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

Abstract

According to the control method and device of the self-moving equipment, the equipment and the readable storage medium provided by the embodiment of the invention, the self-moving equipment executes the operation task and creates the signal map for the target area, and the signal map comprises the strong signal area and the weak signal area. And then, the self-moving equipment is controlled to advance to the weak signal area according to the signal map, and the operation task is executed again in the weak signal area. Obviously, because the self-moving equipment executes the operation task twice in the weak signal area, the working quality of the weak signal area can be improved. According to the scheme, after the self-moving device completes the traversal operation every time, the signal map is created for the target area according to whether the position information obtained when the self-moving device communicates with the base station or the satellite in the traversal process meets the preset condition or not; and performing secondary execution of the operation task in the weak signal area in the signal map so as to achieve the purpose of improving the working quality of the weak signal area.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular to a control method, apparatus, device, and readable storage medium for a self-moving device. Background Art

[0002] Real-time kinematic (RTK) positioning technology is a high-precision positioning method based on the Global Navigation Satellite System (GNSS). It is widely used in the positioning technology of autonomous mobile devices such as lawn mowing robots and electric cruise robots.

[0003] To achieve RTK positioning, a fixed base station needs to be set up. The base station is used to provide RTK signals for the self-moving device. The self-moving device uses the positioning module to obtain positioning information during its movement, and uses the RTK signal to correct the positioning information to obtain RTK positioning. This RTK positioning is often at the centimeter level, that is, the accuracy is very high.

[0004] However, although RTK positioning has high accuracy, it is easily affected by the obstruction of houses and trees. Once affected, the RTK signal is weak and the positioning accuracy is poor, resulting in some areas being missed during the operation of the self-moving device. Therefore, when using RTK positioning, how to control the movement of the self-moving device to reduce the missed areas is considered an urgent problem to be solved. Summary of the invention

[0005] The embodiments of the present application provide a control method, apparatus, device and readable storage medium of a self-moving device, which creates a signal map for a target area and performs secondary work in a weak signal area in the signal map to improve the work quality in the weak signal area.

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

[0007] Control the self-moving device to perform the operation task, and create a signal map for the target area according to the communication signal, wherein the communication signal is used to determine the location information of the self-moving device, and the signal map includes a weak signal area and a strong signal area, wherein the weak signal area is an area where the location information of the self-moving device does not meet the preset conditions, and the strong signal area is an area where the location information of the self-moving device meets the preset conditions;

[0008] The self-mobile device is controlled to move to the weak signal area according to the signal map, and the operation task is performed again in the weak signal area.

[0009] In a second aspect, an embodiment of the present application provides a control device, the control device comprising:

[0010] A processing module, used for controlling the self-moving device to perform the operation task;

[0011] A creation module, used to create a signal map for a target area according to a communication signal, wherein the signal map includes a weak signal area and a strong signal area, wherein the communication signal is used to determine the location information of the self-mobile device, wherein the weak signal area is an area where the location information of the self-mobile device does not meet a preset condition, and the strong signal area is an area where the location information of the self-mobile device meets a preset condition;

[0012] A moving module, used for controlling the mobile device to move to the weak signal area according to the signal map;

[0013] The processing module is also used to control the self-moving device to perform the operation task again in the weak signal area.

[0014] In a third aspect, an embodiment of the present application provides a self-mobile device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the method described in the first aspect or various possible implementations of the first aspect.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method described in the first aspect or various possible implementation methods of the first aspect.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computing program, and when the computer program is executed by a processor, the method described in the first aspect or various possible implementation methods of the first aspect is implemented.

[0017] The control method, device, equipment and readable storage medium of the self-mobile device provided by the embodiment of the present application, the control method, device, equipment and readable storage medium of the self-mobile device, the self-mobile device performs the operation task and creates a signal map for the target area, the signal map includes a strong signal area and a weak signal area, the weak signal area is an area where the location information of the self-mobile device does not meet the preset conditions, and the strong signal area is an area where the location information of the self-mobile device meets the preset conditions. Afterwards, the self-mobile device controls the self-mobile device to move to the weak signal area according to the signal map, and performs the operation task again in the weak signal area. Obviously, since the self-mobile device performs the operation task twice in the weak signal area, the work quality of the weak signal area can be improved. With this scheme, after each traversal operation is completed by the self-mobile device, a signal map is created for the target area according to whether the location information obtained during the traversal process with the base station or the satellite communication meets the preset conditions, and the operation task is performed twice in the weak signal area in the signal map to achieve the purpose of improving the work quality of the weak signal area. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of an implementation environment of a control method for a mobile device provided in an embodiment of the present application;

[0020] Figure 2 is a flow chart of a method for controlling a self-moving device provided in an embodiment of the present application;

[0021] Figure 3A is a schematic diagram of a signal map in a control method for a mobile device provided in an embodiment of the present application;

[0022] Figure 3B is another schematic diagram of a signal map in a control method for a mobile device provided in an embodiment of the present application;

[0023] Figure 3C is another schematic diagram of a signal map in a control method for a mobile device provided in an embodiment of the present application;

[0024] Figure 3D is another schematic diagram of a signal map in a control method for a mobile device provided in an embodiment of the present application;

[0025] Figure 4It is a schematic diagram of the process of creating a signal map in a control method of a mobile device provided in an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of the trajectory in a weak signal area in the control method of a self-moving device provided in an embodiment of the present application;

[0027] Figure 6 is another flow chart of a method for controlling a self-moving device provided in an embodiment of the present application;

[0028] Figure 7 is a schematic diagram of a control device provided in an embodiment of the present application;

[0029] Figure 8 A schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] RTK positioning technology is often used in the field of robotics. RTK positioning is a high-precision positioning method based on GNSS. RTK positioning technology uses the carrier phase observation value in the satellite signal to achieve centimeter-level positioning accuracy, usually with an error of less than 2 centimeters (cm). Therefore, RTK positioning technology is widely used in robotics, surveying, drones, autonomous driving and other fields.

[0031] To achieve RTK positioning, a fixed base station needs to be set up, and the RTK signal from the base station needs to be transmitted to the robot to achieve centimeter-level positioning accuracy. This positioning refers to positioning relative to the base station.

[0032] Taking a lawnmower robot as an example, a lawnmower robot based on RTK positioning obtains its current position through satellite signals and RTK signals from the base station. When both the base station and the lawnmower robot are in an open area, the RTK signal is strong on the open area, so the lawnmower robot can receive a strong RTK signal and accurately locate itself, thereby completing the mowing task. However, although RTK positioning has high accuracy, it is easily affected by the obstruction of houses and trees. For example, if there are trees, walls, iron objects, etc. near the base station, the RTK signal will be reflected or decayed, causing the RTK signal received by the mobile device to be interrupted or the received RTK signal to be inaccurate. For another example, if the receiver on the mobile device is covered by debris, it will also affect the reception of the RTK signal by the mobile device.

[0033] The areas affected by the RTK signal are often called weak signal areas. Self-driving devices equipped with RTK positioning functions cannot accurately locate in weak signal areas, resulting in missed areas. For example, the self-driving device is an automatic lawn mower. When the automatic lawn mower mows in a weak signal area, the missed mowing rate increases, that is, there are more missed mowing areas.

[0034] In order to reduce the number of missed areas, the traditional approach is: after the automatic lawn mower finds that the RTK signal is weak, it chooses a direction to move. During the movement, it continuously detects whether the current position is a strong signal area. After reaching the strong signal area, it uses the current RTK signal to correct its own position. After that, it returns to the weak signal area to continue working.

[0035] In the above method, once a weak signal area appears, a direction is randomly selected to travel to reach a strong signal area and correct its own position, which seriously affects work efficiency.

[0036] Based on this, the embodiments of the present application provide a control method, apparatus, device and readable storage medium, which creates a signal map for the target area from a mobile device, and performs secondary work in the weak signal area in the signal map to achieve the purpose of improving the work quality in the weak signal area.

[0037] Figure 1 Schematic diagram of the implementation environment of the control method of the self-equipment device provided in the embodiment of the present application. Figure 1 The implementation environment includes: a self-mobile device 11, a base station 12, and a maintenance station 13. A network connection is established between the self-mobile device 11 and the base station 12, and the base station 12 is used to provide an RTK signal for the self-mobile device 11. The self-mobile device 11 obtains positioning information using a positioning module during its movement, and corrects the positioning information using the RTK signal to obtain RTK positioning.

[0038] The self-mobile device 11 is also called a mobile station, a robot, an autonomous mobile device, etc. It is a device that can autonomously move in a target area and perform work tasks based on an environmental map, including but not limited to a lawn mowing robot, an outdoor navigation robot, a patrol robot, etc.

[0039] The reference station 12 is also called an RTK reference station, and is used to provide an RTK signal to the self-moving device 11 . The reference station 12 is usually fixed and set in an open location.

[0040] The maintenance station 13 is also called a base station, a pedestal, a charging station, etc., and is usually arranged at a fixed position. The mobile device 11 performs maintenance work such as charging and cleaning at the maintenance station 13 .

[0041] Figure 2 Flow chart of the control method of the self-moving device provided in the embodiment of the present application. The execution subject of this embodiment is the self-moving device. This embodiment includes:

[0042] 201. Control the self-mobile device to perform a task, and create a signal map for a target area according to the communication signal.

[0043] The signal map includes a weak signal area and a strong signal area, the weak signal area is an area where the location information of the self-mobile device does not meet the preset conditions, and the strong signal area is an area where the location information of the self-mobile device meets the preset conditions.

[0044] In the embodiment of the present application, the target area is the area where the self-mobile device is currently working. For example, if the self-mobile device is an automatic lawn mower and is currently mowing lawn A, lawn A is the target area. The self-mobile device traverses the target area to perform the task, and creates a signal map while performing the task, or creates a signal map after completing the task.

[0045] On the one hand, the mobile device communicates with the satellite to obtain positioning information, and on the other hand, obtains the RTK signal from the base station, and uses the RTK signal to correct the positioning information, thereby outputting the position information, i.e., RTK positioning. The above-mentioned communication signal is the positioning information and / or the RTK signal. If at least one of the positioning information and / or the RTK signal is inaccurate, the RTK positioning obtained based on the positioning information and the RTK signal is a non-fixed solution.

[0046] In the embodiment of the present application, the signal map is a map that matches the environment map, that is, the shape and size of the signal map are the same as those of the environment map, and the signal map includes weak signal areas and strong signal areas. When there is a weak signal area in the target area, the shape, position, etc. of the weak signal area are displayed in the signal map, and the remaining areas except the weak signal area are strong signal areas; when there is no weak signal area in the target area, the entire area represented by the signal map is a strong signal area, and the signal map is blank or only displays the moving track of the self-equipped device.

[0047] It is understandable that in other embodiments, the self-mobile device can also adopt an ultra-wideband (UWB) positioning method, for example, multiple beacons are set in the target area, and these beacons can be set around or inside the target area. The self-mobile device is provided with a marking device for communicating with the beacon, and the accurate coordinates of the self-mobile device are calculated by calculating the position information between the marking device and each beacon. Due to the complex terrain outdoors, when the communication signal strength between the self-mobile device and each beacon is weakened by obstacles and the accurate position information of the self-mobile device cannot be obtained, the self-mobile device determines the strength of the communication signal between the beacon device. When the strength of the communication signal is less than or equal to the preset value, it is determined that the position indicated by the position information belongs to a weak signal area; when the strength of the communication signal is greater than the preset value, it is determined that the position indicated by the position information belongs to a strong signal area.

[0048] Figure 3A This is a schematic diagram of a signal map in a control method for a mobile device provided in an embodiment of the present application. Figure 3A , there are an elliptical weak signal area 31 and a rectangular weak signal area 32 in the signal map, as shown in the gray filled area in the figure. Among them, part of the boundary of the weak signal area 32 coincides with the outer boundary 33 of the signal map. Since the signal map and the environment map are consistent, part of the boundary of the weak signal area 32 coincides with the outer boundary of the environment map. The area other than the weak signal area 31 and the weak signal area 32 in the signal map is a strong signal area 38.

[0049] It should be noted that although Figure 3A Only the outer boundary 33, weak signal area 31 and weak signal area 32 of the signal map are shown. However, the embodiment of the present application is not limited thereto. In other feasible implementations, the signal map also displays the travel trajectory and whether the location information of each location point on the travel trajectory meets the preset conditions. For example, please refer to Figure 3B .

[0050] Figure 3B is another schematic diagram of a signal map in a control method for a self-mobile device provided in an embodiment of the present application. Figure 3A , Figure 3B The figure shows the bow-shaped trajectory of the mobile device in the process of performing the operation task in the target area. In the bow-shaped trajectory, the RTK signal received by the mobile device at each position indicated by the solid arrow is a fixed solution RTK signal, that is, each position point indicated by the solid arrow is a position point that meets the preset conditions; the RTK signal received by the mobile device at each position point indicated by the dotted arrow is a non-fixed solution RTK signal, that is, each position point indicated by the dotted arrow is a position point that does not meet the preset conditions.

[0051] It should be noted that the embodiment of the present application does not limit the trajectory of the self-moving device when working in the target area. For example, the trajectory of the self-moving device can also be a "Z" shape, an "N" shape, a U-shaped shape, an arc shape, etc.

[0052] 202. Control the mobile device to move to the weak signal area according to the signal map, and execute the operation task again in the weak signal area.

[0053] After the signal map is created, the self-mobile device determines whether there is a weak signal area in the signal map. When the signal map indicates that there is a weak signal area in the target area, since the self-mobile device can accurately locate in the strong signal area, the self-mobile device uses the signal map to navigate to the weak signal area to perform the task again in the weak signal area.

[0054] If there is more than one weak signal area, the vehicle randomly moves to any weak signal area; or, determines the nearest weak signal area from multiple weak signal areas, and moves to the weak signal area based on the signal map.

[0055] After the self-mobile device moves to the weak signal area, it traverses the weak signal area to perform the task again in the weak signal area. For example, the self-mobile device is a lawn mowing robot. Before the lawn mowing robot mows the lawn for the second time, Figure 3B The dotted line track shows that the weak signal area is mowed for the first time. After the signal map is created, the mobile device moves to the weak signal area and mows the weak signal area again. In other words, the mowing robot mows the weak signal area twice.

[0056] The control method of the self-moving device provided in the embodiment of the present application is that the self-moving device performs the operation task and creates a signal map for the target area, and the signal map includes a strong signal area and a weak signal area. The weak signal area is an area where the location information of the self-moving device does not meet the preset conditions, and the strong signal area is an area where the location information of the self-moving device meets the preset conditions. Afterwards, the self-moving device controls the self-moving device to move to the weak signal area according to the signal map, and performs the operation task again in the weak signal area. Obviously, since the self-moving device performs the operation task twice in the weak signal area, the work quality in the weak signal area can be improved. With this scheme, after each traversal operation is completed, the self-moving device creates a signal map for the target area according to whether the location information obtained during the traversal process and the base station or the satellite communication meets the preset conditions, and performs the operation task twice in the weak signal area in the signal map to achieve the purpose of improving the work quality in the weak signal area.

[0057] Optionally, in the above embodiment, during the process of the self-mobile device controlling the self-mobile device to perform the work task and creating a signal map for the target area based on the communication signal, an environmental map of the target area is obtained, and the self-mobile device is controlled to traverse the target area based on the environmental map to perform the work task and create the signal map for the target area based on the communication signal.

[0058] Exemplarily, the self-mobile device performs a task in the target area based on the environmental map, and creates a signal map for the target area based on the communication signal received at each location point. The environmental map, also known as the global map, is a map created by using technologies such as Simultaneous Localization and Mapping (SLAM) after the self-mobile device first enters an unfamiliar target area. The environmental map can fully display the outer boundary, shape, etc. of the target area. After the environmental map is created, when the self-mobile device moves to the target area again and performs the task, there is no need to re-create the environmental map, but the environmental map created for the first time is used for navigation.

[0059] In the embodiment of the present application, the self-mobile device traverses the entire target area according to the environment map to perform the operation task and creates a signal map of the target area. The embodiment of the present application does not limit the timing of creating the signal map. In one way, the self-mobile device creates the signal map while performing the operation task in the target area. Please refer to Figure 3A , the self-mobile device traverses the target area from left to right and from top to bottom in a bow-shaped trajectory. When reaching the dotted line position, since the distance between the dotted line and the nearest position point 34 on the left that meets the preset conditions is greater than the preset distance, and there is no missed area on the left side of the dotted line, the self-mobile device can first generate a local signal map for the left part of the dotted line, and the local signal map indicates the weak signal area 31. After traversing the target area, a local signal map is generated for the right part of the dotted line, and the local signal map indicates the weak signal area 32. Afterwards, the self-mobile device merges the two local signal maps to obtain a signal map of the target area. It can be seen that the self-mobile device can create a signal map in stages. Among them, position point 34 is a position point on the boundary of the weak signal area 31.

[0060] In another method, a mobile device performs a task in a target area and creates a signal map after traversing the entire target area.

[0061] With this solution, when a mobile device performs a task on a target area, it relies on the environmental map and performs the task in a traversal manner, and creates a signal map for the target area, thereby improving the work quality and the accuracy of the signal map.

[0062] Optionally, in the above embodiments, when the communication signal is a communication signal between the self-moving device and a satellite; and / or when the communication signal is a communication signal between the self-moving device and a base station, the RTK solution is determined according to the communication signal, and the RTK solution is used as the position information, and the preset condition is used to indicate that the RTK solution is a fixed solution; when the RTK solution is a non-fixed solution, it is determined that the position indicated by the position information belongs to a weak signal area; when the RTK solution is a fixed solution, it is determined that the position indicated by the position information belongs to a strong signal area.

[0063] Exemplarily, the mobile device calculates an RTK solution at each location point based on the positioning information and the RTK signal, and determines whether the location point meets the preset condition by determining whether the RTK solution is a fixed solution. If the RTK solution of a location point is a fixed solution, it means that the location point meets the preset condition, and if the RTK solution of a location point is a non-fixed solution, it means that the location point does not meet the preset condition.

[0064] It should be noted that in the embodiment of the present application, the weak signal area is an area where the location information of the self-mobile device does not meet the preset conditions, which means that the proportion of location points that do not meet the preset conditions in the weak signal area is relatively high, such as more than 80%, and does not mean that every location point in the weak signal area is a location point that does not meet the preset conditions. Similarly, the strong signal area is an area where the location information of the self-mobile device meets the preset conditions, which means that the proportion of location points that meet the preset conditions in the strong signal area is relatively high.

[0065] By adopting this solution, whether the location point meets the preset conditions is judged according to whether the RTK solution is a fixed solution, so as to accurately distinguish the strong signal area from the weak signal area, thereby achieving the purpose of improving the accuracy of the signal map.

[0066] Optionally, in the above embodiment, the self-mobile device performs a work task in the target area, and in the process of traversing the target area to perform the work task, the self-mobile device records the travel trajectory and strength information of the self-mobile device, and the strength information is used to indicate whether the position information of each position point on the travel trajectory meets a preset condition. After traversing the target area, the self-mobile device creates the signal map according to the travel trajectory and the strength information.

[0067] Please refer to Figure 3B, the self-mobile device starts working from the starting point 35 and traverses the target area in a bow-shaped manner. After traversing the target area, the self-mobile device arrives at the end point 36. In the process of traversing in the target area to perform the task, that is, in the process of moving from the starting point 35 to the end point 36, the self-mobile device records the travel trajectory and the strength information, and the strength information is used to indicate whether the position information of each position point on the travel trajectory meets the preset conditions. For example, the self-mobile device continuously receives the RTK signal from the base station during the movement, and the receiving frequency is, for example, 10 times per second, etc., which is not limited by the embodiment of the present application. Each time the RTK signal and the positioning information from the satellite are received, the current position information is determined according to the RTK signal and the positioning information, and the position information is also called the RTK solution. Afterwards, the self-mobile device determines whether the RTK signal is a fixed solution. If the RTK signal is a fixed solution, the position information of the current position point meets the preset conditions; if the RTK signal is a non-fixed solution, it means that the position information of the current position point does not meet the preset conditions. After traversing the entire target area, if there is no missed area in the target area, the signal map is created according to the travel trajectory and the strength information.

[0068] In the embodiment of the present application, the signal map includes a strong signal area and a weak signal area. The position information of the self-mobile device in the strong signal area is accurately located, and the position information of the self-mobile device in the weak signal area is inaccurate. Each position point on the boundary of the weak signal area is a position point that meets the preset conditions. In this way, the self-mobile device can determine the boundary of the weak signal area in combination with the signal map and the environmental map, and can lead to the weak signal area to perform the operation task in the weak signal area again. In other words, the reason why the self-mobile device can accurately know the boundary of the weak signal area is that, on the one hand, the self-mobile device stores the environmental map and realizes navigation according to the environmental map; on the other hand, the self-mobile device can obtain accurate RTK signals at the boundary of the strong signal area and the weak signal area. Combining the environmental map and the accurate RTK signal can determine whether it is located at the boundary of the weak signal area or whether it is located in the weak signal area.

[0069] With this solution, the mobile device traverses the target area to perform the task and creates a signal map for the target area after traversing the entire target area, which is fast and accurate.

[0070] Optionally, in the above embodiment, after traversing the target area, the self-mobile device creates the signal map according to the travel trajectory and the strength information. In one method, after traversing the target area, the self-mobile device creates the signal map according to the travel trajectory and the strength information at the current position.

[0071] Please continue to refer to Figure 3B, after traversing the entire target area, the self-mobile device is located at the end point 36. Therefore, the self-mobile device creates a signal map at the end point 36. For example, when the self-mobile device determines at the end point 36 that it has traversed the target area, it automatically creates a signal map for the target area. For another example, when the self-mobile device determines at the end point 36 that it has traversed the target area, it sends a prompt message to the terminal device to prompt the user whether to create a signal map at the end point 36. If the confirmation message of the terminal device is received, a signal map is created for the target area at the end point 36. Among them, the terminal device is a terminal device on which the application (application, APP) of the self-mobile device is installed. If the confirmation message of the terminal device is not received, the self-mobile device returns to the maintenance station.

[0072] In another way, after traversing the target area, the self-mobile device travels to return to the maintenance station of the self-mobile device, and then the signal map is created according to the travel trajectory and the strength information.

[0073] Please continue to refer to Figure 3B After traversing the entire target area, the self-mobile device is located at the end point 36. After that, the self-mobile device returns to the maintenance station, where it performs tasks such as charging and cleaning the blade head. At the same time, the self-mobile device generates a signal map for the target area at the maintenance station.

[0074] In the embodiment of the present application, after the mobile device generates a signal map, it automatically returns to the weak signal area; or, the mobile device sends a consultation message to the terminal device to inquire whether the user needs to move to the weak signal area to perform the task again in the weak signal area. After receiving the confirmation message from the terminal device, the mobile device moves to the weak signal area and performs the task again in the weak signal area.

[0075] In addition, the self-mobile device can also prompt the user whether it is necessary to move to a weak signal area to perform the task again in the weak signal area by issuing voice prompts, animation prompts, etc.

[0076] With this solution, after the mobile device has traversed the target area, a signal map is created for the target area at the current location or maintenance station, which is highly flexible and efficient.

[0077] Optionally, in the above embodiment, missed areas may occur during the process of the self-moving device traversing the target area. This is because when the RTK signal is weak, the positioning of the self-moving device is inaccurate, resulting in the movement trajectory no longer being a standard bow shape, but a curve. After the positioning is inaccurate, it will reach the strong signal area after traveling a curved trajectory. At this time, the self-moving device corrects its own positioning according to the RTK signal received in the strong signal area, and continues to traverse the target area in a standard bow shape. Obviously, due to the appearance of the curved trajectory, missed areas are generated. For example, please refer to Figure 3C and Figure 3D .

[0078] Figure 3C is another schematic diagram of a signal map in a control method for a mobile device provided in an embodiment of the present application. Figure 3D This is another schematic diagram of a signal map in a control method for a self-mobile device provided in an embodiment of the present application. Figure 3C and Figure 3D If the RTK signal is good, the self-moving device moves along the dotted line to the outer boundary, and then continues to traverse the target area in a bow shape. However, since the moving trajectory of the self-moving device in the weak signal area is not a standard bow shape, a missing area 37 in the lower left corner is generated. Similarly, a rectangular missing area 37 is generated.

[0079] In order to avoid missing the missing area 37, after the mobile device traverses the target area, it determines whether there is a missing area based on the travel trajectory and the environmental map. For example, the mobile device determines whether there is an area that has not been traversed and is relatively large. If there is a missing area, the mobile device travels to the missing area to perform the operation task on the missing area. At the same time, the mobile device records the travel trajectory and strength information of the mobile device in the missing area. After traversing the missing area, the mobile device creates a signal map based on the travel trajectory outside the missing area and inside the missing area, and the strength information of each position point on the travel trajectory outside the missing area and inside the missing area. If there is no missing area, after the mobile device traverses the target area and generates the signal map, it returns to the weak signal area according to the signal map to perform the operation task again.

[0080] According to the above, it can be seen that in the embodiment of the present application, the execution of the operation task on the target area includes three stages: the stage of traversing the target area, the stage of traversing the missed area, and the stage of executing the operation task again on the weak signal area. Among them, the stage of traversing the target area and the stage of traversing the missed area are both the first execution of the operation task on the target area, and only the weak signal area is executed twice.

[0081] With this solution, after traversing the target area, if there is a missed area, the missed area is traversed first, and then the operation task is performed again on the weak signal area, thereby achieving the purpose of improving the work quality of the target area.

[0082] Optionally, in the above embodiment, after traversing the target area, the mobile device creates an initial map according to the travel trajectory and the strength information, and the initial map is used to indicate whether each position point on the travel trajectory meets the preset conditions. Figure 4 , Figure 4 It is a schematic diagram of the process of creating a signal map in the control method of a mobile device provided in an embodiment of the present application.

[0083] Please refer to Figure 4 , the first picture from top to bottom is the initial map created by the mobile device based on the travel trajectory and strength information. The initial map indicates whether each position point on the travel trajectory meets the preset conditions. The trajectory formed by the position points that meet the preset conditions is shown as the solid arrow in the figure, and the trajectory formed by the position points that do not meet the preset conditions is shown as the dotted arrow in the figure.

[0084] After the initial map is generated, the mobile device determines whether there is a missed area based on the travel trajectory and the initial map. The missed area is caused by the fact that the travel trajectory of the mobile device is no longer a standard bow shape when the RTK signal is weak, not because most of the position points in the missed area do not meet the preset conditions. Figure 4 As shown in the area filled with diagonal lines in the second figure. Since there are three missing areas, after the mobile device traverses the target area, it moves to each missing area 37 in turn and performs the work task in the missing area 37. It should be noted that the execution of the work task on the missing area 37 here is the first execution of the work task on the missing area, not the second execution of the work task on the missing area.

[0085] During the execution of the task in each missing area, the mobile device records the movement track and strength information of the mobile device in the missing area. After traversing the missing area, the mobile device updates the initial map. During the update process, the mobile device generates the initial map based on the movement track outside and inside the missing area, and the strength information of each position point on the movement track outside and inside the missing area, such as Figure 4 As shown in the third picture.

[0086] After the initial map is generated, Figure 4 After the third picture shown, the mobile device creates a signal map based on the moving track in the initial map and the strength information. The created signal map is as shown in FIG. Figure 4 As shown in the last picture.

[0087] In one embodiment, during the process of creating a signal map based on an initial map, the mobile device determines from the initial map at least one target track whose length is greater than a preset length, and the position information of each position point on the target track does not meet the preset condition. When there are at least two target tracks, the distance between two adjacent target tracks is less than or equal to the preset distance. The preset distance is, for example, the width of the bow-shaped track, 1.2 times the width of the bow-shaped track, 1.5 times the width of the bow-shaped track, etc. The width of the bow-shaped track is, for example, Figure 4 As shown in L.

[0088] Afterwards, the self-mobile device determines the weak signal area according to at least one target trajectory, and generates a signal map according to the weak signal area and the moving trajectory. For example, the self-mobile device makes a circumscribed ellipse or a circumscribed rectangle for at least one target trajectory, thereby obtaining the weak signal area, such as Figure 4 The last figure in the figure shows an elliptical weak signal area 31 and a rectangular weak signal area 32.

[0089] By adopting this solution, the weak signal area is determined by making external graphics of multiple target trajectories, which has high accuracy and fast speed, and achieves the purpose of improving work quality.

[0090] In another way, in the process of creating a signal map based on the initial map, for each first position point in the initial map, the mobile device determines whether there are other position points that do not meet the preset conditions within the preset range with the first position point as the center. The first position point is any position point in the initial map that does not meet the preset conditions, and the radius of the preset range is, for example, the width of the bow-shaped track, 1.2 times the width of the bow-shaped track, 1.5 times the width of the bow-shaped track, etc. The width of the bow-shaped track is, for example, Figure 4 As shown in L.

[0091] When there are other location points that do not meet the preset conditions within the preset range centered on the first location point, the self-mobile device continues to determine whether there are other location points that do not meet the preset conditions except the second location point within the preset range centered on the second location point. The second location point is located outside the preset range centered on the first location point, and the preset range centered on the first location point and the preset range centered on the second location point are tangent or intersect. As long as there are location points that do not meet the preset conditions within the preset range, the self-mobile device changes the center of the preset range, and determines whether there are other location points that do not meet the preset conditions except the center point within the new preset range, and the determination is repeated until there are no other location points that do not meet the preset conditions within the preset range. Afterwards, the area formed by each location point that does not meet the preset conditions as the center and the location points within each preset range is used as the weak signal area.

[0092] It can be understood that: the second position point must be located outside the preset range centered on the first position point. If a position point (hereinafter referred to as the third position point) is located within the preset range centered on the first position point, the third position point is directly used as the position point in the weak signal area, and there is no need to use the third position point as the center point of the preset range to perform the above judgment.

[0093] In addition, if there are no other position points that do not meet the preset conditions within the preset range centered on the first position point, it means that the first position point is an isolated position point and cannot form a weak signal area. Therefore, the first position point can be ignored, that is, there is no need to generate a weak signal area for it.

[0094] By adopting this solution, the weak signal area is determined by continuously switching the center point to ensure that the area of ​​the weak signal area is maximized, thereby achieving the purpose of improving work quality.

[0095] Optionally, in the above embodiment, when the mobile device performs the task again in the weak signal area, first, the mobile device determines the circumscribed polygon of the weak signal area. Then, the mobile device traverses the weak signal area with the shortest side of the circumscribed polygon as the traversal direction to perform the task again on the weak signal area.

[0096] Figure 5 This is a schematic diagram of the trajectory in the weak signal area in the control method of the self-moving device provided in the embodiment of the present application. Figure 5 The signal map includes a weak signal area 51 and a weak signal area 52. The area outside the weak signal area 51 and the weak signal area 52 in the signal map is a strong signal area 53.

[0097] Since the weak signal area 51 is an elliptical area, the self-mobile device makes a circumscribed rectangle for the elliptical area, and uses the short side direction as the bow-shaped traversal direction to traverse the weak signal area to perform the task again on the weak signal area.

[0098] Part of the boundary of the weak signal area 52 is located on the outer boundary of the signal map. The weak signal area 52 is an irregular pentagon. The mobile device traverses the weak signal area in a bow-shaped traversal direction along the short side of the pentagon to perform the task on the weak signal area again.

[0099] By adopting this solution, the self-mobile device traverses the weak signal area with the short side of the circumscribed polygon of the weak signal area as the traversal direction to perform the task again. Since the short side is used as the traversal direction, the weak signal area can be covered as much as possible, thereby achieving the purpose of improving the work quality in the weak signal area.

[0100] Optionally, in the above embodiment, when the mobile device performs the task again in the weak signal area, when traversing the weak signal area to the boundary of the weak signal area, it is determined whether the boundary is the outer boundary of the target area. When the boundary is the outer boundary of the target area, turn and make a U-turn to continue to perform the task again in the weak signal area; when the boundary is not the outer boundary of the target area, after moving beyond the boundary, turn and make a U-turn to continue to perform the task again in the weak signal area.

[0101] Please continue to refer to Figure 5, part of the boundary of the weak signal area 52 is the outer boundary of the target area, and the weak signal area 52 is an irregular pentagon. In the process of traversing the weak signal area 52 in a bow shape, since the self-mobile device locally stores the environment map and the signal map, the self-mobile device can determine the location of the outer boundary of the target area and the boundary of the weak signal area. When the self-mobile device determines that it has reached the boundary of the weak signal area, and the boundary is the outer boundary of the target area, the self-mobile device directly turns around and turns around, and continues to traverse the weak signal area to perform the task again in the weak signal area.

[0102] When the self-mobile device determines that it has reached the boundary of the weak signal area, but the boundary is not the outer boundary of the target area, the self-mobile device continues to move forward until it reaches the outer boundary and the distance from the outer boundary is greater than or equal to the preset distance, and then the self-mobile device turns around and returns to the weak signal area to continue to perform the task again in the weak signal area. The preset distance is, for example, 0.5 meters, 0.4 meters, 0.8 meters, etc., which is not limited in the embodiments of the present application.

[0103] By adopting this solution, when the self-moving device performs a secondary operation task in a weak signal area, it decides to turn around or continue moving forward based on whether it has reached the outer boundary of the target area, thereby ensuring that the self-moving device does not move out of the target area, thereby achieving the purpose of ensuring the safety of the self-moving device and ensuring that the self-moving device does not miss any location in the weak signal area, thereby achieving the purpose of improving the quality of the secondary execution of the operation task.

[0104] Optionally, in the above embodiment, after the mobile device moves outside the boundary, its own position is corrected according to the RTK signal received after moving outside the boundary.

[0105] Exemplarily, the areas other than the weak signal areas in the signal map are strong signal areas. The quality of the RTK signal received by the self-mobile device in the strong signal area is good, and accurate positioning can be achieved. Therefore, when the self-mobile device performs the operation task in the weak signal area again, when it moves to the boundary of the weak signal area according to the signal map, if the boundary is not the outer boundary of the target area, the self-mobile device continues to move forward until it moves beyond the outer boundary, that is, reaches the strong signal area. Afterwards, the self-mobile device uses the RTK signal received in the strong signal area to correct its own position. Afterwards, the self-mobile device turns and turns around to continue to perform the operation task in the weak signal area again.

[0106] By adopting this solution, when the self-mobile device performs work tasks in the weak signal area again, each time it moves beyond the boundary of the weak signal area, it corrects its own position according to the RTK signal received in the strong signal area to ensure that the self-mobile device does not miss any position in the weak signal area when traversing the weak signal area, thereby achieving the purpose of improving the quality of the re-execution of work tasks in the weak signal area.

[0107] Optionally, in the above embodiment, a visual image is acquired when the mobile device travels in the weak signal area, and positioning is performed based on the visual image.

[0108] Exemplarily, when the self-mobile device performs a task again in the weak signal area, if positioning is performed according to the RTK signal, it is easy to send the phenomenon of inaccurate RTK positioning due to the weak RTK signal. Due to inaccurate RTK positioning, the trajectory of the self-mobile device in the process of performing the task again in the weak signal area is not a standard bow-shaped trajectory, but a curved trajectory, which will also miss certain positions in the weak signal area. To avoid this problem, in an embodiment of the present application, when the self-mobile device performs a task again in the weak signal area, a visual sensor such as a camera is used to obtain a visual image, and the visual image is used for positioning to ensure that the trajectory of the self-mobile device in the weak signal area is a marked bow shape, so that certain positions in the weak signal area will not be missed.

[0109] When it is necessary to explain, although visual positioning is used as an example to illustrate the embodiments of the present application, the embodiments of the present application are not limited thereto. For example, when the mobile device performs a task again in a weak signal area, real-time positioning can also be performed through ultrasound, laser radar, inertial sensors, etc.

[0110] By adopting this solution, when the mobile device performs the work task again in the weak signal area, it will no longer be positioned based on the RTK signal, but will be positioned through visual positioning, ensuring that any position in the weak signal area will not be missed, thereby achieving the purpose of improving the quality of the work task performed again in the weak signal area.

[0111] Optionally, in the above embodiment, after the self-mobile device creates a signal map for the target area, an indication message carrying the signal map is also sent to the terminal device, so that the terminal device displays the signal map on the user interface. The terminal device is a terminal device on which the application (application, APP) of the self-mobile device and the applet of the self-mobile device are installed. After receiving the indication message, the terminal device displays the signal map on the APP interface so that the user can easily view the weak signal area.

[0112] By adopting this solution, the signal map is sent to the terminal device for display by the terminal device, so that the user can easily view the weak signal area, thereby achieving the purpose of improving the friendliness of human-computer interaction.

[0113] It should be noted that although the above Figure 3B to Figure 5In the embodiment of the present application, each position point on the trajectory in the weak signal area does not meet the preset condition. However, the embodiment of the present application is not limited. For example, other feasible implementation methods can be found, and the proportion of position points that do not meet the preset condition in the weak signal area is greater than the preset proportion, and the preset proportion is, for example, 80%, 90%, 75%, etc., which is not limited by the embodiment of the present application.

[0114] Below, the above control method is described in detail by taking the self-moving device as a lawn mowing robot. Figure 6 , Figure 6 is another flow chart of a control method for a mobile device provided in an embodiment of the present application. This embodiment includes:

[0115] 601. The mowing robot mows the grass in a bow shape in the target area.

[0116] During the global mowing process, the mowing robot records the travel trajectory and strength information, and the strength information is used to indicate whether the position information of each position point on the travel trajectory meets the preset conditions.

[0117] 602. Generate a signal map according to the global bow-shaped trajectory and strength information.

[0118] The method of generating the signal map can be referred to in the above embodiment and will not be described in detail here.

[0119] 603. Move to a weak signal area and perform the task again in the weak signal area.

[0120] Exemplarily, the mowing robot navigates to each weak signal area to perform secondary bow-shaped mowing on the weak signal area.

[0121] 604. The lawn mowing robot moves to the boundary of the weak signal area.

[0122] 605 . Determine whether the boundary of the weak signal area is the outer boundary of the target area. If the boundary of the weak signal area is the outer boundary of the target area, execute step 606 ; if the boundary of the weak signal area is not the outer boundary of the target area, execute step 607 .

[0123] 606. Turn and make a U-turn to continue the operation task again in the weak signal area.

[0124] Exemplarily, when the boundary of the weak signal area is the outer boundary of the signal map, the mowing robot turns directly without going out of the boundary and continues mowing in a bow shape. In this case, the mowing robot turns normally.

[0125] 607. After traveling beyond the boundary, turn and make a U-turn to continue to perform the task again in the weak signal area.

[0126] In this case, the mobile device moves a certain distance outward before turning.

[0127] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0128] Figure 7 Schematic diagram of a control device provided in an embodiment of the present application. The control device 700 includes a processing module 71 , a creation module 72 and a travel module 73 .

[0129] A processing module 71 is used to control the self-moving device to perform the operation task;

[0130] A creation module 72, configured to create a signal map for a target area according to a communication signal, wherein the communication signal is used to determine the location information of the self-mobile device, and the signal map includes a weak signal area and a strong signal area, wherein the weak signal area is an area where the location information of the self-mobile device does not meet a preset condition, and the strong signal area is an area where the location information of the self-mobile device meets a preset condition;

[0131] A moving module 73, configured to control the mobile device to move to the weak signal area according to the signal map;

[0132] The processing module 71 is also used to control the self-moving device to perform the operation task again in the weak signal area.

[0133] In a feasible implementation, the processing module 71 is used to obtain the environmental map of the target area, and control the self-mobile device to traverse the target area according to the environmental map to perform the operation task and create the signal map for the target area according to the communication signal.

[0134] In a feasible implementation, the creation module 72 is used to determine the RTK solution according to the communication signal when the communication signal is a communication signal between the self-mobile device and the satellite; and / or when the communication signal is a communication signal between the self-mobile device and a base station, and use the RTK solution as the position information, and the preset condition is used to indicate that the RTK solution is a fixed solution; when the RTK solution is a non-fixed solution, determine that the position indicated by the position information belongs to a weak signal area; when the RTK solution is a fixed solution, determine that the position indicated by the position information belongs to a strong signal area.

[0135] In a feasible implementation, the processing module 71 is further used to record the travel trajectory and strength information of the self-moving device during the process of traversing the target area to perform the operation task, and the strength information is used to indicate whether the position information of each position point on the travel trajectory meets the preset conditions;

[0136] The creation module 72 is used to create the signal map according to the moving track and the strength information after the mobile device traverses the target area.

[0137] In a feasible implementation, the creation module 72 is used to create an initial map according to the travel trajectory and the strength information after the self-mobile device traverses the target area, and the initial map is used to indicate whether the position information of each position point on the travel trajectory meets the preset conditions; at least one target trajectory with a length greater than a preset length is determined from the initial map, and the position information of each position point on the target trajectory does not meet the preset conditions. When there are at least two target trajectories, the distance between two adjacent target trajectories is less than or equal to the preset distance; the weak signal area is determined according to the at least one target trajectory; and the signal map is generated according to the weak signal area and the travel trajectory.

[0138] In a feasible implementation, the processing module 71 is further used to determine whether there is a missing area according to the travel trajectory and the environment map after the self-moving device traverses the target area; when the missing area exists, travel to the missing area to perform the operation task on the missing area, and record the travel trajectory and strength information of the self-moving device in the missing area;

[0139] The creation module 72 is used to create the signal map according to the travel trajectory outside the missing area and inside the missing area, and the strength information of each position point on the travel trajectory outside the missing area and inside the missing area after the mobile device traverses the missing area.

[0140] In a feasible implementation, the processing module 71 is used to determine the circumscribed polygon of the weak signal area; the processing module 71 is used to traverse the weak signal area with the shortest side of the circumscribed polygon as the traversal direction to perform the operation task on the weak signal area again.

[0141] In a feasible implementation, the processing module 71 is used to determine whether the boundary is the outer boundary of the target area when traversing the weak signal area to the boundary of the weak signal area;

[0142] The processing module 71 is used to, when the boundary is the outer boundary of the target area, turn and make a U-turn to continue to perform the work task again in the weak signal area; when the boundary is not the outer boundary of the target area, after moving beyond the boundary, turn and make a U-turn to continue to perform the work task again in the weak signal area.

[0143] In a feasible implementation, the processing module 71 is further used to correct its own position according to the RTK signal received after traveling beyond the boundary.

[0144] In a feasible implementation, the creation module 72 is used to determine the strength of the communication signal when the communication signal is a communication signal between the self-mobile device and the beacon device, and the preset condition is used to indicate that the strength of the communication signal received by the self-mobile device at the location indicated by the location information is greater than a preset value; when the strength of the communication signal is less than or equal to the preset value, it is determined that the location indicated by the location information belongs to a weak signal area; when the strength of the communication signal is greater than the preset value, it is determined that the location indicated by the location information belongs to a strong signal area.

[0145] The control device provided in the embodiment of the present application can execute the actions of the self-moving device in the above-mentioned embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0146] Figure 8 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. Figure 8 As shown, the mobile device 800 includes:

[0147] Processor 81 and memory 82;

[0148] The memory 82 stores computer instructions;

[0149] The processor 81 executes the computer instructions stored in the memory 82 , so that the processor 81 executes the control method of the self-moving device as described above.

[0150] The specific implementation process of the processor 81 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0151] Optionally, the self-mobile device 800 further includes a communication component 83 , wherein the processor 81 , the memory 82 and the communication component 83 may be connected via a bus 84 .

[0152] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are executed by a processor to perform the control method of the self-mobile device as described above.

[0153] An embodiment of the present application further provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the control method of the self-mobile device as described above.

[0154] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0155] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A control method for a self-moving device, characterized in that: include: Control the self-moving device to perform the operation task, and create a signal map for the target area according to the communication signal, wherein the communication signal is used to determine the location information of the self-moving device, and the signal map includes a weak signal area and a strong signal area, wherein the weak signal area is an area where the location information of the self-moving device does not meet the preset conditions, and the strong signal area is an area where the location information of the self-moving device meets the preset conditions; The self-mobile device is controlled to move to the weak signal area according to the signal map, and the operation task is performed again in the weak signal area.

2. The method according to claim 1, characterized in that The controlling the self-moving device to perform the operation task and creating a signal map for the target area according to the communication signal includes: An environmental map of the target area is obtained, and the self-mobile device is controlled to traverse the target area according to the environmental map to perform the operation task and create the signal map for the target area according to the communication signal.

3. The method according to claim 1, characterized in that The step of creating a signal map for a target area according to the communication signal comprises: When the communication signal is a communication signal between the self-mobile device and a satellite; and / or when the communication signal is a communication signal between the self-mobile device and a reference station, an RTK solution is determined according to the communication signal, the RTK solution is used as the position information, and the preset condition is used to indicate that the RTK solution is a fixed solution; When the RTK solution is a non-fixed solution, determining that the position indicated by the position information belongs to a weak signal area; When the RTK solution is a fixed solution, it is determined that the position indicated by the position information belongs to a strong signal area.

4. The method according to any one of claims 1 to 3, characterized in that: The step of creating a signal map for a target area according to the communication signal comprises: In the process of traversing the target area to perform the operation task, the travel trajectory and strength information of the self-moving device are recorded, and the strength information is used to indicate whether the position information of each position point on the travel trajectory meets the preset conditions; After traversing the target area, the signal map is created according to the travel trajectory and the strength information.

5. The method according to claim 4, characterized in that After traversing the target area, creating the signal map according to the travel trajectory and the strength information includes: After traversing the target area, an initial map is created according to the travel trajectory and the strength information, wherein the initial map is used to indicate whether the position information of each position point on the travel trajectory meets the preset condition; Determine from the initial map at least one target track with a length greater than a preset length, the position information of each position point on the target track does not meet the preset condition, and when there are at least two target tracks, the distance between two adjacent target tracks is less than or equal to the preset distance; Determine the weak signal area according to the at least one target track; The signal map is generated according to the weak signal area and the travel trajectory.

6. The method according to claim 4, characterized in that After traversing the target area, creating the signal map according to the travel trajectory and the strength information includes: After traversing the target area, determining whether there is a missed area based on the travel trajectory and the environment map; When the missing area exists, travel to the missing area to perform the operation task on the missing area, and record the travel track and strength information of the self-moving device in the missing area; After traversing the missing area, the signal map is created according to the travel tracks outside the missing area and inside the missing area, and the strength information of each position point on the travel tracks outside the missing area and inside the missing area.

7. The method according to any one of claims 1 to 3, characterized in that: The performing of the operation task again in the weak signal area comprises: Determine a circumscribed polygon of the weak signal area; The shortest side of the circumscribed polygon is used as a traversal direction to traverse the weak signal area to perform the operation task on the weak signal area again.

8. The method according to any one of claims 1 to 3, characterized in that: The performing of the operation task again in the weak signal area comprises: When traversing from the weak signal area to the boundary of the weak signal area, determining whether the boundary is the outer boundary of the target area; When the boundary is the outer boundary of the target area, turning and making a U-turn to continue to perform the operation task again in the weak signal area; When the boundary is not the outer boundary of the target area, after traveling beyond the boundary, the operator turns around and makes a U-turn to continue to perform the operation task again in the weak signal area.

9. The method according to claim 8, characterized in that Also includes: The own position is corrected based on the RTK signal received after traveling beyond the boundary.

10. The method according to any one of claims 1 to 3, characterized in that: The step of creating a signal map for a target area according to the communication signal comprises: When the communication signal is a communication signal between the self-mobile device and a beacon device, determining the strength of the communication signal, the preset condition is used to indicate that the strength of the communication signal received by the self-mobile device at the location indicated by the location information is greater than a preset value; When the strength of the communication signal is less than or equal to a preset value, determining that the location indicated by the location information belongs to a weak signal area; When the strength of the communication signal is greater than a preset value, it is determined that the location indicated by the location information belongs to a strong signal area.

11. A control device, characterized in that: The control device is integrated on a self-moving device, and the device comprises: A processing module, used for controlling the self-moving device to perform the operation task; A creation module, used to create a signal map for a target area according to a communication signal, wherein the signal map includes a weak signal area and a strong signal area, wherein the communication signal is used to determine the location information of the self-mobile device, wherein the weak signal area is an area where the location information of the self-mobile device does not meet a preset condition, and the strong signal area is an area where the location information of the self-mobile device meets a preset condition; A moving module, used for controlling the mobile device to move to the weak signal area according to the signal map; The processing module is also used to control the self-moving device to perform the operation task again in the weak signal area.

12. A self-propelled device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the mobile device implements the method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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