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

Abstract

The invention discloses a control method of self-moving equipment and the self-moving equipment. The method comprises the following steps: acquiring a to-be-operated target shadow area; identifying the position relationship between the target shadow region and the boundary to obtain an identification result; when the identification result represents that the distance between the target shadow area and the boundary exceeds a preset threshold value, controlling the self-moving device to work according to a first path mode; when the recognition result represents that the distance between the target shadow area and the boundary does not exceed the preset threshold value, the self-moving device is controlled to work according to a second path mode, and the first path mode is different from the second path mode. Thus, according to the distance between the to-be-operated target shadow area and the boundary of the working area, the self-moving device is controlled to operate on the target shadow area according to the corresponding path mode, so that the self-moving device can process the shadow area on the premise of considering the safety, the processing coverage rate of the shadow area is improved, and the user experience is improved. And the user experience is improved.

Description

Technical Field

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

[0002] For autonomous devices with satellite positioning (RTK) functions, such as lawn mowers, when the autonomous device moves to a shadow area with poor satellite signals, the inaccurate positioning of the area may cause the machine to be unable to move along the planned path, or even go out of the boundary, affecting the safety of the autonomous device. However, if the direction of movement is changed immediately after a shadow area is detected, although the safety of the machine can be guaranteed, it will lead to low efficiency such as missing the mowing of all the lawns in the shadow area. Summary of the invention

[0003] Based on this, it is necessary to provide a control method for a self-moving device, a self-moving device and a computer-readable storage medium to address 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, the method comprising: obtaining a target shadow area to be worked on; identifying a positional relationship between the target shadow area and the boundary to obtain a recognition result; when the recognition result indicates that the distance between the target shadow area and the boundary exceeds a preset threshold, controlling the self-moving device to work according to a first path mode; when the recognition result indicates that the distance between the target shadow area and the boundary does not exceed a preset threshold, controlling the self-moving device to work according to a second path mode, the first path mode being different from the second path mode.

[0006] In one possible implementation, controlling the self-moving device to operate according to the first path mode includes: controlling the self-moving device to move along the first planned path within the target shadow area for a first preset time, and changing the movement mode after moving for the first preset time, so that after changing the movement mode, the positioning signal received by the self-moving device meets a preset quality condition.

[0007] In one possible implementation, controlling the self-moving device to operate in accordance with the second path mode includes: controlling the self-moving device to move along the second planned path for a second preset time, and changing the movement mode after moving for the second preset time, so that after changing the movement mode, the positioning signal received by the self-moving device meets a preset quality condition; the second preset time is less than the first preset time.

[0008] In one possible implementation, the obtaining of the target shadow area to be worked on includes: obtaining at least one shadow point detected when the self-moving device performs work according to the planned path within the working area; the shadow point is a position where the positioning signal received by the self-moving device does not meet a preset quality condition; obtaining at least one unprocessed area after the self-moving device performs work according to the planned path within the working area; the unprocessed area is an area where the self-moving device has not worked; and determining the unprocessed area located near the shadow point as the target shadow area to be worked on.

[0009] In one possible implementation, the unprocessed area located near the shadow point is determined as the target shadow area to be worked on, including: performing outward expansion processing on each of the unprocessed areas, and obtaining the number of shadow points covered by each of the unprocessed areas after the expansion; and determining the unprocessed area whose number of shadow points is greater than a preset number threshold as the target shadow area to be worked on.

[0010] In a possible implementation, identifying the positional relationship between the target shadow area and the boundary to obtain a recognition result includes: identifying the distance between at least one shadow point in the target shadow area and the boundary; and determining the recognition result according to the distance.

[0011] In a possible implementation manner, the at least one shadow point includes an inflection point.

[0012] In a possible implementation, the positional relationship between the target shadow area and the boundary is identified to obtain an identification result, including: detecting whether the self-moving device has worked around the target shadow area; if it has worked, generating an identification result that the distance between the target shadow area and the boundary exceeds a preset threshold.

[0013] In a possible implementation, controlling the self-moving device to move along the second planned path for a second preset time, and changing the moving mode after moving for the second preset time, includes:

[0014] The self-moving device is controlled to move along a first direction and according to a second planned path for a second preset time, wherein the first direction is a direction parallel to a direction where a short side of the target shadow area is located.

[0015] In one possible implementation, the working modes of the self-moving device include: an edge working mode and an internal working mode; wherein, the self-moving device moves along the boundary of the working area in the edge working mode, and moves within the working area according to the planned path in the internal working mode; the triggering conditions for executing the step of obtaining at least one shadow point and at least one unprocessed area detected when the self-moving device performs work within the working area according to the planned path include at least one of the following: in the process of controlling the self-moving device to move within the working area according to the planned path, identifying that the distance between the shadow points on the boundary is marked as moved or is less than or equal to a preset threshold; or; in the process of controlling the self-moving device to move within the working area according to the planned path, a next path adjacent to the current path cannot be planned.

[0016] In one possible implementation, the method also includes: establishing a shadow map based on the at least one shadow point; obtaining target shadow points detected when the self-mobile device operates according to the first planned path and / or the second planned path within the target shadow area, and target unprocessed areas that cannot be processed by the self-mobile device; updating the shadow map based on the target shadow points, and marking the target unprocessed areas in the shadow map.

[0017] In a possible implementation manner, the method further includes: controlling the self-moving device to work in a working area except the target unprocessed area.

[0018] In a second aspect, an embodiment of the present application provides a self-moving device, comprising: a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the control method of the self-moving device are implemented.

[0019] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the steps of the above-mentioned control method of a mobile device.

[0020] The control method of the self-moving device, the self-moving device and the storage medium provided in the embodiment of the present application, the method comprises: obtaining the target shadow area to be worked; identifying the positional relationship between the target shadow area and the boundary to obtain the identification result; when the identification result indicates that the distance between the target shadow area and the boundary exceeds the preset threshold, the self-moving device is controlled to work according to the first path mode; when the identification result indicates that the distance between the target shadow area and the boundary does not exceed the preset threshold, the self-moving device is controlled to work according to the second path mode, and the first path mode is different from the second path mode. In this way, a suitable path mode is adaptively selected based on the distance between the self-moving device and the boundary. When the shadow area is very close to the boundary or the shadow area includes the boundary, a safer path mode is used to prevent the machine from going out of bounds; when the shadow area is far from the boundary, a path mode with higher coverage is used, so that the self-moving device can process the shadow area under the premise of taking into account safety, thereby improving the processing coverage of the shadow area and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of a mobile device working along a planned path in the prior art;

[0022] Figure 2 A schematic diagram of a flow chart of a method for controlling a self-moving device provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of partitioning of a shaded area in an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of a mobile device working along a planned path in an embodiment of the present invention Figure 1 ;

[0025] Figure 5 Schematic diagram of a mobile device working along a planned path in an embodiment of the present invention Figure 2 ;

[0026] Figure 6 A schematic diagram of the structure of a self-moving device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] like Figure 1 As shown, the self-moving device 100 in the embodiment of the present disclosure can move autonomously along the planned path in the working area 200 to automatically perform the work task. Among them, the self-moving device can be an automatic lawn mower, an automatic sprinkler, an automatic fertilizer applicator, an automatic sweeper, an automatic snow sweeper, etc., which are suitable for unattended operation. They automatically walk on the surface of the working area to mow, sprinkle, fertilize, vacuum or sweep snow. It can also be other suitable for unattended operation. The embodiments of this specification are not limited to this.

[0035] When working along the planned path in the working area 200, the mobile device 100 needs to accurately obtain its own position through the positioning module, such as using RTK, IMU and ODO fusion for positioning, and control the distance between itself and the boundary of the working area 200 according to its own position to avoid driving out of the boundary, thereby ensuring its own safety. However, there may be some areas with weak satellite navigation signals in the working area 200, which can be called shadow areas, such as Figure 1When the self-mobile device 100 moves in the areas AFGH shown in the figure, the navigation accuracy may be affected, thereby affecting the navigation effect and safety of the self-mobile device 100. However, if the self-mobile device 100 immediately changes the moving direction when it detects the shadow area, although the safety of the self-mobile device 100 can be guaranteed, it will cause the self-mobile device 100 to not work on the shadow area. For example, Figure 1 As shown, taking the mobile device 100 as an automatic lawn mower as an example, if the automatic lawn mower works according to the bow-shaped path and follows Figure 1 When the moving direction indicated by the middle arrow moves to position A, if it is detected that the positioning signal received at position A does not meet the preset quality condition, the moving direction is immediately changed, such as moving toward the direction of position B, which will result in missing cutting of all lawns in the shadow area.

[0036] Therefore, the existing technology needs to solve the problem of how to work in the shadow area, so that the self-moving device can process the shadow area under the premise of taking into account safety and improve the processing coverage of the shadow area. Figure 2 As 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.

[0037] See also Figure 2 , 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 moves and / or works in a working area limited by a boundary. The method provided in this embodiment includes:

[0038] Step S101: Acquire the target shadow area to be worked on.

[0039] The target shadow area is the unprocessed area where the self-moving device will work, and the unprocessed area is located in the shadow area. Here, the shadow area is the area where the received positioning signal does not meet the preset quality conditions when the self-moving device works in the working area, such as Figure 1 The area AFGH is shown in FIG.

[0040] Step S102: Identify the positional relationship between the target shadow area and the boundary to obtain a recognition result.

[0041] Among them, the positional relationship between the target shadow area and the boundary can be identified by judging whether there is an intersection or overlap between the position of the target shadow area and the position of the boundary. It should be noted that when the working area includes multiple boundaries, the positional relationship between the target shadow area and the boundary is identified, and the positional relationship between the target shadow area and the boundary closest to the target shadow area is identified. Here, the boundary can be a real boundary, a mapping boundary or a retracted boundary. It should be noted that a map of the working area is stored in the self-mobile device, and the map is established based on the real boundary, and the map can be divided into multiple grids. For the grid that the self-mobile device has traveled, the grid is marked as moved, and for the grid whose positioning signal does not meet the preset quality conditions, the grid is marked as a shadow point. The boundary of the map is the mapping boundary, and the retracted boundary is the boundary after the mapping boundary is retracted by a distance (such as half a fuselage). In addition, the self-mobile device has two working modes during the working process, namely, the edge working mode and the internal working mode, which can also be referred to as the edge cutting mode and the internal cutting mode in the following embodiments of this application. In the edge cutting mode, the self-mobile device travels along the boundary of the retracted working area. The boundary for edge cutting is the mapping boundary or the boundary after the mapping boundary is retracted by a certain distance (such as half of the fuselage), while the internal cutting boundary is the boundary after the retracted mapping boundary is retracted by a certain distance.

[0042] Step S103: When the recognition result indicates that the distance between the target shadow area and the boundary exceeds a preset threshold, the self-mobile device is controlled to operate in the first path mode.

[0043] It can be understood that when the recognition result indicates that the distance between the target shadow area and the boundary exceeds the preset threshold, it means that the target shadow area does not include the boundary or the target shadow area is far from the boundary. At this time, when the self-moving device is working in the target shadow area, there is no need to consider the problem of driving out of the boundary and affecting safety. Therefore, the self-moving device can be controlled to work according to the first path mode to process as many target shadow areas as possible. Among them, the first path mode is used to indicate the moving path, moving time and other information of the self-moving device when working in the target shadow area when the distance between the target shadow area and the boundary exceeds the preset threshold.

[0044] In a possible implementation, controlling the mobile device to operate according to the first path mode includes:

[0045] The self-mobile device is controlled to move along a first planned path within a target shadow area for a first preset time, and the moving mode is changed after moving for the first preset time, so that at the position after the movement, the positioning signal received by the self-mobile device meets a preset quality condition.

[0046] Among them, the first planned path can be the same as the planned path when the self-moving device was working in the working area before, or it can be different from the planned path when the self-moving device was working in the working area before. The first preset time can be set according to the actual situation, for example, it can be set according to the moving speed of the self-moving device, the correlation between the positioning accuracy and time or distance after the self-moving device enters the shadow area, and other factors. For example, assuming that the moving speed of the self-moving device is 0.6m / s, if the self-moving device will completely lose the positioning accuracy after entering the shadow area 6 meters, the self-moving device can be controlled according to the moving speed of the self-moving device. The first preset time such as 10s for the self-moving device to move along the first planned path in the target shadow area, and the moving mode is changed after the first preset time, so that after the changing of the moving mode, the received positioning signal at the location of the machine meets the preset quality condition, so as to process the target shadow area as much as possible. Among them, the change of the moving mode can be set according to the actual situation, for example, it can be to change the moving direction, such as moving to the left, right, etc., or it can be to change the moving path, such as planning a moving path toward the set signal recovery point, and moving along the moving path toward the set signal recovery point, etc.

[0047] Step S104: when the recognition result indicates that the distance between the target shadow area and the boundary does not exceed a preset threshold, the self-mobile device is controlled to operate according to the second path mode, and the first path mode is different from the second path mode.

[0048] It can be understood that when the recognition result indicates that the distance between the target shadow area and the boundary does not exceed the preset threshold, it means that the target shadow area may include the boundary or the target shadow area is close to the boundary. At this time, when the self-moving device is working in the target shadow area, it is necessary to consider the problem of driving out of the boundary and affecting safety. Therefore, the self-moving device can be controlled to work according to the second path mode to process as many target shadow areas as possible while ensuring the safety of the self-moving device. Among them, the second path mode is used to indicate the moving path, moving time and other information of the self-moving device when working in the target shadow area when the distance between the target shadow area and the boundary does not exceed the preset threshold.

[0049] In a possible implementation, controlling the mobile device to operate according to the second path mode includes:

[0050] Control the self-moving device to move along the second planned path for a second preset time, and change the moving mode after moving for the second preset time, so that after changing the moving mode, the positioning signal received by the self-moving device meets the preset quality condition; the second preset time is less than the first preset time.

[0051] The second planned path may be different from the planned path when the mobile device is working in the working area, and the second preset time may be set according to the actual situation, for example, according to the moving speed of the mobile device, the distance between the target shadow area and the boundary, the correlation between the positioning accuracy and the time or distance after the mobile device enters the shadow area, etc. The change of the moving mode may be set according to the actual situation, for example, it may be set to change the moving direction, such as moving left or right.

[0052] In summary, in the method provided in the above embodiment, a suitable path mode is adaptively selected based on the distance between the self-mobile device and the boundary. When the shadow area is very close to the boundary or the shadow area includes the boundary, a safer path mode is adopted to prevent the machine from going out of boundary; when the shadow area is far away from the boundary, a path mode with higher coverage is adopted, that is, according to the distance between the target shadow area to be worked on and the boundary of the working area, the self-mobile device is controlled to work on the target shadow area according to the corresponding path mode, so that the self-mobile device can process the shadow area under the premise of taking safety into account, thereby improving the processing coverage of the shadow area and enhancing the user experience.

[0053] In a possible implementation, obtaining a target shadow area to be worked on includes:

[0054] Acquire at least one shadow point and at least one unprocessed area detected by the self-mobile device when the self-mobile device performs work according to the planned path in the work area; the shadow point is a position where the positioning signal received by the self-mobile device does not meet the preset quality condition, and the unprocessed area is an area where the self-mobile device has not worked;

[0055] Based on the positional relationship between at least one shadow point and at least one unprocessed area, the unprocessed area located within the shadow area is determined as a target shadow area to be worked on.

[0056] Among them, when the self-mobile device performs work in the working area according to the set planned path such as the bow-shaped path, it can detect in real time, irregularly or periodically whether the received positioning signal meets the preset quality condition, and record the position where the received positioning signal does not meet the preset quality condition as a shadow point to obtain at least one shadow point. Here, the shadow point can be a grid in the working area map such as a grid map. At the same time, when the self-mobile device is performing work, it can mark the processed area on the working area map accordingly, such as marking the grid corresponding to the processed area on the working area map with a preset mark (such as black or other colors), so that the self-mobile device can obtain at least one unprocessed area that the self-mobile device has not worked on according to the processed area marked on the working area map. It can be understood that some unprocessed areas may be caused by the presence of obstacles such as stones and puddles in the working area. For example, when the self-mobile device detects that there is an obstacle in front, it will turn at a certain distance from the obstacle so as not to work on the area where the obstacle is located, and an unprocessed area will be generated accordingly. Of course, some unprocessed areas may also be caused by the self-mobile device turning because the received positioning signal does not meet the preset quality condition. For example, continue to refer to Figure 1 , assuming that the positioning signals received by the mobile device at positions A, C, E, G and H do not meet the preset quality conditions, then Figure 1 The moving direction indicated by the middle arrow is that the self-moving device turns to move toward position B when it moves to position A, turns to move toward position D when it moves to position C, turns to move toward position F when it moves to position E, and so on, and an unprocessed area AFGH will be generated.

[0057] It can be understood that if the unprocessed area is not generated because the positioning signal received from the mobile device does not meet the preset quality condition, but is generated due to the existence of obstacles and other reasons, it can be considered that although the mobile device cannot continue to work on the unprocessed area, the positioning signal received by the mobile device in the unprocessed area can be considered to meet the preset quality condition. For the unprocessed area generated because the positioning signal received from the mobile device does not meet the preset quality condition, it can be considered that the positioning signal received by the mobile device in the unprocessed area does not meet the preset quality condition. In addition, since the position or range of the shadow area where the positioning signal received from the mobile device does not meet the preset quality condition can be known according to at least one shadow point, at least one unprocessed area can be obtained after the mobile device performs work according to the planned path in the working area; wherein the unprocessed area is an area where the machine has not worked; and the unprocessed area located near the shadow point is determined as the target shadow area to be worked. That is, it is determined whether each unprocessed area is located in the shadow area, and then the unprocessed area located in the shadow area can be determined as the target shadow area to be worked.

[0058] It should be noted that for the unprocessed area located in the shadow area, it can be considered that when the self-moving device works in the unprocessed area located in the shadow area, it only affects the accuracy of the received positioning signal, but does not affect the safety of the self-moving device itself. In this way, based on the positional relationship between at least one shadow point and at least one unprocessed area, the target shadow area to be worked on is determined, the operation is convenient and accurate, and the processing coverage of the shadow area is further improved.

[0059] In a possible implementation, determining the unprocessed area near the shadow point as a target shadow area to be worked on includes:

[0060] Performing an expansion process on each unprocessed area, and obtaining the number of shadow points covered by each unprocessed area after the expansion;

[0061] An unprocessed area with a shadow point quantity greater than a preset threshold is determined as a target shadow area to be worked on.

[0062] Among them, the expansion of the unprocessed area can be considered as expanding the outer contour of the unprocessed area by a certain distance, such as 0.5 meters. After the unprocessed area is expanded, the position of the unprocessed area after expansion can be known, and by comparing the position of each shadow point with the position of each unprocessed area after expansion, it can be determined whether each shadow point is in each unprocessed area after expansion, that is, whether each unprocessed area after expansion is covered with a shadow point. Correspondingly, by counting the number of shadow points in each unprocessed area after expansion (that is, the number of grids marked as shadows), the number of shadow points covered by each unprocessed area after expansion can be obtained. It can be understood that when the number of shadow points covered by an unprocessed area after expansion is greater than the preset number threshold, it means that there are more shadow points around the unprocessed area, and the shadow point is the position where the positioning signal received from the mobile device does not meet the preset quality condition. Therefore, the unprocessed area may be caused by the existence of surrounding shadow points, and the unprocessed area can be determined as the target shadow area to be worked on. Here, the preset number threshold is set according to actual needs, such as 80, 150, etc. In this way, by expanding the unprocessed area and judging whether the unprocessed area is the target shadow area to be worked on according to the number of shadow points covered by the unprocessed area after expansion, the unprocessed area generated by the positioning signal received from the mobile device not meeting the preset quality condition can be accurately identified, further improving the processing coverage of the shadow area and further improving the user experience.

[0063] In a possible implementation, the working mode of the self-moving device includes: an edge working mode and an internal working mode; wherein the self-moving device moves along the boundary of the working area in the edge working mode, and moves inside the working area according to the planned path in the internal working mode; and the triggering condition for executing the step of obtaining at least one shadow point and at least one unprocessed area detected when the self-moving device performs work in the working area according to the planned path includes at least one of the following:

[0064] In the process of controlling the self-moving device to move within the working area according to the planned path, it is identified that the distance between the points marked as moved or marked as shadows on the boundary is less than or equal to a preset threshold; or

[0065] In the process of controlling the self-moving device to move within the working area according to the planned path, a next path adjacent to the current path cannot be planned.

[0066] Among them, a map of the working area is stored in the self-moving device. The self-moving device has two working modes during the working process, namely, the edge working mode and the internal working mode. In the edge cutting mode, the self-moving device travels along the boundary of the retracted working area. The boundary during edge cutting is the mapping boundary or the boundary after the mapping boundary is retracted by a certain distance (such as half a fuselage), and the internal cutting boundary is the boundary after the retracted mapping boundary is retracted by a certain distance. The boundaries in this application can be the above three forms of boundaries, which are not specifically limited here.

[0067] It can be understood that since the self-moving device performs work according to the planned path in the working area, if the self-moving device detects shadow points and unprocessed areas during the working process, it will perform the positional relationship between at least one shadow point and at least one unprocessed area, determine the unprocessed area located in the shadow area as the target shadow area to be worked, and then control the self-moving device to work on the target shadow area, which will affect the working efficiency of the self-moving device and easily repeat the processing of the worked area. Therefore, only when the distance between the points marked as moved or marked as shadows on the boundary is less than or equal to the preset threshold during the internal work of the self-moving device, that is, the self-moving device has moved all the boundaries of the working area, and / or the next path adjacent to the current path cannot be planned according to the planned path, the step of obtaining at least one shadow point and at least one unprocessed area detected when the self-moving device performs work according to the planned path in the working area is performed to improve the working efficiency of the self-moving device. It should be noted that since the self-moving device usually starts working from a boundary of the working area, if the self-moving device has moved all the boundaries of the working area, or the next path adjacent to the current path cannot be planned according to the planned path, it means that the self-moving device has basically completed the processing of the working area.

[0068] In a possible implementation, the positional relationship between the target shadow area and the boundary is identified to obtain an identification result, including:

[0069] identifying a distance between at least one shadow point in the target shadow region and a boundary;

[0070] The recognition result is determined based on the distance.

[0071] Among them, at least one shadow point includes an inflection point, and the inflection point of the target shadow area can be the inflection point of the circumscribed rectangle of the target shadow area, that is, the rectangular inflection point. Here, the inflection point can be a grid in a working area map such as a grid map. It can be understood that when the position of the inflection point of the target shadow area and the position of the boundary are known, the distance between the inflection point of the target shadow area and the boundary can be calculated to obtain the distance between the inflection point of the target shadow area and the boundary, and then the recognition result is determined according to the distance. It should be noted that if the working area includes multiple boundaries, only the distance between the inflection point of the target shadow area and the nearest boundary can be calculated. In this way, the positional relationship between the target shadow area and the boundary can be quickly and accurately obtained, which is convenient for corresponding processing of the target shadow area based on the positional relationship between the target shadow area and the boundary, and further improves the processing coverage of the shadow area.

[0072] In a possible implementation, the positional relationship between the target shadow area and the boundary is identified to obtain an identification result, including:

[0073] Detect whether the mobile device has worked around the target shadow area;

[0074] If it has been worked on, a recognition result is generated in which the distance between the target shadow area and the boundary exceeds the preset threshold.

[0075] Among them, since the self-mobile device will mark the processed area on the work area map when performing work in the work area, for example, the grid corresponding to the processed area on the work area map is marked with a preset mark, etc. Therefore, according to the processed area marked on the work area map and the position of the target shadow area, it can be detected whether the surrounding area of ​​the target shadow area on the work area map has been marked as a processed area, that is, it is detected whether the self-mobile device has worked on the surrounding area of ​​the target shadow area. If the surrounding area of ​​the target shadow area on the work area map has been marked as a processed area, it is determined that the self-mobile device has worked on the surrounding area of ​​the target shadow area; if the surrounding area of ​​the target shadow area on the work area map has not been marked as a processed area, it is determined that the self-mobile device has not worked on the surrounding area of ​​the target shadow area. It can be understood that since the self-mobile device needs to keep a certain distance from the boundary to ensure its own safety when performing work in the work area, therefore, when it is detected that the self-mobile device has worked on the surrounding area of ​​the target shadow area, it can be determined that the distance between the target shadow area and the boundary exceeds the preset threshold, and the recognition result that the distance between the target shadow area and the boundary exceeds the preset threshold can be generated. In this way, the positional relationship between the target shadow area and the boundary can be quickly and accurately obtained, which facilitates corresponding processing of the target shadow area based on the positional relationship between the target shadow area and the boundary, further improving the processing coverage of the shadow area.

[0076] In a possible implementation, controlling the mobile device to move along the second planned path for a second preset time includes:

[0077] The mobile device is controlled to move along a first direction and according to a second planned path for a second preset time, wherein the first direction is a direction parallel to a direction where a short side of the target shadow area is located.

[0078] Optionally, when the short side of the target shadow area includes the short side of the circumscribed rectangle of the target shadow area, the self-mobile device may be controlled to move along a direction parallel to the direction of the short side of the circumscribed rectangle of the target shadow area and move along the second planned path for a second preset time. Optionally, the target shadow area may be partitioned according to the short side planning method to divide the target shadow area into a plurality of sub-shadow areas, and the self-mobile device may be controlled to move along a direction parallel to the direction of the short side of each sub-shadow area and move along the second planned path for a second preset time. Figure 3, assuming that the target shadow area is area AFGH, if the length between position A and position H is less than the length between position A and position F, then we can first determine a shadow sub-area ABPH based on the distance that the self-mobile device can enter the shadow area (denoted as L), and take the position of AH as the edge. Then, if the length between position B and position F is less than the length between position B and position P, we can determine a shadow sub-area BFNM based on the distance L that the self-mobile device can enter the shadow area, and take the position of BF as the edge. And so on, the target shadow area is partitioned to obtain shadow sub-areas PP1G1G. When working on the shadow sub-area ABPH, the self-mobile device will work in a direction parallel to HP or AB, and when working on the shadow sub-area BFNM, the self-mobile device will work in a direction parallel to MB or NF. In addition, the self-mobile device will no longer work in area MNG1P1 in subsequent path planning.

[0079] It can be understood that by controlling the self-moving device to move along a direction parallel to the short side of the target shadow area and moving according to the second planned path for the second preset time, it is possible to process as many target shadow areas as possible while ensuring the safety of the self-moving device, thereby further improving the processing coverage of the shadow area.

[0080] In a possible implementation, the method further includes:

[0081] establishing a shadow map based on at least one shadow point;

[0082] Obtaining target shadow points detected by the self-mobile device when the self-mobile device operates according to the first planned path and / or the second planned path in the target shadow area, and target unprocessed areas that cannot be processed by the self-mobile device;

[0083] The shadow map is updated according to the target shadow points, and the target unprocessed areas are marked in the shadow map.

[0084] Among them, when the position of each shadow point is known, a shadow map can be established based on at least one shadow point. For example, adjacent shadow points are connected based on the position of at least one shadow point to establish a shadow map. It can be understood that when the distance between adjacent shadow points is large, the shadow map established based on at least one shadow point may not be very accurate. By updating the shadow map with the target shadow points detected when the self-mobile device works according to the first planned path and / or the second planned path in the target shadow area, the accuracy of the shadow map can be improved, and it is convenient to avoid the shadow area when planning the point-to-point path in the working area later. Continue reading Figure 1, assuming that at least one shadow point obtained includes A, B, C, D, E, F, G and H, since the distance between shadow point A and shadow point H and the distance between shadow point G and shadow point F are large, if we directly Figure 1 The shadow map established for the area surrounded by the above shadow points may not be accurate enough. Therefore, the shadow map can be updated in combination with the target shadow points detected when the mobile device works along the first planned path on the area between shadow point A and shadow point H, and the area between shadow point G and shadow point F, to obtain a more accurate shadow map.

[0085] In addition, when the mobile device works in the target shadow area according to the first planned path and / or the second planned path, there may be a target unprocessed area that cannot be processed due to the restrictions of the first preset time and / or the second preset time. Therefore, the target unprocessed area can be marked in the shadow map so that the target unprocessed area will not be planned to be worked on in the future, thereby reducing unnecessary path planning operations and improving the work efficiency of the work area.

[0086] In a possible implementation, the method further includes:

[0087] Control the self-mobile device to work in the working area except the target unprocessed area.

[0088] It can be understood that since the self-moving device cannot process the target unprocessed area in the target shadow area when it is working on the target shadow area, the self-moving device will be controlled not to process the target unprocessed area, that is, the self-moving device will be controlled to work in the working area except the target unprocessed area. In this way, unnecessary path planning operations can be reduced and the working efficiency of the working area can be improved.

[0089] Based on the same inventive concept as the above embodiments, the above embodiments are described in detail below through a specific example. In this example, the self-moving device is an automatic lawn mower as an example.

[0090] When the automatic lawn mower detects a shadow area while mowing, it will immediately change its direction of movement. Although this can ensure the safety of the automatic lawn mower, it will lead to inefficiencies such as missing all lawns in the shadow area. Currently, the automatic lawn mower uses RTK, IMU and ODO fusion for positioning. After many tests, the inventor found that when the automatic lawn mower enters the shadow area, as the RTK fusion weight decreases and the cumulative error of the IMU and other dead reckoning navigation increases, the positioning accuracy of the automatic lawn mower will gradually decrease until it completely loses its positioning accuracy.

[0091] Based on the above characteristics, the automatic lawn mower 100 in this embodiment is Figure 4During the movement of the bow-shaped planned path shown, when a shadow area is detected, the distance between the shadow area and the boundary will be detected first. If the distance exceeds the preset threshold, that is, the shadow area is completely within the working area, the automatic lawn mower can be controlled to continue moving along the current planned path for 35 seconds. If the automatic lawn mower is still in the shadow area after moving for 35 seconds, in order to ensure the positioning accuracy, the signal recovery point closest to the current position can be found (marked in advance on the working area map), and a path can be planned from the current position to the signal recovery point to control the automatic lawn mower to move toward the signal recovery point. After the automatic lawn mower moves to the signal recovery point and restores the signal, it can move to the position reached 35 seconds ago or the position before 35 seconds ago to continue cutting along the original moving direction. Figure 4 As shown, the automatic lawn mower can be controlled to continue moving forward from position A along the currently planned path for 35 seconds to position a. If the automatic lawn mower detects that the positioning signal received at position a does not meet the preset quality conditions, a path from position a to the signal recovery point can be planned to control the automatic lawn mower to move along the path toward the signal recovery point. After the automatic lawn mower moves to the signal recovery point and restores the signal, the automatic lawn mower can be controlled to move to position a again to continue cutting along the original moving direction, that is, in the direction of position A. It should be noted that when the shadow area is within the working area, the path planned for movement within the shadow area may be consistent with the original bow-shaped planned path, or it may not be consistent with the bow-shaped planned path. For example, it may be a path perpendicular to the original bow-shaped planned path.

[0092] Alternatively, the automatic lawn mower can be controlled to continue moving along the current planned path until 70 seconds after the movement. If the positioning signal continues to deteriorate, the automatic lawn mower is controlled to stop and wait for the signal to recover or send a message to remind the user to handle it. It should be noted that when the shadow area is completely within the working area, the corresponding shadow area is generally small, which may be mainly caused by trees, temporarily placed objects (such as balls, etc.). Directly moving in the internal shadow area according to the planned path without adopting any strategy can achieve complete cutting. In addition, the moving speed of the automatic lawn mower is usually about 0.6m / s, and it should be able to complete the shadow area in 35s. Even if it cannot be completed, after finding the recovery point, it can ensure that the cutting of the entire internal shadow area is completed with high positioning quality.

[0093] In addition, if the distance does not exceed the preset threshold, that is, the shadow area includes the boundary of the working area, the automatic lawn mower is controlled to continue moving along the current planned path for 12 seconds. If the automatic lawn mower is still in the shadow area after moving for 12 seconds, the automatic lawn mower is controlled to change the original moving direction and continue to cut in a bow shape. After changing the moving direction, the automatic lawn mower may go to a place with good signal. Figure 5As shown, the automatic lawn mower can be controlled to move forward from position A along the current planned path for 12 seconds to position b. If the automatic lawn mower detects that the positioning signal received at position b does not meet the preset quality condition, it can change the original moving direction, that is, move in the direction of position c, and continue the bow-shaped cutting, and so on.

[0094] When the above scheme is adopted, if the situation of continuing to move along the current planned path for 12 seconds and still being in the shadow area is that the automatic lawn mower is controlled to change the original moving direction to continue the bow-shaped cutting, which will cause missed cutting after 12 seconds on the current planned path. In the present application, in order to achieve maximum cutting, and to prevent the automatic lawn mower from going out of bounds during movement due to signal difference, when the missed cutting area (i.e., unprocessed area) caused by the shadow is identified, first determine whether the shadow area is inside the working area or on the boundary. If the shadow area is inside the working area, it is cut along the original planned path, and the 12s step is removed, while only the steps of finding the signal recovery point after 35 seconds are retained, or all steps are removed and only the step of stopping after 70 seconds is retained. If the shadow area is at the boundary of the working area, 12 seconds is still retained, but the strategy of short-side cutting can be adopted.

[0095] Based on the same inventive concept as the above embodiments, the embodiments of the present invention provide a self-moving device, such as Figure 6 As shown, the self-mobile device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 6 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 6 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 described above is implemented.

[0096] 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 6 Various buses are labeled as bus system 313.

[0097] 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.

[0098] 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.

[0099] 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 2 The description of the illustrated embodiment will not be repeated here.

[0100] 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.

[0101] 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.

[0102] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A control method for a self-moving device, the control method being applied to a self-moving device, the self-moving device moving and / or working within a working area defined by a boundary, characterized in that: The method comprises: Get the target shadow area to be worked on; Identify the positional relationship between the target shadow area and the boundary to obtain an identification result; When the recognition result indicates that the distance between the target shadow area and the boundary exceeds a preset threshold, controlling the self-moving device to operate in a first path mode; When the recognition result indicates that the distance between the target shadow area and the boundary does not exceed a preset threshold, the self-moving device is controlled to operate according to a second path mode, and the first path mode is different from the second path mode.

2. The method according to claim 1, characterized in that The controlling the self-moving device to operate according to the first path mode includes: The self-moving device is controlled to move along a first planned path within the target shadow area for a first preset time, and a moving mode is changed after moving for the first preset time, so that after the moving mode is changed, the positioning signal received by the self-moving device meets a preset quality condition.

3. The method according to claim 2, characterized in that The controlling the self-moving device to operate according to the second path mode includes: Control the self-moving device to move along the second planned path for a second preset time, and change the moving mode after moving for the second preset time, so that after changing the moving mode, the positioning signal received by the self-moving device meets the preset quality condition; the second preset time is less than the first preset time.

4. The method according to any one of claims 1 to 3, characterized in that The step of obtaining the target shadow area to be worked on comprises: Acquire at least one shadow point detected by the self-moving device when the self-moving device performs work according to the planned path in the working area; the shadow point is a position where the positioning signal received by the self-moving device does not meet a preset quality condition; Acquire at least one unprocessed area after the self-moving device performs work in the working area according to the planned path; the unprocessed area is an area that the self-moving device has not worked on; The unprocessed area located near the shadow point is determined as a target shadow area to be worked on.

5. The method according to claim 4, characterized in that Determining the unprocessed area located near the shadow point as a target shadow area to be worked on includes: Performing an expansion process on each of the unprocessed areas, and obtaining the number of shadow points covered by each of the unprocessed areas after the expansion; The unprocessed area with the number of shadow points greater than a preset number threshold is determined as a target shadow area to be worked on.

6. The method according to any one of claims 1 to 3, characterized in that The identifying the positional relationship between the target shadow area and the boundary to obtain an identification result includes: identifying a distance between at least one shadow point in the target shadow area and the boundary; A recognition result is determined according to the distance.

7. The method according to claim 6, characterized in that The at least one shadow point comprises an inflection point.

8. The method according to claim 3, characterized in that The controlling the self-moving device to move along the second planned path for a second preset time, and changing the moving mode after moving for the second preset time, includes: The self-moving device is controlled to move along a first direction and according to a second planned path for a second preset time, wherein the first direction is a direction parallel to a direction where a short side of the target shadow area is located.

9. The method according to claim 4, characterized in that The working modes of the self-moving device include: an edge working mode and an internal working mode; wherein the self-moving device moves along the boundary of the working area in the edge working mode, and moves inside the working area according to the planned path in the internal working mode; the triggering condition for executing the step of obtaining at least one shadow point and at least one unprocessed area detected when the self-moving device performs work in the working area according to the planned path includes at least one of the following: In the process of controlling the self-moving device to move within the working area according to the planned path, it is identified that the distance between the points marked as moved or the shadow points on the boundary is less than or equal to a preset threshold; or; In the process of controlling the self-moving device to move within the working area according to the planned path, a next path adjacent to the current path cannot be planned.

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, when executed by the processor, implements the control method of the self-mobile device as described in any one of claims 1 to 9.

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