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

Abstract

The application discloses a control method of a self-moving device, which comprises the following steps: acquiring a grid map of a target area, wherein the grid map comprises a plurality of grids, and the grids are arranged according to a grid size; acquiring a planning path of the self-moving device in the grid map, wherein the interval distance between adjacent planning paths is a first integral multiple of the grid size; controlling the self-moving device to work according to the planning path, and marking the grids covered by the effective working width of the self-moving device in the working process in the grid map as worked areas; and the effective working width is a second integral multiple of the grid size. In this way, by controlling the effective working width of the self-moving device and the interval distance between adjacent planning paths to be integral multiples of the grid size in the grid map, it is ensured that the corresponding worked areas in the working process of the self-moving device along the planning path each time only contain complete grids, the corresponding grids of the worked areas are conveniently and accurately marked, and the working efficiency is improved.

Description

Technical Field

[0001] This 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 Technology

[0002] The resolution, or grid size, of a conventional raster map is usually set based on the required accuracy. That is, if higher accuracy is required, a larger resolution is set, and if lower accuracy is required, a smaller resolution is set.

[0003] During operation, the self-operated mobile device needs to mark the processed areas on the grid map to distinguish them from the unprocessed areas. Marking is done on a per-grid basis; that is, only the entire grid can be marked at a time. If the processed area contains incomplete grids, it's not possible to mark only the processed portion of that grid on the grid map. If the entire grid is marked, the unprocessed portion will be missed; if the entire grid is not marked, the processed portion will be processed repeatedly, impacting work efficiency. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a control method for 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, embodiments of this application provide a control method for a self-moving device, the method comprising:

[0007] Obtain a raster map of the target area, the raster map comprising multiple graticles, the graticles being set according to the graticle size;

[0008] Obtain the planned path of the self-moving device within 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 working area on the grid map; the effective working width is a second integer multiple of the grid size.

[0010] In one possible implementation, the target area includes an open area, which 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 one possible implementation, the target area includes a shaded area and / or a sloped area, wherein the shaded area is an area where the satellite positioning signal does not meet the quality requirements, and the sloped area is an area where the slope angle value is equal to or greater than a preset slope angle value;

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

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

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

[0016] In one possible implementation, the planned path coincides with the centerline of the effective working width.

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

[0018] In one possible implementation, if the self-moving device includes multiple working parts, the effective working width is the sum of the projected widths of the multiple working parts perpendicular to the forward movement 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 in the direction of movement perpendicular to the self-moving device and a set working deviation, wherein the working deviation is used to characterize the width of the area within the coverage of the working part but not covered by the effective working width in the direction of movement perpendicular to the self-moving device.

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

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

[0022] Secondly, embodiments of this application provide a self-moving device, including: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the steps of the above method are implemented.

[0023] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0024] The technical solution provided in this disclosure includes the following beneficial effects: By controlling the effective working width of the self-moving device and the interval distance between adjacent planned paths to be integer multiples of the grid size in the grid map, it is ensured that the corresponding working area of ​​the self-moving device during each working process along the planned path contains only complete grids. This allows all grids contained in the working area to be marked each time, facilitating accurate marking of the grids corresponding to the working area and avoiding situations where grids cannot be marked in the working area. This solves the problem in the prior art where grids cannot be marked due to the working area containing incomplete grids. Simultaneously, by avoiding situations where grids cannot be marked in the working area, the self-moving device does not need to repeat the processing of the already processed parts of the unmarkable grids, reducing repetitive work and solving the problem in the prior art where repetitive processing is caused by the working area containing incomplete grids, thus improving work efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram illustrating the working process of a self-moving device.

[0026] Figure 2 A schematic diagram illustrating the conversion of real-world coordinates into grids in a raster map;

[0027] Figure 3 This is a schematic diagram of how a self-moving device operates along a planned path in the prior art. Figure 1 ;

[0028] Figure 4 This is a schematic diagram of how a self-moving device operates along a planned path in the prior art. Figure 2 ;

[0029] Figure 5 A flowchart illustrating the control method for a self-moving device provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the self-moving device operating along the planned path in an embodiment of the present invention. Figure 1 ;

[0031] Figure 7 This is a schematic diagram of the self-moving device operating along the planned path in an embodiment of the present invention. Figure 2 ;

[0032] Figure 8 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present invention. Detailed Implementation

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0034] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0035] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0036] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0037] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0038] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0039] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0040] like Figure 1 As shown, the self-moving device 100 in this embodiment can move autonomously within the work area 200 to automatically perform tasks. The self-moving device can be an automatic lawnmower, automatic sprinkler, automatic fertilizer applicator, automatic sweeper, automatic snowplow, or other equipment suitable for unattended operation. These devices automatically move across the surface of the work area to perform tasks such as mowing, watering, fertilizing, vacuuming, or snow removal. Other equipment suitable for unattended operation are also possible, and this specification does not limit the specific type of device. The self-moving device performs specific functions through its working part, and the working part may differ between different self-moving devices. For example, the working part of an automatic lawnmower is a blade disc, the working part of an automatic sprinkler is a watering component, the working part of an automatic fertilizer applicator is a fertilizing component, and the working part of an automatic sweeper is a cleaning component. It should be noted that the self-moving device may also include a walking device such as wheels to drive the device, a power device such as a motor and a transmission structure connected to the motor to provide power for the movement and operation of the device, and a power supply device such as a battery pack to provide the energy required for the operation of the working part, walking device, and power 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, i.e., 1 / r, is larger; if a lower map accuracy is needed, the grid length r is set larger so that the resolution, i.e., 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, (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, due to the existing technology only setting 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, each 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. In the grid map, it is impossible to only mark the cut part of the grid. If the entire grid is marked, the uncut part of the grid will be missed; if the entire grid is not marked, the cut part of 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 where the direction indicated by the arrow is the forward movement direction of the automatic lawn mower. At this time, the areas that have been worked on (such as Figure 3(The area shown in the diagonal line) includes 2.5 grids on each side of path A. Since the worked area includes incomplete grids, if these incomplete grids are not marked, the cut portions within them will be repeatedly cut, reducing efficiency. Another issue is that when a Real-time Kinematic (RTK) automatic lawnmower operates in open areas, its high positioning accuracy results in minimal overlap between the cut areas of adjacent cutting paths, which can be ignored. However, when the automatic lawnmower operates in shaded areas where the RTK positioning signal is affected, or on uneven slopes, its lower positioning accuracy necessitates increasing the overlap between the cut areas of adjacent cutting paths to avoid missed areas. Since the resolution and grid size of the raster map are fixed before cutting, when an automatic lawnmower cuts along two adjacent paths, it needs to mark the first worked area, the overlapping area, and the second worked area separately. If any of these three areas contains incomplete grids, accurate marking of these three areas is impossible. For example, ... Figure 4 As shown, path A and path B are adjacent paths. Figure 4 The direction indicated by the middle arrow is the forward movement direction of the automatic lawnmower. Assuming the effective working width of the automatic lawnmower is 5 grids, the area cut along path A is the first working area (e.g., ...). Figure 4 The area shown in the diagonal line and the area that has been cut along path B are the second working area (as shown in the diagonal line). Figure 4 The area shown by the diagonal lines in the middle) includes 4.5 grids respectively, and the overlapping area of ​​the first and second worked areas (as shown in the figure) Figure 4 The area shown in the diagonal line includes 0.5 grid cells, which presents a problem where overlapping areas cannot be accurately marked.

[0043] Therefore, existing technologies need to address the problem of how to create a grid map that simultaneously meets the requirements of subsequent path planning and marking of cut areas. This ensures that after determining the grid size based on the path planning and marking requirements and creating the grid map, the automatic lawnmower will not suffer from missed mowing or low efficiency due to incomplete grids in the cut areas. Based on this, such as... Figure 5As shown, this application proposes a control method for a self-moving device. It should be noted that although this disclosure provides method operation steps as illustrated in the following embodiments or figures, the method may include more or fewer operation steps based on conventional or non-inventive effort. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this disclosure.

[0044] See Figure 5 This application provides a control method for a self-moving device. This method can be executed by a control device for the self-moving device, which can be implemented in software and / or hardware. In this embodiment, the self-moving device is used as the executing entity. The method provided in this embodiment includes:

[0045] Step S101: Obtain a raster map of the target area. The raster map includes multiple graticles, and the graticles are set according to the graticle size.

[0046] It should be noted that the raster map of the target area can be generated by the mobile device itself or by a cloud server. Correspondingly, 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 specifically retrieve 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 a cloud server, it can specifically send a map retrieval request to the cloud server to obtain the raster map of the target area, and receive the raster map of the target area sent by the cloud server in response to the map retrieval request. The specific operations for generating the raster map by the mobile device or the cloud server can be found in existing related technologies and will not be elaborated here.

[0047] The target area can be the area where the automated mobile device will operate. The type of target area can vary depending on the type of automated mobile device; for example, for an automated lawnmower, the target area can be a grassy area; for an automated sweeper, the target area can be a ground area, etc. The raster map of the target area can be a raster map containing only the target area, or it can be a raster map containing both the target area and other areas, such as adjacent areas of the target area.

[0048] Step S102: Obtain the planned path of the mobile device within the grid map, where 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 a mobile device within the grid map can be generated by the mobile device itself or by a cloud server. Correspondingly, the mobile device can obtain the planned path within the grid map from either itself or the cloud server. If the mobile device obtains the planned path from itself, it can specifically retrieve the planned path from its own storage device, such as a memory. If the mobile device obtains the planned path from the cloud server, it can specifically send a path retrieval request to the cloud server and receive the planned path within the grid map from the cloud server in response to the path retrieval request.

[0050] It is understandable that in order for a self-moving device to function normally or complete a specified task within a target area, it is necessary to control the self-moving device to work along a planned path within the target area. Therefore, before controlling the self-moving device, it is necessary to first obtain the planned path of the self-moving device within the grid map. There may be multiple planned paths within the grid map, and the locations of different planned paths are usually adjacent. Adjacent planned paths refer to the planned paths with the shortest geographical distance between each other within the grid map, such as... Figure 6 The diagram shows paths A and B. Here, grid size can include grid length and / or grid width. Grid length refers to the distance between two adjacent vertical boundaries in a grid map, and grid width refers to the distance between two adjacent horizontal boundaries in a grid map, such as... Figure 6 As shown in the diagram. Furthermore, if the grid size includes both grid length and grid width, the grid length can be set to be equal to the grid width to facilitate path planning and grid marking. Here, the first integer multiple can be set according to actual needs, such as combining it with the effective working width of the self-moving device. Generally, the integer in the first integer multiple is at least greater than or equal to 2.

[0051] It should be noted that path planning typically begins from one side of the raster map. If the effective working width is an odd multiple of the raster size, the planned path can be located at the raster's midline. The raster midline is used to divide the raster into two equal halves, such as... Figure 6 As shown, if the effective working width of the self-moving device is 5 times the grid width, then path A can be placed at the center line of corresponding grid a, and path B can be placed at the center line of 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 line between two adjacent grids. The grid boundary line is used to separate adjacent grids, such as... Figure 7 As shown, the effective working width of the self-moving device is 6 times the grid width. Therefore, path C can be set at the boundary line between adjacent grids a and b, while path D can be set at the boundary line between 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 working 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-moving device can be controlled by a walking device to move along a planned path, while simultaneously controlling the working part of the self-moving device to perform operations, thereby achieving operation control of the self-moving device according to the planned path. Marking the grid areas covered by the effective working width of the self-moving device during operation as worked areas on the grid map can be handled by the self-moving device itself or by the cloud server. If the self-moving device marks the grid areas covered by its effective working width as worked areas on the grid map, specifically, the self-moving device marks these areas based on its own position. If the cloud server marks these areas based on the effective working width of the self-moving device, specifically, the self-moving 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 areas covered by the effective working width of the self-moving device as worked areas on the grid map according to the marking request.

[0054] During the process of controlling the self-moving device according to the planned path, the grid area covered by the effective working width of the self-moving device can be marked as the working area on the grid map to achieve timely marking of the working area. Here, since the effective working width is a second integer multiple of the grid size, and the interval between adjacent planned paths is a first integer multiple of the grid size, the effective working width and the interval between adjacent planned paths can be the same or different integer multiples of the grid size, but the interval between adjacent planned paths cannot be greater than the effective working width. It can be understood that the planning path starts from one side of the raster map. The distance between the initial planned path and one boundary of the raster map can be half of the effective working width. The effective working width is an integer multiple of the raster size. At this point, the initial planned path is located at the boundary line of adjacent rasters or the midline of a raster. Therefore, when working along the initial planned path, the effective working width of the mobile device covers an integer number of rasters. When working along other planned paths that are adjacent or not adjacent to the initial planned path, since the interval between adjacent planned paths is an integer multiple of the raster size, that is, the interval between other planned paths and the initial planned path is also an integer multiple of the raster size, it is ensured that the effective working width of the mobile device working along other planned paths also covers an integer number of rasters. In other words, the working area corresponding to the mobile device working along the planned path will not contain incomplete rasters, allowing all rasters contained in the working area to be marked each time, achieving accurate marking of the working area and avoiding situations where rasters in the working area cannot be marked. Meanwhile, by avoiding the occurrence of unmarkable grids in the already worked area, the self-moving device does not need to repeat the work on the already worked parts of the unmarkable grid or incorrectly mark the unworked parts of the unmarkable grid, thereby reducing repetitive work, improving work efficiency, and also preventing the self-moving device from missing the unworked parts of the unmarkable grid.

[0055] For example, such as Figure 7 As shown, paths C and D are adjacent planned paths. Path C is located at the boundary between adjacent grids a and b, while path D is located at the boundary between adjacent grids c and d. The distance between paths C and D is 5 times the grid width. The effective working width of the self-moving device is 6 times the grid width. Figure 7 The arrows indicate the direction of movement of the self-moving device along path C and path D, respectively. First, when the self-moving device moves along path C and... Figure 7When working on the area containing the bottom row of grid cells, the effective working width of the self-moving device covers grid cells e, f, g, h, i, and j. That is, the corresponding worked area includes grid cells e, f, g, h, i, and j, and grid cells e, f, g, h, i, and j can be marked respectively. Then, when the self-moving device moves along path D, which is five times the grid width away from path C, and... Figure 7 When working in the area containing the bottom row of grid cells, the effective working width of the self-moving device covers grids k, p, n, m, k, and j. That is, the corresponding worked area includes grids k, p, n, m, k, and j, and the corresponding overlapping area includes grid j. Grids k, p, n, m, and k can be marked individually. It should be noted that grid j, which is included in the overlapping area, can also be marked when the self-moving device works along path D.

[0056] The effective working width of the self-moving device can be adjustable or fixed. Furthermore, the effective working width of the self-moving device may change depending on the location of its operation. Here, the grid cells covered by the effective working width of the self-moving device during operation are marked as the worked area on the grid map. This can be achieved by changing the pixel values ​​of the grid cells covered by the effective working width of the self-moving device during operation to preset pixels, etc. No specific limitations are imposed here, as long as they can be distinguished from grid cells in the unworked area.

[0057] It should be noted that the technical solutions defined in steps S101 to S103 above are ideal solutions of this application, that is, during operation, the pose of the self-moving device is without deviation from the planned path, the self-moving device can work perfectly along the planned path, and the worked area is the area covered by the effective working width along the planned path. However, when the self-moving device is actually working, the pose of the self-moving device may also be affected by positioning errors and / or heading errors based on the planned path. The actual path of the self-moving device is the path after the planned path is affected by positioning errors and / or heading errors.

[0058] Since the impact of positioning and / or heading errors on the path cannot currently be quantified, this application can only minimize the impact of positioning and / or heading errors on the actual path of the automated mobile device and thus on the work results by setting the grid size. Therefore, the integers in the first and second integer multiples are preferably greater than or equal to 2. For example, taking an automated lawnmower as an example, assuming the effective working width includes two grids, if the automated lawnmower shifts to the left relative to the planned path, only the left grid of the planned path can be marked; if the automated lawnmower shifts to the right relative to the planned path, only the right grid of the planned path can be marked.

[0059] In summary, the method provided in the above embodiments, by controlling the effective working width of the self-moving device and the interval distance between adjacent planned paths to be integer multiples of the grid size in the grid map, ensures that the working area corresponding to each working process of the self-moving device along the planned path contains only complete grids. This allows all grids within the working area to be marked each time, facilitating accurate marking of the grids corresponding to the working area and avoiding situations where grids in the working area cannot be marked. This solves the problem in the prior art where grids cannot be marked due to incomplete grids in the working area. Furthermore, by avoiding situations where grids in the working area cannot be marked, the self-moving device does not need to repeat the processing of the already processed portions of the unmarkable grids, reducing repetitive work and solving the problem in the prior art where repetitive processing is caused by incomplete grids in the working area, thus improving work efficiency.

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

[0061] It is understandable that when an automated mobile device operates within an open area where the satellite positioning signal meets the preset quality requirements, the positioning accuracy is considered high. The actual path of the automated mobile device can be considered consistent with the planned path. Therefore, when setting the planned path, the overlapping areas of the areas already worked along adjacent planned paths can be ignored. That is, the issue of overlapping areas in the areas already worked along adjacent planned paths is not considered. Instead, the interval between adjacent planned paths is directly set to equal the effective working width of the automated mobile device; that is, the first integer multiple is equal to the second integer multiple. Here, the preset quality requirements for satellite positioning signals can be set according to actual needs, such as the signal strength being greater than a preset strength threshold. Thus, in open areas, controlling the first integer multiple to equal the second integer multiple—that is, the interval between adjacent planned paths equaling the effective working width of the automated mobile device—further reduces the area of ​​repeated work when the automated mobile device operates along adjacent planned paths, thereby further improving the working efficiency of the automated mobile device.

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

[0063] In shaded and / or sloped areas, the first integer multiple is less than the second integer multiple; the interval 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 that is repeatedly covered by the effective working width during the operation of the self-moving device along adjacent planned paths, perpendicular to the direction of movement of the self-moving device.

[0064] It is understandable that when an automated mobile device operates in areas where satellite positioning signals do not meet preset quality requirements (i.e., shadowed areas) and / or in areas where the slope angle is equal to or greater than the preset slope angle (i.e., slope areas), the positioning accuracy is considered low, and the actual path of the automated mobile device may deviate from the planned path. Therefore, when setting the planned path, the overlapping area of ​​the already worked area when the automated mobile device operates along adjacent planned paths cannot be ignored. That is, the issue of overlapping areas when the automated mobile device operates along adjacent planned paths must be considered to avoid unworked areas between adjacent planned paths after the automated mobile device has worked along them. Therefore, a first integer multiple can be set less than a second integer multiple, meaning the interval distance between adjacent planned paths is less than the effective working width of the automated mobile device. In this case, the interval distance between adjacent planned paths is equal to the difference between the effective working width and the width of the overlapping area. The width of the overlapping area is used to characterize the width of the grid perpendicular to the direction of movement of the automated mobile device, which is repeatedly covered by the effective working width during the operation of the automated mobile device along adjacent planned paths.

[0065] Specifically, since the interval between adjacent planned paths is a first integer multiple of the grid size, and the effective working width is a second integer multiple of the grid size, and the interval between adjacent planned paths equals the difference between the effective working width and the width of the overlapping area, the width of the overlapping area is also an integer multiple of the grid size. Thus, in shaded areas and / or sloped areas, the first integer multiple is controlled to be less than the second integer multiple; that is, the interval between adjacent planned paths equals the difference between the effective working width of the self-moving device and the width of the overlapping area. This ensures that the self-moving device can process the entire area between adjacent planned paths, improving the working quality and efficiency of the self-moving device.

[0066] In one possible implementation, the planned path coincides with the centerline 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 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 one possible implementation, the effective working width is the projected width of the working part of the self-moving device in a direction perpendicular to the movement direction of the self-moving device.

[0068] In the process of the self-moving device working along the planned path, usually only the projected width of the working part of the self-moving device in the direction perpendicular to the movement direction of the self-moving device is the actual working width. Therefore, the effective working width is the projected width of the working part of the self-moving device in the direction perpendicular to the movement direction of the self-moving device.

[0069] In one possible implementation, if the self-moving device includes multiple working parts, the effective working width is the sum of the projected widths of the multiple working parts in a direction perpendicular to the forward movement direction of the self-moving device.

[0070] It can be understood that when a self-moving device comprises multiple working units, if each working unit can fully cover the area within its coverage area during operation, the effective working width of the self-moving device can be considered the sum of the projected widths of the multiple working units perpendicular to the direction of movement of the self-moving device. Taking an automatic lawnmower as an example, if the automatic lawnmower comprises multiple blades placed side by side but not overlapping, and the blades are circular, then the effective working width of the automatic lawnmower can be considered the sum of the projected widths of the diameters of the multiple blades perpendicular to the direction of movement of the self-moving device.

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

[0072] It is understandable that when an automated mobile device is operating, due to factors such as the inherent characteristics of its working part, the working part may not be able to achieve full coverage of the area within its coverage range, especially the edge areas within that range. In this case, the effective working width can be considered the difference between the projected width of the working part perpendicular to the device's direction of movement and the set working deviation. The working deviation characterizes the width of the area within the working part's coverage range but not covered by the effective working width, perpendicular to the device's direction of movement. For example, if the automated mobile device is an automatic lawnmower, and the projected width of the working part perpendicular to the direction of movement is the diameter of the blades, the blades will bend the soft grass during mowing, preventing the cutting of grass at the edges of the blades' coverage range. In this case, the effective working width of the automatic lawnmower is less than the blade diameter; therefore, the effective working width can be considered the difference between the blade diameter and the mowing working deviation. Thus, the effective working width of the self-moving device is determined based on the difference between the projected width of the working part of the self-moving device in the direction 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 one possible implementation, the method may further include:

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

[0075] It is understandable that the grid size can be set first based on the effective working width of the self-moving device (i.e., the effective working width is a second integer multiple of the grid size). Then, a grid map of the target area is built based on the set grid size, and the interval distance of adjacent planned paths is planned based on a first integer multiple of the grid size. This ensures that the corresponding worked area of ​​the self-moving device each time it works along the planned path contains only complete grid cells. Specifically, when the effective working width of the self-moving device is fixed, the grid size is first set based on the effective working width, then a grid map of the target area is built based on the set grid size, and then the interval distance of adjacent planned paths is planned based on a first integer multiple of the grid size. This ensures that the corresponding worked area of ​​the self-moving device each time it works along the planned path contains only complete grid cells.

[0076] It should be noted that when the target area includes open areas, the grid size can be set solely based on the effective working width of the mobile device. However, when the target area includes shaded and / or sloping areas, the grid size can be set based on both the effective working width of the mobile device and the width of the overlapping area. Furthermore, if multiple grid sizes can be set based on the effective working width, the largest grid size should be selected. Similarly, if multiple grid sizes can be set based on both the effective working width and the width of the overlapping area, the largest grid size should be selected. It is understood that when multiple grid sizes can be set according to the above requirements, a larger grid size will require less memory space for the mobile device to store the raster map data, thus saving memory space, reducing memory costs, and improving data processing efficiency. Conversely, a smaller grid size will result in more detailed marking of the work area by the mobile device, reducing the possibility of missed processing. In practical applications, a suitable grid size can be selected by balancing various needs, such as memory cost requirements, data processing efficiency requirements, and requirements regarding the possibility of missed processing.

[0077] Based on the same inventive concept as the foregoing embodiments, the foregoing embodiments will be described in detail below through a specific example, in which an automatic lawnmower is taken as an example of a self-moving device.

[0078] The following is a brief explanation of the structure and mowing process of an automatic lawnmower:

[0079] Automatic lawnmowers are equipped with a working part, namely the cutter head. The cutter head can be set on the center line of the length direction of the automatic lawnmower, or it can be set on either the left or right side of the center line of the length direction of the lawnmower. Based on the positional relationship between the midpoint of the cutter head diameter and the center line of the lawnmower, the midpoint of the cutter head diameter can be converted into the position of the automatic lawnmower on the grid map when planning the path, and then the mowing path can be planned.

[0080] When an automatic lawnmower is mowing, it travels along the planned mowing path and must mark the mowed areas on the grid map in real time. The marking method is to change 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 controlling the automatic lawnmower provided in this example mainly includes:

[0082] (1) Create a raster map

[0083] First, taking a square grid as an example, where the grid length equals the grid width, the resolution of the grid map can be set based on the effective cutting width. The effective cutting width can be determined based on the diameter of the automatic lawnmower's blades; for example, the effective cutting width can be equal to the blade diameter. The blade diameter can be the diameter of a single blade or the sum of the projected widths of multiple blades perpendicular to the mowing direction. Here, we denote 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 lawnmower is equal to the blade diameter, then for every m grids the automatic lawnmower cuts perpendicular to the mowing direction, those m grids are marked.

[0084] Because grass is relatively soft, the blades of an automatic lawnmower bend the grass during mowing, causing some grass near the edge of the blades to be missed. Therefore, the actual cutting width (i.e., the effective cutting width) may be smaller than the blade diameter. In other words, the effective cutting width = blade diameter - cutting error. For example, assuming the blade diameter is 30cm and the uncut width (cutting deviation) at the edge of the blade is 5cm, the effective cutting width is 25cm.

[0085] It should be noted that, to reduce the memory required to store the raster map, when multiple raster sizes are available, the largest raster size is selected first to create the corresponding raster map. Furthermore, the above approach can be applied to local areas of the map; the entire map does not need to undergo the same planning. For example, areas that are not currently being cut do not require the same planning.

[0086] (2) Planning the mowing path

[0087] In open areas, mowing paths can be planned based on the effective cutting width. The centerline of the path is the centerline of the effective cutting width, and the distance between the centerlines of two adjacent mowing paths is the effective cutting width. The effective cutting width is equal to the difference between the diameter of the blade and the width that the edge of the blade cannot cut.

[0088] In shaded or sloping areas, the mowing path is planned based on the effective cutting width. The centerline of the path is the centerline of the effective cutting width. The distance between the centerlines 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 head and the width that the edge of the cutter head cannot cut.

[0089] It is understandable that in shaded areas where the RTK positioning signal is affected, or on slopes where the RTK positioning signal deviates from the slope position, the RTK positioning accuracy decreases. This can lead to random deviations in the positioning results of the automatic lawnmower, causing the edges of already-cut areas to remain uncut when the automatic lawnmower cuts along the mowing path according to the positioning signal. To avoid missed cuts, the width of the overlapping area between adjacent mowing paths can be set based on the positioning signal deviation. For example, taking the completion of mowing two adjacent paths as an example, the areas the automatic lawnmower needs to mark include: a first worked area, an overlapping area, and a second worked area. The width of the first worked area is generally equal to the width of the second worked area.

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

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

[0092] When the automatic lawnmower cuts grass along the first cutting path, it marks the [v+q] grids after cutting the area corresponding to each [v+q] grid perpendicular to the cutting direction. When the automatic lawnmower cuts grass along the second cutting path, it marks the [v+q] grids after cutting the area corresponding to each [v+q] grid perpendicular to the cutting direction, and so on. The q columns of grids corresponding to overlapping areas will be marked twice.

[0093] For example, suppose an automatic lawnmower has an effective cutting width of 5 grid squares. Adjacent mowing paths include path A and path B, with the path centerline being the centerline of the effective cutting width and located on the center line of the grid squares. In an open area, the distance between the centerlines of path A and path B can be the effective cutting width, i.e., 5 grid squares. Figure 6 As shown, when the automatic lawnmower 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, suppose the effective cutting width of the automatic lawnmower is 6 grid lengths, and adjacent mowing paths include paths C and D, with the path centerline being the centerline of the effective cutting width, and the path centerline located on the boundary line between adjacent grids. If in the shaded area, the distance between the centerlines of paths C and D can be the difference between the effective cutting width and the width of the overlapping area, i.e., 5 grid lengths. Figure 7 As shown, when the automatic lawnmower works along paths C and D respectively, the overlapping area of ​​the cut areas corresponding to paths C and D contains only one complete grid, and the effective working width covers six complete grids.

[0095] In summary, the method provided in the above embodiments first determines the grid size of the grid map based on the effective cutting width of the automatic lawnmower. Then, a corresponding grid map is created based on the determined grid size. Next, a path is planned on the grid map based on the effective cutting width of the automatic lawnmower and the width of the overlapping area of ​​the cut areas when working along adjacent paths. This ensures that when the automatic lawnmower works along the planned path within the working area, the corresponding working area contains only complete grids each time the automatic lawnmower works along the planned path. This enables the automatic lawnmower to accurately mark the grids in the working area, avoiding situations where grids cannot be marked in the working area. This minimizes the occurrence of missed cutting and repeated cutting in the working area, improving work quality and efficiency.

[0096] Based on the same inventive concept as the foregoing embodiments, this embodiment of the invention provides a self-moving device, such as... Figure 8 As shown, the self-moving device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 8 The processor 310 shown in the diagram does not indicate that there is only one processor 310, but only indicates the positional relationship of the processor 310 relative to other devices. In practical applications, there can be one or more processors 310; similarly, Figure 8 The memory 311 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 311 relative to other devices. In practical applications, there can be one or more memories 311. When the processor 310 runs the computer program, the control method of the self-moving device described above 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 via a bus system 313. It is understood that the bus system 313 is used to implement communication between these components. In addition to a data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 8 The general designated all buses as Bus System 313.

[0098] The memory 311 can be volatile memory or non-volatile memory, or both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); the magnetic surface memory can be disk storage or magnetic tape storage. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but 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), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).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 memory.

[0099] The memory 311 in this embodiment of the invention is used to store various types of data to support the operation of the self-moving device. Examples of this data include: any computer programs used to operate on the self-moving device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as a framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0100] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer storage medium storing a computer program. The computer storage medium can be a magnetic 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 disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer storage medium is executed by a processor, it implements the aforementioned self-moving device control method. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 5 The description of the illustrated embodiments will not be repeated here.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0103] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a self-moving device, characterized in that, The method includes: Obtain a raster map of the target area, the raster map comprising multiple graticles, the graticles being set according to the graticle size; Obtain the planned path of the self-moving device within 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 grids covered by the effective working width of the self-moving device during the working process are marked as the worked areas on the grid map; the effective working width is a second integer multiple of the grid size. The target area includes a shaded area, which is the area where the satellite positioning signal does not meet the quality requirements; In the shaded area, the first integer multiple is less than the second integer multiple; wherein, the integers in the first integer multiple and the second integer multiple are both greater than or equal to 2; The interval distance is equal to the difference between the effective working width and the width of the overlapping area; The overlapping area width is used to characterize the width of the grid that is repeatedly covered by the effective working width during the operation of the self-moving device along adjacent planned paths, which is perpendicular to the direction of movement of the self-moving device.

2. The method according to claim 1, characterized in that, The target area includes an open area, which 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 slope area, which is an area where the slope angle value is equal to or greater than a preset slope angle value; In the slope region, the first integer multiple is less than the second integer multiple; The interval distance is equal to the difference between the effective working width and the width of the overlapping area; The overlapping area width is used to characterize the width of the grid that is repeatedly covered by the effective working width during the operation of the self-moving device along adjacent planned paths, which is perpendicular to the direction of movement of the self-moving device.

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

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

6. The method according to claim 5, characterized in that, If the self-moving device includes multiple working parts, then the effective working width is the sum of the projected widths of the multiple working parts in a direction perpendicular to the forward movement 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 projected width of the working part of the self-moving device in the direction of movement perpendicular to the self-moving device and the set working deviation. The working deviation is used to characterize the width of the area within the coverage of the working part but not covered by the effective working width in the direction of movement perpendicular to the self-moving device.

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

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

10. A self-moving 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, when executed by the processor, implements the method as described in any one of claims 1 to 9.

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 as described in any one of claims 1 to 9.

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