Control method of self-moving equipment and self-moving equipment

Abstract

The invention discloses a control method of a self-moving device and the self-moving device, the self-moving device is configured to move and / or work in a working area, the working area comprises a plurality of grassland areas, and the method comprises the following steps: determining a current working mode; when the current working mode is the first working mode, first map information is obtained, and the self-moving device is controlled to move and / or work in the grassland area according to the first map information; when the current working mode is a second working mode, second map information is obtained, and the self-moving device is controlled to move and / or work in the merging area according to the second map information; the second map information comprises map information of at least one merging area, and the merging area comprises at least two adjacent grassland areas and a non-grassland area located between the adjacent grassland areas. Thus, the non-grassland area between the adjacent grassland areas can be processed, the processing coverage rate is improved, and the user experience is improved.

Description

Technical Field

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

[0002] The vision-based lawn mower does not have an RTK positioning module, and it performs regional identification and cross-regional transfer by using cross-regional tags such as RFID tags on the grass area of ​​the work map. In addition, there are usually passages such as stone slabs between the grass areas of the work map to facilitate the lawn mower to transfer across regions. However, when passages such as stone slabs are located outside the grass area, the existing control method of the self-moving device has the problem of being unable to process the grass around passages such as stone slabs. Summary of the invention

[0003] Based on this, it is necessary to provide a control method and a self-moving device capable of processing non-grass areas between adjacent grass areas in order to solve the above technical problems.

[0004] To achieve the above objectives:

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, wherein the working area includes a plurality of grass areas; the method comprises:

[0006] Determine the current working mode;

[0007] When the current working mode is the first working mode, first map information is obtained, and the self-moving device is controlled to move and / or work in the grass area according to the first map information; the first map information includes map information of a plurality of grass areas;

[0008] When the current working mode is the second working mode, second map information is obtained, and the self-moving device is controlled to move and / or work in the merged area according to the second map information; the second map information includes map information of at least one merged area, and the merged area includes at least two adjacent grass areas and a non-grass area located between the adjacent grass areas.

[0009] In a possible implementation, the second map information further includes map information of at least one other area, where the other area is a grass area in the working area except the merged area; and the method further includes:

[0010] The self-mobile device is controlled to move and / or operate in the other area according to the second map information.

[0011] In a possible implementation, the second map information also includes one or more of the cross-region transition relationship between the merged area and the other areas, merged area working parameter information, other area working parameter information, merged area area, other area area, merged area perimeter and other area perimeter.

[0012] In a possible implementation, the first map information further includes one or more of the inter-region transition relationship between the grassland areas, grassland area working parameter information, grassland area area and grassland area perimeter.

[0013] In a possible implementation, the grassland area is provided with a cross-area tag;

[0014] The first map information further includes cross-region label information and mapping information between the cross-region label and the grassland area;

[0015] The second map information also includes cross-region label information, and mapping information between the cross-region label and the merged region and the other regions.

[0016] In a possible implementation manner, before the self-mobile device executes the first working mode for the first time, the method further includes:

[0017] Controlling the mobile device to create the first map information;

[0018] Alternatively, the first map information created by the user at the user end is received.

[0019] In a possible implementation, the controlling the mobile device to create the first map information includes:

[0020] Determine the grassland object as a passable object;

[0021] Collecting images based on the visual sensor of the mobile device;

[0022] identifying the passable object, the impassable object, and a first boundary between the passable object and the impassable object based on the image;

[0023] The first map information is moved and created based on the first boundary.

[0024] In a possible implementation manner, before the self-mobile device executes the second working mode for the first time, the method further includes:

[0025] Controlling the mobile device to create the second map information;

[0026] Alternatively, the second map information created by the user at the user end is received.

[0027] In a possible implementation, the controlling the mobile device to create the second map information includes:

[0028] Identify the target audience;

[0029] determining the grassland object and the target object as passable objects;

[0030] Collecting images based on the visual sensor of the mobile device;

[0031] identifying the passable object, the impassable object, and a second boundary between the passable object and the impassable object based on the image;

[0032] The second map information is moved and created based on the second boundary.

[0033] In a possible implementation manner, the user terminal is configured as follows:

[0034] Receive a region selection instruction from a user;

[0035] Determine the area to be merged corresponding to the area selection instruction;

[0036] The to-be-merged areas in the first map information are merged to obtain the second map information.

[0037] In a possible implementation, the method further includes:

[0038] When the self-mobile device receives the second working mode instruction for the first time, comparing the local map of the self-mobile device with the map corresponding to the second working mode instruction;

[0039] If they are inconsistent, the mobile device is triggered to create the second map information to obtain the second map information.

[0040] In a possible implementation manner, the obtaining the second map information includes:

[0041] In response to the self-mobile device executing the second working mode for the first time, the self-mobile device is triggered to build a map according to the acquired map setting information.

[0042] In a possible implementation, the controlling the self-moving device to move and / or operate in the grass area includes: controlling the self-moving device to move and / or operate inside the grass area, and controlling the self-moving device to move and / or operate along a boundary of the grass area;

[0043] The controlling the self-moving device to move and / or operate in the merged area includes: controlling the self-moving device to move and / or operate inside the merged area, and controlling the self-moving device to move and / or operate along the boundary of the merged area.

[0044] In a possible implementation, the controlling the self-moving device to move and / or operate in the grass area further includes:

[0045] Determine a target working area, where the target working area is the grass area or the merged area where the self-moving device is located;

[0046] Obtaining a threshold parameter corresponding to the target working area;

[0047] Controlling the self-moving device to execute an edge process so that the self-moving device moves along the boundary of the target working area;

[0048] Determining the accumulated parameters when the mobile device executes the edge process;

[0049] When the accumulated parameter is greater than or equal to the threshold parameter, controlling the self-mobile device to stop the edge process;

[0050] The threshold parameter may be obtained through the first map information / the second map information, or may be set or adjusted by a user.

[0051] In a second aspect, an embodiment of the present application provides a self-moving device, comprising: a processor and a memory storing a computer program, and when the processor runs the computer program, the steps of the above method are implemented.

[0052] The control method of the self-moving device provided in the embodiment of the present application obtains corresponding map information based on the current working mode, and controls the self-moving device to move and / or work in the working area according to the corresponding map information. When the current working mode is the first working mode, the self-moving device is controlled to move and / or work in the grass area; when the current working mode is the second working mode, the self-moving device is controlled to move and / or work in a merged area consisting of adjacent grass areas and non-grass areas between adjacent grass areas, thereby enabling the self-moving device using the control method of the self-moving device to process the non-grass areas between adjacent grass areas based on user needs, and can normally transfer across areas, thereby improving the processing coverage and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Map of the work area Figure 1 ;

[0054] Figure 2 Map of the work area Figure 2 ;

[0055] Figure 3 A schematic diagram of a flow chart of a method for controlling a self-moving device provided by an embodiment of the present invention;

[0056] Figure 4 A schematic diagram of a map of a working area in an embodiment of the present invention;

[0057] Figure 5 A schematic diagram of the structure of a self-moving device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0060] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0061] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0062] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0063] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0065] Let's combine Figure 1 and Figure 2 This paper briefly explains the autonomous exploration and mapping principles of mobile devices, the multi-region mapping principles of APP, and the cross-region transition principles.

[0066] In the present application, the self-moving device is configured to move and / or work in a working area, and the working area includes one or at least two grass areas 1, 2... When there are at least two grass areas, each grass area is matched with corresponding identification information; the identification information is used to indicate that the self-moving device moves between different grass areas.

[0067] Define the first grassland area that the mobile device enters from the charging station as grassland area 1, and the subsequent grassland areas are grassland area 2, grassland area 3, etc.; the principle of autonomous exploration and mapping is as follows: the mobile device starts from the charging station, enters grassland area 1 and starts to go along the edge counterclockwise, encounters / recognizes the identification information 1 in grassland area 1 (corresponding to the identification information in grassland area 1), then turns right 90 degrees, then (blindly walks) straight for a period of time until grass is recognized, then turns right 90 degrees again, along the edge, finds identification information 2, and thus recognizes grassland area 2, then goes around grassland area 2 along the edge, encounters identification information 3, then turns right and goes straight, recognizes grass after a period of time, turns right 90 degrees, encounters identification information 4 along the edge, marks grassland area 3, and then continues to go along the edge, and completes the closed loop of grassland area 3 when identification information 4 is encountered again. Then, turn right 90 degrees, blindly recognize grass, turn right 90 degrees to execute identification information 3 and then go along the edge, and repeat this cycle until identification information 1 is encountered / recognized again, forming a closed loop, and obtaining maps of each grassland area.

[0068] APP multi-area mapping principle: manually click on the multi-grass area setting (manual mapping), add the grass area, select the connection path, and obtain / scan the identification information in the grass area, form the connection relationship between the grass areas according to the identification information, save the connection relationship and send it to the mobile device, and the mobile device can implement the multi-area cutting logic according to the connection relationship of this area.

[0069] Principle of cross-region transition: Assuming that the mobile device transitions from grass area 2 to grass area 3, it must first follow the edge to identification information 3, then turn right 90 degrees, go straight for a while and recognize the grass, then turn right along the edge, and stop when identification information 4 is detected. Here, the multi-region transition must scan / recognize the identification information.

[0070] In the present application, the identification information may be based on the characteristic image information identified by the visual image detection device, and the characteristic image information in each grass area is different to characterize the current location of the self-moving device. Exemplarily, the characteristic image information may be the characteristic image information of each grass area. Preferably, the characteristic image information is a visual image near the multi-area transition channel, and the visual image can be used to characterize the corresponding grass area, so that the self-moving device can recognize that it has entered or exited the transition channel between multiple areas when it recognizes the characteristic image information corresponding to the grass area.

[0071] In another exemplary embodiment of the present application, the identification information may also be a signboard set in a grass area, and the signboards in each grass area are different. For example, a rabbit-shaped signboard may be set in grass area 1, and a tiger-shaped signboard may be set in grass area 2.

[0072] In the present application, the identification information may also be a signal sent by an identification information generating device. Similarly, the corresponding signal in each grass area is different, so as to identify the grass area and prompt the transition information between multiple areas.

[0073] Exemplarily, the identification information generating device can be a radio frequency device based on radio frequency identification technology (RFID). Different grass areas correspond to different radio frequency signals. Therefore, the mobile device can identify the current grass area or the transition information between multiple grass areas based on the received radio frequency signal.

[0074] Exemplarily, when the grassland area is an area located by longitude and latitude, the identification information may be the longitude and latitude range of the grassland area and the positioning coordinate information of the starting and ending points of the transition channel between multiple areas; for example, the area within a specific longitude and latitude coordinate range is set as grassland area 1, and the area within another longitude and latitude coordinate range is set as grassland area 2. At this time, the current grassland area can be identified based on the positioning position of the self-mobile device, and the starting and ending points of the transition channel can be identified based on the calibrated positioning information in the grassland area.

[0075] In order to facilitate a clearer understanding of the control method of the self-moving device of the present application, the following description will take the identification information as the radio frequency information emitted by the RFID tag as an example; it should be noted that in other embodiments of the present application, the identification information can also be information that can be identified by the self-moving device, such as characteristic image information recognized by the visual image detection device, that is, the selection of the identification information in the following embodiments is only exemplary and should not be limited to this.

[0076] Principle of autonomous exploration and mapping: The mobile device starts from the charging station in the grass area 1, walks counterclockwise along the edge, turns right 90 degrees after encountering the RFID1 tag, then walks straight (blindly) for a while until the grass is recognized, then turns right 90 degrees, walks along the edge, finds the RFID2 tag, and thus recognizes the grass area 2, then walks along the edge around area 2, encounters the RFID3 tag, turns right again and walks straight, recognizes the grass after a while, turns right 90 degrees, encounters the RFID4 tag along the edge, marks the grass area 3, and then continues along the edge, and completes the closed loop of area 3 when encountering the RFID4 tag again. Then, turn right 90 degrees, walk blindly to recognize the grass, turn right 90 degrees to execute the recognition of the RFID3 tag and then walk along the edge, and repeat this cycle until the RFID1 tag is scanned again, forming a closed loop to obtain the map of each grass area.

[0077] APP multi-area mapping principle: manually click on the multi-grass area setting (manual mapping), add the grass area, select the connection path, and scan the RFID tag. After the scanning is completed, the connection relationship between the grass areas is formed according to the RFID information, and the connection relationship is saved and sent to the self-mobile device. The self-mobile device can implement the multi-area cutting logic according to the connection relationship of this area.

[0078] Principle of cross-region transition: Assuming that the mobile device is transitioning from grass area 2 to grass area 3, it must first follow the edge to the RFID3 tag, then turn right 90 degrees, go straight for a while and then recognize the grass, then turn right along the edge, and stop when the RFID4 tag is detected. Here, the multi-region transition must scan the RFID tag.

[0079] However, when there is a safe non-grass area (not a dangerous area such as a stone road or ditch) between the grass areas, and grass grows around the stone road but the stone road is outside the grass area, if the grass area is cut and the cross-area transfer is performed in the conventional cross-area transfer method, the grass around the stone road cannot be cut. Figure 2 As shown, taking the self-mobile device as an automatic lawn mower with a visual sensor as an example, after the automatic lawn mower completes cutting of grass area 1, it will transfer across areas through the stone road between grass area 1 and grass area 2 according to the RFID1 tag and the RFID2 tag, but will not cut the grass around the stone road between grass area 1 and grass area 2, that is, it cannot cut the grass around the stone road between grass area 1 and grass area 2.

[0080] Therefore, there is a problem in the prior art on how to cut the non-grass area between adjacent grass areas to improve the processing coverage and enhance the user experience. Figure 3As shown, the present application proposes a control method for a self-moving device. It should be noted that although the present disclosure provides the method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps that do not have a necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the embodiments of the present disclosure.

[0081] See also Figure 3 , is a control method for a self-moving device provided in an embodiment of the present application. The method can be executed by a control device for a self-moving device. The device can be implemented in software and / or hardware. In this embodiment, the execution subject of the method is a self-moving device, and the self-moving device is configured to move and / or work in a working area. For example, the working area includes multiple grass areas. The method provided in this embodiment includes:

[0082] Step S101: Determine the current working mode.

[0083] Among them, the working mode of the self-moving device is used to indicate whether it is necessary to cut the non-grass area between adjacent grass areas. In the first working mode, the self-moving device does not need to cut the non-grass area between adjacent grass areas, but in the second working mode, it needs to cut the non-grass area between adjacent grass areas. It should be noted that the self-moving device determines the current working mode according to the received working mode instruction. For example, if the self-moving device receives the first working mode instruction, it determines that the current working mode is the first working mode; if the self-moving device receives the second working mode instruction, it determines that the current working mode is the second working mode.

[0084] Among them, the non-grassland area between adjacent grassy areas may include cross-area passages, such as stone slabs and the like.

[0085] Step S102: when the current working mode is the first working mode, first map information is obtained, and the mobile device is controlled to move and / or work in the grass area according to the first map information; the first map information includes map information of multiple grass areas.

[0086] Specifically, when the current working mode of the self-mobile device is the first working mode, it means that there is no need to process the non-grass area between adjacent grass areas, then the first map information including map information of multiple grass areas is obtained, and the self-mobile device is controlled to move and / or work in the corresponding grass area according to the map information of the multiple grass areas.

[0087] In a possible implementation, controlling the self-moving device to move and / or work in a grass area includes: controlling the self-moving device to move and / or work inside the grass area, and controlling the self-moving device to move and / or work along the boundary of the grass area. Among them, controlling the self-moving device to move and / or work inside the grass area may be controlling the self-moving device to randomly cut inside the grass area or to cut according to a planned path, which is not specifically limited here. Controlling the self-moving device to move and / or work along the boundary of the grass area may be controlling the self-moving device to cut along the boundary of the grass area.

[0088] Step S103: When the current working mode is the second working mode, obtain the second map information, and control the mobile device to move and / or work in the merged area according to the second map information; the second map information includes map information of at least one merged area, and the merged area includes at least two adjacent grass areas and a non-grass area located between the adjacent grass areas.

[0089] Specifically, when the current working mode of the self-mobile device is the second working mode, indicating that the non-grass area between adjacent grass areas needs to be processed, second map information including map information of at least one merged area is obtained, and the self-mobile device is controlled to move and / or work in the merged area composed of at least two adjacent grass areas and the non-grass area between the adjacent grass areas according to the second map information, so as to realize the processing of adjacent grass areas and the non-grass areas between adjacent grass areas.

[0090] In a possible implementation, controlling the self-moving device to move and / or work in the merged area includes: controlling the self-moving device to move and / or work inside the merged area, and controlling the self-moving device to move and / or work along the boundary of the merged area. Among them, controlling the self-moving device to move and / or work inside the merged area may be controlling the self-moving device to randomly cut inside the merged area or to cut according to a planned path, which is not specifically limited here. Controlling the self-moving device to move and / or work along the boundary of the merged area may be controlling the self-moving device to cut along the boundary of the merged area.

[0091] In summary, in the method provided in the above embodiment, the corresponding map information is obtained based on the current working mode, and the self-mobile device is controlled to move and / or work in the working area according to the corresponding map information. When the current working mode is the first working mode, the self-mobile device is controlled to move and / or work in the grass area; when the current working mode is the second working mode, the self-mobile device is controlled to move and / or work in a merged area consisting of adjacent grass areas and non-grass areas between adjacent grass areas, so that the self-mobile device can process the non-grass area between adjacent grass areas based on user needs, and can transfer across areas normally, thereby improving the processing coverage and enhancing the user experience.

[0092] Combination Figure 4 As shown, when the current working mode is the second working mode, the self-moving device can cut the grass between the stone road and the grass area 1, can cut the grass between the stone road and the grass area 2, and can also cut the grass between the stone roads and the stone roads, thereby improving the cutting coverage rate and avoiding leaving grass to affect the aesthetics.

[0093] In a possible implementation, the second map information further includes map information of at least one other area, where the other area is a grass area in the working area except the merged area; and the method further includes:

[0094] The mobile device is controlled to move and / or operate in other areas according to the second map information.

[0095] It is understandable that some adjacent grass areas in the working area may be areas where the self-moving device cannot work or does not need to work, for example, there is no grass between the adjacent grass areas, etc. Therefore, the second map information may also include map information of at least one other area in the working area except the merged area, and the self-moving device may control the self-moving device to move and / or work in other areas according to the map information of at least one other area in the second map information, for example, in combination with Figure 4 As shown, the self-moving device is controlled to randomly cut inside the grass area 3 or cut according to the planned path, and the self-moving device is controlled to cut along the boundary of the grass area 3, etc. In this way, full coverage of the working area can be achieved, further improving the processing coverage rate.

[0096] In a possible implementation, the second map information also includes one or more of the cross-region transition relationship between the merged area and other areas, merged area working parameter information, other area working parameter information, merged area area, other area area, merged area perimeter and other area perimeter. Among them, the cross-region transition relationship between the merged area and other areas is used to indicate which other area the self-mobile device can move from the merged area to, and / or which other area can be moved from to the merged area, so as to realize the cross-region transition of the self-mobile device between the merged area and other areas. The merged area working parameter information is used to indicate the working parameters of the self-mobile device when it moves and / or works in the merged area, including but not limited to cutting height, whether it crosses the edge (moves / works across the boundary of the area), distance along the edge, etc. The other area working parameter information is used to indicate the working parameters of the self-mobile device when it moves and / or works in other areas, including but not limited to cutting height, whether it crosses the edge, distance along the edge, etc. The area of ​​the area and the perimeter of the area can be used to indicate information such as the size of the corresponding area.

[0097] In a possible implementation, the first map information also includes one or more of the cross-region transition relationship between grassland areas, grassland area working parameter information, grassland area area and grassland area perimeter. Among them, the cross-region transition relationship between grassland areas is used to indicate between which grassland areas the self-moving device can move across regions, so as to realize the cross-region transition of the self-moving device between grassland areas. The grassland area working parameter information is used to indicate the working parameters of the self-moving device when moving and / or working in the grassland area, including but not limited to cutting height, whether to cross the edge, distance along the edge, etc. The grassland area and grassland perimeter can be used to indicate information such as the size of the corresponding grassland area.

[0098] In a possible implementation, the grassland area is provided with a cross-region label; the first map information further includes cross-region label information and mapping information between the cross-region label and the grassland area;

[0099] The second map information also includes cross-region label information, and mapping information between the cross-region labels and the merged regions and other regions.

[0100] The cross-region tag can be set according to actual needs, and can be specifically an RFID tag, etc. In the first working mode, when the self-mobile device scans a cross-region tag set on a grass area, it indicates that a cross-region transition operation needs to be performed. At this time, the cross-region tag information can be obtained, and the mapping information between the cross-region tag and the grass area in the first map information can be queried according to the cross-region tag information to obtain the next grass area information to be entered after the cross-region operation is performed. For example, refer to Figure 1For grass area 1, grass area 2 and grass area 3, when the RFID1 tag is detected, it means that the field can be switched from grass area 1 to grass area 2, and when the RFID2 tag is detected, it means that the field can be switched from grass area 2 to grass area 1; when the RFID3 tag is detected, it means that the field can be switched from grass area 2 to grass area 3, and when the RFID4 tag is detected, it means that the field can be switched from grass area 3 to grass area 2.

[0101] In the second working mode, after the mobile device scans the cross-region tag set on a merged area, it indicates that a cross-region operation needs to be performed. At this time, the cross-region tag information can be obtained, and then the mapping information between the cross-region tag and the merged area and other areas in the second map information can be queried according to the cross-region tag information to obtain the other area information or the next merged area information to be entered after the cross-region operation is performed. For example, refer to Figure 4 For the merged area consisting of the grass area 1 and the grass area 2 and the grass area 3, when the RFID3 tag is detected, it means that the merged area can be switched to the grass area 3, and when the RFID4 tag is detected, it means that the grass area 3 can be switched to the merged area. In this way, according to the mapping information between the set cross-area tags and the merged area and / or the grass area, the cross-area switching operation can be conveniently performed by the mobile device, thereby improving the processing efficiency.

[0102] In the second working mode, since the grass area 1 and the grass area 2 constitute a merged area, if the RFID1 tag or the RFID2 tag is encountered when the mobile device moves, it can be ignored and the cross-area transition operation is not triggered.

[0103] In a possible implementation, before the mobile device executes the first working mode for the first time, the method further includes:

[0104] Controlling creation of first map information from a mobile device;

[0105] Alternatively, first map information created by a user at a user terminal is received.

[0106] Here, before the self-mobile device executes the first working mode for the first time, it needs to obtain the first map information. The self-mobile device can create the first map information according to the aforementioned autonomous exploration and mapping principle, or receive the first map information created by the user at the user end.

[0107] In a possible implementation, controlling the creation of first map information from a mobile device includes:

[0108] Determine the grassland object as a passable object;

[0109] Collect images based on visual sensors from mobile devices;

[0110] identifying a passable object, an impassable object, and a first boundary between the passable object and the impassable object based on the image;

[0111] The first map information is moved and created based on the first boundary.

[0112] Among them, since the self-mobile device is mapped through a visual sensor, it is necessary to first determine the grassland object as a passable object, and collect images based on the visual sensor of the self-mobile device, and then identify the collected images to identify the passable object, the impassable object, and the first boundary between the passable object and the impassable object, so as to control the self-mobile device to move based on the first boundary and create the first map information. Among them, the impassable object can be a ditch, a stone, a stone road, etc., which are not specifically limited here. Among them, the self-mobile device can collect information such as the perimeter and area of ​​each grassland area in the process of moving along the first boundary and circling. It should be noted that for a certain grassland area, the self-mobile device starts from detecting the cross-region label of the grassland area, moves along the boundary, and detects the same cross-region label again, which means that the self-mobile device has circled the grassland area. In this way, the first map information can be quickly created, further improving the user experience.

[0113] In a possible implementation, before the mobile device executes the second working mode for the first time, the method further includes:

[0114] Controlling creation of second map information from a mobile device;

[0115] Alternatively, second map information created by the user at the user end is received.

[0116] Here, before the self-mobile device executes the second working mode for the first time, it needs to obtain the second map information. The self-mobile device can create the second map information according to the aforementioned autonomous exploration and mapping principle, or receive the second map information created by the user at the user end.

[0117] In a possible implementation, controlling the creation of second map information from the mobile device includes:

[0118] Identify the target audience;

[0119] The grassland object and the target object are determined as passable objects;

[0120] Collect images based on visual sensors from mobile devices;

[0121] identifying a passable object, an impassable object, and a second boundary between the passable object and the impassable object based on the image;

[0122] The second map information is moved and created based on the second boundary.

[0123] Among them, the target object can be set according to the actual needs. For example, when it is necessary to cut the grass around the stone road, the stone road can be determined as the target object. After the image is collected based on the visual sensor of the self-moving device, the collected image is recognized to identify the passable object, the impassable object, and the second boundary between the passable object and the impassable object, and then the self-moving device is controlled to move based on the second boundary and create the second map information. Among them, the passable objects can include grass and stone roads (such as sidewalks / cement roads / stepping stones, etc.). Impassable objects can be ditches, stones, etc., which are not specifically limited here.

[0124] The self-moving device can collect information such as the perimeter and area of ​​each area while moving along the second boundary and circling. It should be noted that for a certain area, when the self-moving device detects the cross-region tag of the area, moves along the boundary, and detects the same cross-region tag again, it means that the self-moving device has circled the area. For example, see Figure 4 , the stone road can be set as the target object to determine the grass object and the stone road as passable objects, and then move and create the second map information based on the second boundary between the passable object and the impassable object. At the same time, since the stone road is set as a passable object, the mobile device will not move near the RFID1 tag and RFID2 tag close to the stone road during the movement process, and will not detect the RFID1 tag and RFID2 tag, but only the RFID3 tag. In this way, the second map information can be quickly created, further improving the user experience.

[0125] In a possible implementation manner, the user terminal is configured as follows:

[0126] Receive a region selection instruction from a user;

[0127] Determine the area to be merged corresponding to the area selection instruction;

[0128] The to-be-merged areas in the first map information are merged to obtain second map information.

[0129] The user terminal may provide a map setting interface or function, and the user may input a region selection instruction for the first map on the user terminal to select the region to be merged. After determining the region to be merged corresponding to the region selection instruction, the region to be merged in the first map information is merged to obtain the second map information.

[0130] In a possible implementation, the method further includes:

[0131] When the second working mode instruction is first received from the mobile device, comparing the local map of the mobile device with the map corresponding to the second working mode instruction;

[0132] If they are inconsistent, the creation of second map information from the mobile device is triggered to obtain the second map information.

[0133] Among them, when the self-mobile device first receives the second working mode instruction, it may be executing the previous working mode instruction or in standby mode. Since the map required to be used by the self-mobile device in the second working mode is different from the map used in the first working mode, at this time, the self-mobile device needs to first compare the local map of the self-mobile device and the map corresponding to the second working mode instruction. If there is inconsistency, such as the local map does not contain the merged area indicated in the map corresponding to the second working mode instruction, etc., then the self-mobile device is triggered to create the second map information to obtain the second map information. Among them, the principle of the self-mobile device creating the second map information can refer to the aforementioned autonomous exploration and mapping principle. It should be noted that when creating the second map information, the map information of the merged area does not include cross-region labels located on both sides of the non-grass area. Figure 4 As shown, for the merged area consisting of the grass area 1, the grass area 2, and the stone road area between the grass area 1 and the grass area 2, the map information of the merged area will not include the RFID tags on both sides of the stone road area. In this way, when the local map of the self-mobile device is inconsistent with the map corresponding to the second working mode instruction, the self-mobile device is triggered to create the second map information to obtain the second map information, ensuring that the self-mobile device can accurately execute the second working mode, further improving the user experience.

[0134] In a possible implementation manner, obtaining the second map information includes:

[0135] In response to the self-mobile device executing the second working mode for the first time, the self-mobile device is triggered to build a map according to the acquired map setting information.

[0136] Among them, the map setting information can be set according to the actual needs, and may include map information of the working area, the number of grassland areas in the map, connectivity information of each grassland area, etc. When the self-mobile device executes the second working mode for the first time, it can first build a map according to the acquired map setting information. The map building principle can refer to the aforementioned autonomous exploration map building principle, which will not be repeated here. In this way, the self-mobile device builds a map according to the acquired map setting information, which is convenient to operate and further improves the user experience.

[0137] Based on the same inventive concept as the above-mentioned embodiment, the above-mentioned embodiment is described in detail below through a specific example. In this example, the self-moving device is an automatic lawn mower and the automatic lawn mower is equipped with a visual sensor, and the passable / safe non-grass area includes a stone road.

[0138] When the automatic lawn mower mows, it performs regional cutting and cross-region transfer according to the conventional first working mode, and only moves and / or works in the grass area, and does not work on the non-grass area between the grass areas when transferring across areas. However, when the non-grass area is a safe non-grass area such as a stone road (not a dangerous area such as stones or ditches), and there is grass around the stone road, the grass around the stone road cannot be cut.

[0139] Based on the above problems, in this embodiment, when the current working mode of the automatic lawn mower is the second working mode, Figure 4 As shown, the grassland area 1, the grassland area 2, and the stone road area between the grassland area 1 and the grassland area 2 can form a combined area ( Figure 4 The automatic lawn mower is controlled to randomly cut the grass inside the merged area or cut along the planned path according to the map information of the merged area, so as to cut the grass around the stone road between the grassland area 1 and the grassland area 2, and can also cut along the edge along the boundary of the merged area. When the automatic lawn mower detects the RFID4 tag along the edge, it turns right 90 degrees, and after driving straight for a while and identifying the grass, it turns right along the edge and enters the grassland area 3 to realize the cross-region transition, and so on.

[0140] In the present application, adjacent grass areas and non-grass areas between adjacent grass areas are used as merged areas to control the mobile device to cut the grass within the merged area. This enables the grass around the stone road between adjacent grass areas to be cut, thereby increasing the processing coverage rate and improving the user experience.

[0141] Combination Figure 1 As shown, the self-moving device can perform cross-border cutting in Area 1, Area 2 and Area 3, that is, the machine moves and cuts across the boundary of Area 1 / Area 2 / Area 3, but because the RFID may be arranged far away from the boundary, the self-moving device may not be able to detect the RFID during the cross-border movement, resulting in the inability to perform cross-area transition (moving from one area to another).

[0142] However, by adopting the control method in the embodiments of the present specification, for example, merging area 1 and area 2 into one area and performing cross-border cutting in the obtained merged area, the problem that the self-moving device is difficult to move from area 1 to area 2 due to the inability to detect RFID during cross-border cutting can be solved.

[0143] In a possible implementation, in order to ensure the effect of cutting along the boundary of the grass area and / or the merged area by the self-moving device, to achieve full coverage of the working area and further improve the processing coverage rate; usually before or after working in the grass area and / or the merged area, the self-moving device is controlled to perform an edge process along the boundary of the grass area and / or the merged area, and the type of edge process may include one or more of an edge movement process, an edge cutting process and an edge-crossing cutting process. The edge movement process means that the self-moving device moves along the boundary of the sub-area, and there is a certain distance (greater than or equal to zero) between the self-moving device and the boundary of the sub-area to prevent the self-moving device from going out of the boundary. The edge cutting process means that the self-moving device moves and cuts along the boundary of the sub-area, and there is a certain distance (greater than or equal to zero) between the self-moving device and the boundary of the sub-area. The edge-crossing cutting process means that the self-moving device moves along the boundary of the sub-area, and the cutting range of the cutting module of the self-moving device intersects with the boundary of the sub-area, so that the self-moving device can cut to the edge and cut the grass at the boundary cleanly.

[0144] Based on this, the self-moving device of the present application can collect the perimeter information of each grass area in the process of moving and circling along the boundary of the grass area and / or the merged area. Specifically, for a certain grass area, when the self-moving device detects the cross-region tag of the grass area, moves along the boundary, and detects the same cross-region tag again, it means that the self-moving device has circled the grass area. At this time, the perimeter of the grass area and / or the perimeter of the merged area and the perimeter information of other areas in the map information (including the first map information and the second map information) can be obtained.

[0145] Furthermore, in the present application, controlling the self-moving device to move and / or work in the grass area also includes:

[0146] Determine a target working area, where the target working area is a grass area or a merged area where the self-moving device is located;

[0147] Obtain threshold parameters corresponding to the target working area;

[0148] Controlling the self-moving device to execute the edge process so that the self-moving device moves along the boundary of the target working area;

[0149] Determining cumulative parameters when executing edge processes from a mobile device;

[0150] When the accumulated parameter is greater than or equal to the threshold parameter, the mobile device is controlled to stop the edge process;

[0151] The threshold parameter may be obtained through the first map information / the second map information, or may be set or adjusted by the user.

[0152] Specifically, when the mobile device executes the edge process, the target working area where the mobile device is located is first determined, wherein the target working area is the grass area or the merged area where the mobile device is located.

[0153] Then, the threshold parameters corresponding to the target working area are obtained; wherein the threshold parameters are set in one-to-one correspondence with the target working area, that is, each target working area is provided with its corresponding threshold parameters; in the present application, the threshold parameters may be a distance threshold and / or a duration threshold, etc.; the threshold parameters may be set or adjusted by the user, or may be automatically set by the machine according to the specific circumstances of the target working area.

[0154] The self-moving device is controlled to execute the edge process so that the self-moving device moves along the boundary of the target work area. When the self-moving device receives the edge process instruction, the self-moving device is controlled to execute the edge process. The edge process instruction can be instructed by the user or automatically generated by the self-moving device according to the work plan.

[0155] Further, the accumulated parameters when the mobile device executes the edge process are determined. In this application, the accumulated parameters refer to the accumulated parameters when the mobile device executes the current edge process, such as the accumulated moving distance or the accumulated moving time.

[0156] When the accumulated parameter is greater than or equal to the threshold parameter, the mobile device is controlled to stop the edge process.

[0157] Exemplarily, the threshold parameter represents the movement parameter corresponding to the mobile device moving at least one circle along the boundary of the target working area, such as the moving distance, moving time, etc. If the accumulated parameter is greater than or equal to the threshold parameter, it can be indicated that the mobile device has moved at least one circle along the boundary of the target working area in the process of moving along the boundary.

[0158] If the edge-cutting process is edge-cutting, when the cumulative parameter is greater than or equal to the threshold parameter, it can be indicated that the self-moving device has performed at least one edge-cutting on the boundary of the target working area. The edge-cutting process means that the self-moving device moves and cuts along the boundary of the working area, and there is a certain distance (greater than or equal to zero) between the self-moving device and the boundary of the working area.

[0159] If the edge-along process is cross-edge cutting, when the cumulative parameter is greater than or equal to the threshold parameter, it can be indicated that the self-mobile device has performed at least one cross-edge cutting on the boundary of the target working area. The cross-edge cutting process means that the self-mobile device moves along the boundary of the working area, and the cutting range of the cutting module of the self-mobile device intersects with the boundary of the working area, so that the self-mobile device can cut to the edge and cut the grass at the boundary cleanly.

[0160] In one embodiment, whether the edge process can be stopped is determined by comparing the threshold parameter and the accumulated parameter when the self-mobile device executes the edge process; when the accumulated parameter is greater than or equal to the threshold parameter, the self-mobile device is controlled to automatically stop the edge process; the intelligence and automation level of the self-mobile device can be improved, user operation can be avoided, and there is no need for the user to manually control the self-mobile device to stop the edge process.

[0161] In one possible implementation, the threshold parameters are stored in the self-mobile device. In this case, a storage module for data storage may be provided in the self-mobile device. When the self-mobile device is performing an edge process, the threshold parameters stored in the storage module may be directly called; wherein, the edge process instruction may be user-instructed or automatically generated by the self-mobile device according to a work plan.

[0162] Of course, in another possible implementation of the present application, the threshold parameter of the target working area may also be obtained from the mobile device during the edge process. Specifically, obtaining the threshold parameter corresponding to the target working area includes:

[0163] In the case where the self-mobile device does not store the threshold parameters, the self-mobile device is controlled to move at least one circle along the boundary of the target working area (including the grass area, the merged area or other areas), and the movement data during the movement process is determined; the threshold parameters are determined according to the movement data; the self-mobile device stores the threshold parameters and the mapping relationship between the threshold parameters and the target sub-area.

[0164] Before the self-moving device is used to cut a target working area for the first time, the heating storage module of the self-moving device does not store the threshold parameters. When the threshold parameters corresponding to the target working area need to be reset, the threshold parameters stored in the storage module can be deleted.

[0165] When the storage module does not store the threshold parameters, the mobile device can be controlled to automatically determine the threshold parameters corresponding to the target working area, establish a mapping relationship between the target working area and the threshold parameters, and store the threshold parameters and the mapping relationship.

[0166] Exemplarily, the mobile device can be controlled to move at least one circle along the boundary of the target sub-area, and the movement data can be determined and updated in real time during the movement. The movement path can characterize the movement distance, movement duration, movement path, turning angle, etc. of the movement process along the boundary.

[0167] When the mobile device moves along the boundary of the target working area for at least one circle, the threshold parameter can be determined according to the final movement data.

[0168] The method of determining whether the self-moving device moves at least one circle along the boundary of the target working area may be that the user sends a movement end instruction to the self-moving device, or the self-moving device automatically determines.

[0169] In one embodiment, the target working area is provided with an identification device, and a first distance (greater than or equal to zero) is provided between the identification device and a boundary of the target working area; before determining the threshold parameter according to the movement data, obtaining the threshold parameter corresponding to the target working area further includes:

[0170] Detecting identification information while the mobile device moves at least one circle along the boundary of the target working area;

[0171] When the self-moving device detects the same identification information twice, the self-moving device is controlled to stop moving along the boundary of the target working area.

[0172] In the case where the storage module does not store the threshold parameter, the mobile device is controlled to move at least one circle along the boundary of the target working area until the mobile device detects the same identification information twice; detecting the same identification information twice can indicate that the mobile device has moved at least one circle along the boundary of the target working area; the mobile device can be controlled to stop moving along the boundary of the target sub-area, and then the threshold parameter can be determined according to the movement data. Exemplarily, the threshold parameter is the perimeter of the grass area and / or the perimeter of the merged area, and the perimeter information of other areas of the target working area.

[0173] Based on the same inventive concept as the above embodiments, the embodiments of the present invention provide a self-moving device, such as Figure 5 As shown, the self-mobile device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 5 The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 5 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the control method of the self-moving device applied to the above-mentioned self-moving device is implemented.

[0174] The self-moving device may also include: at least one network interface 312. The various components in the self-moving device are coupled together through a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in Figure 5 Various buses are labeled as bus system 313.

[0175] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0176] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the self-mobile device. Examples of these data include: any computer program used to operate on the self-mobile device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0177] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it may also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the control method of the self-moving device applied to the above-mentioned self-moving device is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 3 The description of the illustrated embodiment will not be repeated here.

[0178] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0179] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0180] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, wherein the working area includes a plurality of grass areas, characterized in that: The method comprises: Determine the current working mode; When the current working mode is the first working mode, first map information is obtained, and the self-moving device is controlled to move and / or work in the grass area according to the first map information; the first map information includes map information of a plurality of grass areas; When the current working mode is the second working mode, second map information is obtained, and the self-moving device is controlled to move and / or work in the merged area according to the second map information; the second map information includes map information of at least one merged area, and the merged area includes at least two adjacent grass areas and a non-grass area located between the adjacent grass areas.

2. The method according to claim 1, characterized in that The second map information also includes one or more of the merged area working parameter information, the merged area area, and the merged area perimeter.

3. The method according to claim 2, characterized in that The second map information further includes map information of at least one other area, where the other area is a grass area in the working area except the merged area; the method further includes: controlling the self-mobile device to move and / or operate in the other area according to the second map information; The second map information also includes one or more of a cross-region transition relationship between the merged region and the other regions, working parameter information of other regions, and perimeters of other regions.

4. The method according to claim 1, characterized in that: The first map information also includes one or more of the inter-region transition relationship between the grassland areas, grassland area working parameter information, grassland area area and grassland area perimeter.

5. The method according to claim 1, characterized in that: Before the mobile device executes the first working mode / the second working mode for the first time, the method further includes: Controlling the self-mobile device to create the first map information / the second map information in a corresponding working mode; Alternatively, the first map information / the second map information created by the user at the user end is received.

6. The method according to claim 1, characterized in that The method further comprises: When the self-mobile device receives the second working mode instruction for the first time, comparing the local map of the self-mobile device with the map corresponding to the second working mode instruction; If they are inconsistent, the mobile device is triggered to create the second map information to obtain the second map information.

7. The method according to claim 1, characterized in that The obtaining of the second map information includes: In response to the self-mobile device executing the second working mode for the first time, the self-mobile device is triggered to build a map according to the acquired map setting information.

8. The method according to claim 1, characterized in that The controlling the self-moving device to move and / or operate in the grass area includes: controlling the self-moving device to move and / or operate inside the grass area, and controlling the self-moving device to move and / or operate along the boundary of the grass area; The controlling the self-moving device to move and / or operate in the merged area includes: controlling the self-moving device to move and / or operate inside the merged area, and controlling the self-moving device to move and / or operate along the boundary of the merged area.

9. The method according to claim 1, characterized in that: The controlling the self-moving device to move and / or operate in the grass area further includes: Determine a target working area, where the target working area is the grass area or the merged area where the self-moving device is located; Obtaining a threshold parameter corresponding to the target working area; Controlling the self-moving device to execute an edge process so that the self-moving device moves along the boundary of the target working area; Determining the accumulated parameters when the mobile device executes the edge process; When the accumulated parameter is greater than or equal to the threshold parameter, controlling the self-mobile device to stop the edge process; The threshold parameter may be obtained through the first map information / the second map information, or may be set or adjusted by a user.

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

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