid width.

9. The method according to claim 8, characterized in that If the grid size includes a grid length and a grid width, the grid length is equal to the grid width.

10. A self-propelled device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the computer program implements the method according to any one of claims 1 to 9 when executed by the processor.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the method according to any one of claims 1 to 9.

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