Control method of a self-moving device, self-moving device

Abstract

The application discloses a control method of a self-moving device, and the self-moving device. The method comprises the following steps: obtaining a target shadow area to be worked; identifying the positional relationship between the target shadow area and a 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, controlling the self-moving device to work in a first path mode; and when the identification result represents that the distance between the target shadow area and the boundary does not exceed the preset threshold, controlling the self-moving device to work in a second path mode, wherein the first path mode is different from the second path mode. In this way, according to the distance between the target shadow area to be worked and the boundary of the working area, the self-moving device is controlled to work on the target shadow area according to the corresponding path mode, so that the self-moving device can process the shadow area while ensuring safety, improve the processing coverage of the shadow area, and improve the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving devices, and in particular to a control method of a self-moving device and the self-moving device. BACKGROUND

[0002] For a self-moving device with satellite positioning function (RTK) such as a mower, when the self-moving device moves to a shadow area with poor satellite signal, the machine may not be able to move according to the planned path due to inaccurate positioning in the area, and may even drive out of the boundary, affecting the safety of the self-moving device. However, if the moving direction is immediately changed when the shadow area is detected, although the safety of the machine can be ensured, it will lead to inefficient phenomena such as all lawns in the shadow area being missed. SUMMARY

[0003] Therefore, it is necessary to provide a control method of a self-moving device, a self-moving device and a computer readable storage medium to solve the above technical problems.

[0004] To achieve the above purpose:

[0005] In a first aspect, the embodiments of the present application provide a control method of a self-moving device, the method comprising: obtaining a target shadow area to be worked; identifying a positional relationship between the target shadow area and the boundary to obtain an identification result; when the identification result represents that a 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; and when the identification result represents that the distance between the target shadow area and the boundary does not exceed the 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 a possible implementation manner, the controlling the self-moving device to work according to the first path mode comprises: controlling the self-moving device to move according to a first planned path in the target shadow area for a first preset time, and changing the moving mode after moving for the first preset time, so that after the moving mode is changed, a positioning signal received by the self-moving device satisfies a preset quality condition.

[0007] In a possible implementation manner, the controlling the self-moving device to work according to the second path mode comprises: controlling the self-moving device to move according to a second planned path for a second preset time, and changing the moving mode after moving for the second preset time, so that after the moving mode is changed, a positioning signal received by the self-moving device satisfies a preset quality condition; and the second preset time is less than the first preset time.

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

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

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

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

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

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

[0014] controlling the self-moving device to move in a first direction and according to the second planned path for a second preset time, the first direction being a direction parallel to the direction in which the short side of the target shadow area is located.

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

[0016] In a possible implementation, the method further includes: establishing a shadow map according to the at least one shadow point; acquiring a target shadow point detected when the self-moving device performs work inside the target shadow area according to the first planned path and / or the second planned path, and a target untreated area that cannot be processed by the self-moving device; updating the shadow map according to the target shadow point, and marking the target untreated area in the shadow map.

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

[0018] In a second aspect, an embodiment of the present application provides a self-moving device, including: a processor, a memory, and a computer program stored in the memory and executable by the processor, 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, the computer readable storage medium stores a computer program, the computer program is loaded and executed by a processor to implement the steps of the control method of the self-moving device.

[0020] The self-moving device control method, self-moving device, and storage medium provided in this application embodiment include: acquiring a target shadow area to be processed; identifying the positional relationship between the target shadow area and the boundary to obtain an identification result; when the identification 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 identification result indicates that the distance between the target shadow area and the boundary does not exceed the preset threshold, controlling the self-moving device to work according to a second path mode, wherein the first path mode is different from the second path mode. Thus, by adaptively selecting an appropriate path mode based on the distance between the self-moving device and the boundary, a safer path mode is used to prevent the device from going out of bounds when the shadow area is very close to the boundary or when the shadow area includes the boundary; when the shadow area is far from the boundary, a path mode with higher coverage is used, enabling the self-moving device to process the shadow area while ensuring safety, improving the processing coverage of the shadow area, and enhancing the user experience. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of an automated mobile device working along a planned path in the prior art.

[0022] Figure 2 A flowchart illustrating the control method for a self-moving device provided in an embodiment of the present invention;

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

[0024] Figure 4 This is a schematic diagram of the self-moving device operating along the planned path in an embodiment of the present invention. Figure 1 ;

[0025] Figure 5 This is a schematic diagram of the self-moving device operating along the planned path in an embodiment of the present invention. Figure 2 ;

[0026] Figure 6 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present invention. Detailed Implementation

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0028] It should be noted that, as used in this document, the terms "include," "includes," or "including" are used as the term is used in patent law; i.e., meaning "including but not limited to." As used herein, the term "and / or" means and, or, or a combination thereof. As used herein, the term "if" can be interpreted to mean "when" or "upon" or "in response to determining" taking into account the context in which the term is used. As used herein, the terms "a," "an" and "the" are intended to include both singular and plural referents, unless in the context in which the terms are used the contrary is clear. As used herein, the term "or" is meant to be inclusive and not exclusive, unless the context in which the term is used indicates otherwise. As used herein, the term "comprises the steps of" is meant to include the recited steps and any additional steps, unless in the context in which the term is used indicates otherwise.

[0029] It should be understood that, although terms first, second, third, etc. can be used herein to describe various information, the information should not be limited to these terms. These terms are used only to distinguish one piece of information from another piece of information. For example, a first information can also be referred to as a second information, similarly, a second information can also be referred to as a first information without departing from the scope of this document. Depending on the context, the word "if' as used herein can be interpreted to mean "when" or "upon" or "in response to determining." Also, as used herein, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including" when used herein, specify the presence of stated features, steps, operations, elements, components, items, categories, and / or groups but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, items, categories, and / or groups thereof. As used herein, the term "or" is meant to be inclusive and not exclusive, or means either or any combination. Therefore, "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." This definition applies only when a combination of elements, functions, steps or operations are in some way specifically contemplated.

[0030] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0031] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0032] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0033] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0034] like Figure 1 As shown, the self-moving device 100 in this embodiment can move autonomously along a planned path within the work area 200 to automatically perform tasks. The self-moving device can be an automatic lawnmower, automatic sprinkler, automatic fertilizer applicator, automatic sweeper, automatic snowplow, or other equipment suitable for unattended operation. These devices automatically move across the surface of the work area to perform tasks such as mowing, watering, fertilizing, vacuuming, or snow removal. Other equipment suitable for unattended operation are also acceptable; however, this embodiment does not limit the specific type of equipment.

[0035] When operating along the planned path within the work area 200, the self-moving device 100 needs to accurately obtain its own position through a positioning module, such as using a fusion of RTK, IMU, and ODO methods. Based on its position, it controls the distance between itself and the boundary of the work area 200 to avoid veering off the boundary and thus ensure its safety. However, there may be areas with weak satellite navigation signals within the work area 200, which can be termed shadow areas, such as... Figure 1The areas AFGH shown in the diagram may affect navigation accuracy when the self-moving device 100 moves within these areas, thus affecting its navigation performance and safety. However, if the self-moving device 100 immediately changes its direction of movement upon detecting a shaded area, while ensuring its safety, this could lead to a situation where the self-moving device 100 fails to operate within the shaded area. For example, as... Figure 1 As shown, taking the self-moving device 100 as an automatic lawnmower as an example, if the automatic lawnmower works in a bow-shaped path and follows... Figure 1 When the direction of movement indicated by the middle arrow moves to position A, if the positioning signal received at position A does not meet the preset quality conditions, the direction of movement will be changed immediately. If the movement moves towards the direction of position B, it will result in the omission of mowing all the lawns in the shaded area.

[0036] Therefore, existing technologies need to address the issue of how to handle shadowed areas, enabling self-moving devices to process shadowed areas while maintaining safety, and improving the coverage of shadowed areas. Based on this, such as... Figure 2 As shown, this application proposes a control method for a self-moving device. It should be noted that although this disclosure provides method operation steps as illustrated in the following embodiments or figures, the method may include more or fewer operation steps based on conventional or non-inventive effort. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this disclosure.

[0037] See Figure 2 This application provides a control method for a self-moving device. This method can be executed by a control device for the self-moving device, which can be implemented in software and / or hardware. In this embodiment, the self-moving device is the executing entity, and the self-moving device moves and / or works within a boundary-defined working area. The method provided in this embodiment includes:

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

[0039] The target shaded area refers to the unprocessed area where the self-moving device will operate, and this unprocessed area is located within the shaded area. Here, the shaded area is the region where the positioning signal received by the self-moving device does not meet preset quality conditions when operating within the working area, for example... Figure 1 The region AFGH is shown in the image.

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

[0041] The position relationship between the target shadow region and the boundary can be identified by judging whether the position of the target shadow region and the position of the boundary cross or overlap, and the like. It should be noted that when the working area includes multiple boundaries, the position relationship between the target shadow region and the boundary is identified as the position relationship between the target shadow region and the boundary closest to the target shadow region. Here, the boundary can be a real boundary, a mapping boundary, or a retracted boundary. It should be noted that the map of the working area is stored in the self-moving device, and the map is established according to the real boundary, and the map can be divided into multiple grids. For the grid traveled by the self-moving device, the grid is marked as moved, and for the grid that does not satisfy the preset quality condition of the positioning signal, 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 the body). In addition, the self-moving device has two working modes in the working process, which are 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 embodiments of the present application. In the edge cutting mode, the self-moving device travels along the boundary of the retracted working area. The boundary in the edge cutting mode is the mapping boundary or the boundary after the mapping boundary is retracted by a distance (such as half the body), and the internal cutting boundary is the boundary after the retracted mapping boundary is retracted by a distance.

[0042] In step S103, when the identification result indicates that the distance between the target shadow region and the boundary exceeds the preset threshold, the self-moving device is controlled to work in a first path mode.

[0043] It can be understood that when the identification result indicates that the distance between the target shadow region and the boundary exceeds the preset threshold, it means that the target shadow region does not include the boundary or the target shadow region is far away from the boundary. At this time, the self-moving device does not need to consider the problem of driving out of the boundary and affecting the safety when working on the target shadow region, and therefore, the self-moving device can be controlled to work in the first path mode to process the target shadow region as much as possible. The first path mode is used to indicate the movement path, movement time, and the like of the self-moving device when working in the target shadow region under the condition that the distance between the target shadow region and the boundary exceeds the preset threshold.

[0044] In one possible implementation, the self-moving device is controlled to work in the first path mode, including:

[0045] The self-moving device is controlled to move in the target shadow region according to the first planned path for a first preset time, and the movement mode is changed after the first preset time to make the self-moving device receive the positioning signal that satisfies the preset quality condition at the position after the movement.

[0046] The first planned path can be the same as the planned path when the self-moving device worked in the working area before, or can be different from the planned path when the self-moving device worked in the working area before. The first preset time can be set according to actual conditions, for example, can be set according to the moving speed of the self-moving device, the correlation between the positioning accuracy and the 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 0.6 m / s, if the self-moving device will completely lose positioning accuracy after entering the shadow area for 6 meters, the first preset time such as 10 s can be controlled according to the moving speed of the self-moving device to move the self-moving device in the target shadow area according to the first planned path, and the moving mode is changed after the first preset time, so that the positioning signal received by the self-moving device at the position after the moving mode is changed meets the preset quality condition, thereby processing the target shadow area as much as possible. The moving mode can be changed according to actual conditions, for example, the moving direction can be changed, such as moving left or right, or the moving path can be changed, such as planning a moving path towards the set signal recovery point and moving along the moving path towards the set signal recovery point.

[0047] In step S104, 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 a second path mode, and the first path mode is different from the second path mode.

[0048] It can be understood that when the identification 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 can include the boundary or the target shadow area is close to the boundary, so when the self-moving device works in the target shadow area, the problem of driving out of the boundary and affecting safety needs to be considered. Therefore, the self-moving device can be controlled to work according to the second path mode to process the target shadow area as much as possible while ensuring the safety of the self-moving device. 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 one possible implementation, the self-moving device is controlled to work according to the second path mode, including:

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

[0051] The second planned path can be different from a planned path of the self-moving device when working in the working area before, and the second preset time can be set according to actual conditions, for example, can be set according to the moving speed of the self-moving device, the distance between the target shadow area and the boundary, the correlation between the positioning accuracy and the time or distance of the self-moving device after entering the shadow area, and other factors. The moving mode can be changed, for example, the moving direction can be changed, such as moving left or right.

[0052] In the above method, the appropriate path mode is adaptively selected based on the distance between the self-moving device and the boundary. When the shadow area is at a position 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 the boundary. When the shadow area is far away from the boundary, a path mode with higher coverage is used, that is, according to the distance between the target shadow area to be worked and the boundary of the working area, the self-moving device works on the target shadow area according to the corresponding path mode, so that the self-moving device can process the shadow area while ensuring safety, improve the processing coverage of the shadow area, and improve the user experience.

[0053] In a possible implementation, the target shadow area to be worked is obtained, including:

[0054] At least one shadow point and at least one unprocessed area detected when the self-moving device works in the working area according to the planned path are obtained. The shadow point is a position where the positioning signal received by the self-moving device does not meet the preset quality condition, and the unprocessed area is an area where the self-moving device has not worked.

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

[0056] The self-moving device can detect whether the received positioning signal meets the preset quality condition in real time, at irregular time intervals, or periodically when performing the work according to the set planned path such as the arch-shaped path in the work area, and record the position of the received positioning signal that 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 a grid map of the work area. Meanwhile, the self-moving device can mark the processed area on the work area map during the work, for example, mark the grid corresponding to the processed area on the work area map with a preset identifier (such as black color) and the like, so that the self-moving device can obtain at least one unprocessed area that has not been worked by the self-moving device according to the marked processed area on the work area map. It can be understood that part of the unprocessed area can be generated due to the existence of obstacles such as stones and puddles in the work area. For example, when the self-moving device detects that there is an obstacle in front, it will turn at a certain distance from the obstacle to not work on the area where the obstacle is located, and accordingly an unprocessed area will be generated. Of course, part of the unprocessed area can also be generated due to the turning operation of the self-moving device because the received positioning signal does not meet the preset quality condition. For example, referring back to Figure 1 , it is assumed that the self-moving device receives positioning signals at positions A, C, E, G, and H that do not meet the preset quality condition, and the self-moving device turns to move towards position B when moving to position A, turns to move towards position D when moving to position C, turns to move towards position F when moving to position E, and so on according to the moving direction indicated by the arrow in Figure 1 , an unprocessed area AFGH will be generated.

[0057] It can be understood that if the unprocessed area is not generated due to the self-moving device receiving the positioning signal that does not meet the preset quality condition, but is generated due to the existence of obstacles and the like, it can be considered that although the self-moving device cannot continue to work on the unprocessed area, the positioning signal received by the self-moving device in the unprocessed area can be considered to meet the preset quality condition. For the unprocessed area generated due to the self-moving device receiving the positioning signal that does not meet the preset quality condition, it can be considered that the positioning signal received by the self-moving device in the unprocessed area does not meet the preset quality condition. In addition, since the position or range of the shadow area in which the self-moving device receives the positioning signal that does not meet the preset quality condition can be known according to the at least one shadow point, at least one unprocessed area of the self-moving device after performing the work according to the planned path in the work area can be obtained; the unprocessed area is an area that has not been worked by the machine; and the unprocessed area located near the shadow point is determined as a target shadow area to be worked. That is, whether each unprocessed area is located in the shadow area is judged, and 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 the self-moving device only affects the accuracy of the received positioning signal when working in the unprocessed area located in the shadow area, and does not affect the safety of the self-moving device itself. Thus, based on the positional relationship between the at least one shadow point and the at least one unprocessed area, the target shadow area to be worked is determined, the operation is convenient and accurate, and the processing coverage of the shadow area is further improved.

[0059] In a possible implementation, the unprocessed area located near the shadow point is determined as the target shadow area to be worked, comprising:

[0060] The unprocessed areas are expanded outward, and the number of shadow points covered by each unprocessed area after expansion is obtained;

[0061] The unprocessed area whose number of shadow points is greater than a preset number threshold is determined as the target shadow area to be worked.

[0062] Wherein, the outward 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, etc. After the outward expansion of the unprocessed area, the position of the unprocessed area after expansion can be obtained, 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 covers a shadow point. Correspondingly, by counting the number of shadow points (i.e. the number of grids marked as shadow) in each unprocessed area after expansion, 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 a preset number threshold, it means that there are many shadow points around the unprocessed area, and the shadow point is a position where the positioning signal received by the self-moving device does not meet the preset quality condition. Therefore, the unprocessed area may be generated due to the existence of shadow points around it, and the unprocessed area can be determined as the target shadow area to be worked. Here, the preset number threshold is set according to actual needs, such as 80, 150, etc. Thus, by expanding the unprocessed area and judging whether the unprocessed area is the target shadow area to be worked according to the number of shadow points covered by the unprocessed area after expansion, the unprocessed area generated due to the positioning signal received by the self-moving device not meeting the preset quality condition can be accurately identified, the processing coverage of the shadow area is further improved, and the user experience is further improved.

[0063] In a possible implementation, the working modes of the self-moving device include: an edge-following working mode and an internal working mode; wherein the self-moving device moves along the boundary of the working area in the edge-following working mode, and moves inside the working area according to a planned path in the internal working mode; the triggering condition of the step of acquiring at least one shadow point and at least one untreated 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 inside the working area according to the planned path, it is identified that the distance between the boundary marked as having been moved through or the shadow point is less than or equal to a preset threshold; or,

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

[0066] In the process of controlling the self-moving device to move inside the working area according to the planned path, it is identified that the distance between the boundary marked as having been moved through or the shadow point is less than or equal to a preset threshold; or,

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

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

[0069] The distance between the at least one shadow point in the target shadow area and the boundary is identified;

[0070] The identification result is determined according to the distance.

[0071] The at least one shadow point includes a corner point, and the corner point of the target shadow area can be a corner point of a circumscribed rectangle of the target shadow area, that is, a rectangular corner point. Here, the corner point can be a grid in a grid map of the work area. It can be understood that, in the case that the position of the corner point of the target shadow area and the position of the boundary are known, the distance between the corner point of the target shadow area and the boundary can be calculated to obtain the distance between the corner point of the target shadow area and the boundary, and then the identification result is determined according to the distance. It should be noted that, if the work area includes multiple boundaries, only the distance between the corner point of the target shadow area and the nearest boundary can be calculated. In this way, the position 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 position 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 position 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 region;

[0074] if so, generate a recognition result that the distance between the target shadow region and the boundary exceeds the preset threshold.

[0075] In this way, the position relationship between the target shadow region and the boundary can be quickly and accurately obtained, which facilitates corresponding processing of the target shadow region based on the position relationship between the target shadow region and the boundary, and further improves the processing coverage of the shadow region.

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

[0077] The control of the mobile device to move along the second planned path for the second preset time in the first direction, which is parallel to the direction in which the short side of the target shadow region is located.

[0078] Optionally, when the short side of the target shadow region includes the short side of the circumscribed rectangle of the target shadow region, the mobile device can be controlled to move along a direction parallel to the direction in which the short side of the circumscribed rectangle of the target shadow region is located and according to the second planned path for the second preset time. Optionally, the target shadow region can also be partitioned in the manner of short side planning to divide the target shadow region into a plurality of sub-shadow regions, and the mobile device can be controlled to move along a direction parallel to the direction in which the short side of each sub-shadow region is located and according to the second planned path for the second preset time. Figure 3, assuming the target shadow region is region AFGH, if the length between position A and position H is less than the length between position A and position F, a shadow sub-region ABPH can be determined according to the distance (denoted as L) that the mobile device can enter the shadow region, and with the position of AH as a side, then, if the length between position B and position F is less than the length between position B and position P, a shadow sub-region BFNM can be determined according to the distance L that the mobile device can enter the shadow region, and with the position of BF as a side, and so on, so that the target shadow region is partitioned to obtain shadow sub-region PP1G1G. When working on the shadow sub-region ABPH, the mobile device will work along a direction parallel to HP or AB, and when working on the shadow sub-region BFNM, the mobile device will work along a direction parallel to MB or NF. In addition, the mobile device will not work in the region MNG1P1 in subsequent path planning.

[0079] It can be understood that by controlling the mobile device to move along a direction parallel to the direction of the short side of the target shadow region for a second preset time according to the second planned path, the target shadow region can be processed as much as possible while ensuring the safety of the mobile device, and the processing coverage of the shadow region is further improved.

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

[0081] establishing a shadow map according to at least one shadow point;

[0082] obtaining the target shadow points detected when the mobile device works in the target shadow region according to the first planned path and / or the second planned path, and the target unprocessed region that cannot be processed by the mobile device;

[0083] updating the shadow map according to the target shadow points, and marking the target unprocessed region in the shadow map.

[0084] In the case where the positions of the shadow points are known, the shadow map can be established according to at least one shadow point, for example, the connection between adjacent shadow points is established according to the positions of the at least one shadow point, so as to establish the shadow map. It can be understood that when the distance between adjacent shadow points is large, the shadow map established according to at least one shadow point can be less accurate, and the accuracy of the shadow map can be improved by updating the shadow map according to the target shadow points detected when the mobile device works in the target shadow region according to the first planned path and / or the second planned path, and it is convenient to avoid the shadow region when planning the point-to-point path in the working region later. Continue to refer to Figure 1Assuming that at least one shaded point is obtained, including A, B, C, D, E, F, G, and H, since the distances between shaded points A and H, and between shaded points G and F, are relatively large, if directly based on... Figure 1 The shadow map built around the aforementioned shadow points may not be accurate enough. Therefore, the shadow map can be updated by combining the target shadow points detected when the mobile device works along the first planned path in the areas between shadow points A and H, and between shadow points G and F, to obtain a more accurate shadow map.

[0085] Furthermore, when the self-moving device works in the target shaded area according to the first planned path and / or the second planned path, it may encounter unprocessed target areas due to limitations such as the first preset time and / or the second preset time. Therefore, unprocessed target areas can be marked on the shaded map so that work on these areas will not be planned in subsequent steps, thereby reducing unnecessary path planning operations and improving work efficiency in the work area.

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

[0087] Control the self-moving device to work in the work area excluding the target unprocessed area.

[0088] It's understandable that, since the self-moving device cannot process unprocessed areas within the target shadow region, it will be controlled to stop processing these unprocessed areas, meaning it will operate only within the designated work area. This reduces unnecessary path planning operations and improves efficiency within the work area.

[0089] Based on the same inventive concept as the foregoing embodiments, the foregoing embodiments will be described in detail below through a specific example, in which an automatic lawnmower is taken as an example of a self-moving device.

[0090] When an automatic lawnmower detects a shaded area, it immediately changes direction. While this ensures the lawnmower's safety, it leads to inefficiency, such as missing areas in the shaded region. Currently, automatic lawnmowers use a fusion of RTK, IMU, and ODO for positioning. However, after numerous tests, the inventors discovered that when the automatic lawnmower enters a shaded area, its positioning accuracy gradually decreases until it loses all accuracy as the RTK fusion weight decreases and the cumulative error of IMU-based navigation increases.

[0091] Based on the above characteristics, in this embodiment, the automatic lawnmower 100 moves along... Figure 4When the shadow area is detected during the movement of the shown arch-shaped planning path, the distance between the shadow area and the boundary is first detected. If the distance exceeds a preset threshold, i.e., the shadow area is completely within the working area, the automatic mower is first controlled to continue moving along the current planning path for 35s. If the automatic mower is still within the shadow area after moving for 35s, in order to ensure positioning accuracy, a signal recovery point (which has been marked in advance in the working area map) closest to the current position is found, and a path is planned from the current position to the signal recovery point to control the automatic mower to move towards the signal recovery point. After the automatic mower moves to the signal recovery point to recover the signal, the automatic mower can be controlled to move to the position reached at the time of 35s or the position before 35s to continue cutting in the original moving direction. For example, Figure 4 As shown, the automatic mower is first controlled to continue moving forward from position A along the current planning path for 35s to position a. If the automatic mower detects that the positioning signal received at position a does not satisfy the preset quality condition, a path is planned from position a to the signal recovery point to control the automatic mower to move along the path towards the signal recovery point. After the automatic mower moves to the signal recovery point to recover the signal, the automatic mower can be controlled to move to position a to continue cutting in the original moving direction, i.e., towards the direction of position A. It should be noted that when the shadow area is within the working area, the path planned for movement in the shadow area can be consistent with the original arch-shaped planning path, or can not be consistent with the arch-shaped planning path, for example, it can be a path perpendicular to the original arch-shaped planning path.

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

[0093] In addition, if the distance does not exceed the preset threshold, i.e., the shadow area includes the boundary of the working area, the automatic mower is first controlled to continue moving along the current planning path for 12s. If the automatic mower is still within the shadow area after moving for 12s, the automatic mower is controlled to change the original moving direction to continue arch cutting, and after changing the moving direction, the automatic mower can move to a place with good signal. For example, Figure 5As shown, the automatic mower can be controlled to continue moving forward along the current planned path for 12s from position A to position b, and if the automatic mower detects that the positioning signal received at position b does not satisfy the preset quality condition, the original moving direction can be changed, i.e., moving in the direction of position c, and the zigzag cutting is continued, and the cycle is continued.

[0094] When the above scheme is adopted, in the case that the automatic mower continues to move along the current planned path for 12s and is still in the shadow area, controlling the automatic mower to change the original moving direction to continue the zigzag cutting will cause a missed cutting situation after 12s on the current planned path. In the present application, in order to maximize cutting and prevent the automatic mower from going out of the boundary during movement due to poor signal, when the missed cutting area (i.e., the unprocessed area) caused by the shadow is identified, it is first determined whether the shadow area is inside the working area or on the boundary. If the shadow area is inside the working area, the original planned path is cut, the step of 12s is removed, and only the step of searching for a signal recovery point after 35s is retained, or all steps are removed and only the step of stopping after 70s is retained. If the shadow area is on the boundary of the working area, the step of 12s is retained, but a short side cutting strategy can be adopted.

[0095] Based on the same inventive concept as the foregoing embodiments, the embodiments of the present application provide a self-moving device, such as Figure 6 As shown, the self-moving device comprises 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 refer to the number of processors 310 being one, but is only used to refer to the positional relationship of the processor 310 relative to other devices. In actual application, the number of processors 310 can be one or more; similarly, Figure 6 The memory 311 shown in the figure also has the same meaning, i.e., only used to refer to the positional relationship of the memory 311 relative to other devices. In actual application, 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 can further comprise at least one network interface 312. The various components in the self-moving device are coupled together through a bus system 313. It can be understood that the bus system 313 is used to realize the connection and communication between the components. The bus system 313 includes not only a data bus, but also a power bus, a control bus and a status signal bus. However, for the purpose of clear illustration, all kinds of buses are marked as the bus system 313 in Figure 6 The figure.

[0097] The memory 311 can be a volatile memory or a non-volatile memory, and can include both a volatile and a non-volatile memory. The non-volatile memory can 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 ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a Compact Disc Read-Only Memory (CD-ROM). The magnetic surface memory can be a magnetic disk memory or a magnetic tape memory. The volatile memory can be a Random Access Memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM can be used, such as a Static Random Access Memory (SRAM), a Synchronous Static Random Access Memory (SSRAM), a Dynamic Random Access Memory (DRAM), a Synchronous Dynamic Random Access Memory (SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), an Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), a Sync Link Dynamic Random Access Memory (SLDRAM), a Direct Rambus Random Access Memory (DRRAM).The memory 311 described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable type of memory.

[0098] The memory 311 in the embodiments of the present application is used to store various types of data to support the operation of the self-moving device. Examples of these data include: any computer programs for operating on the self-moving device, such as operating systems and application programs; contact data; phonebook data; messages; pictures; videos; etc. Among them, the operating system contains various system programs, such as framework layer, core library layer, driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application program can contain various application programs, such as media player (Media Player), browser (Browser), etc., for implementing various application services. Here, the program for implementing the method of the embodiments of the present application can be contained in the application program.

[0099] Based on the same inventive concept as the foregoing embodiments, the present embodiment also provides a computer storage medium, in which a computer program is stored, and the computer storage medium can 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, a compact disc read-only memory (CD-ROM), or the like. It can 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. The computer program stored in the computer storage medium is run by the processor to implement the control method of the self-moving device applied to the self-moving device described above. The specific step flow implemented by the computer program executed by the processor is described in the embodiments of the present application shown in the description, which will not be repeated here. Figure 2 The description of the embodiments shown in the description will not be repeated here.

[0100] Any technical features in the above-described embodiments can be combined in any manner, and for the sake of brevity, not all possible combinations are described, but it is understood that the scope of the present disclosure encompasses all possible combinations.

[0101] In this document, the terms "comprise", "contain", or any other variant thereof are intended to cover a non-exclusive inclusion, such that the process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can also include other elements not expressly listed.

[0102] The above description is merely illustrative of the application and not restrictive thereof; the scope of the application is not limited to the specific embodiments described herein, but any modifications or substitutions easily conceivable by those skilled in the art within the technical scope of the application should be encompassed within the scope of the application. Accordingly, the scope of the application should be determined by the appended claims.

Claims

1. A control method of a self-moving device, the control method being applied to a self-moving device that moves and / or works within a working area defined by a boundary, characterized in that, The method comprises: acquiring a target shadow area to be worked on, comprising: acquiring at least one shadow point detected by the self-moving device when performing work according to a planned path in the working area; the shadow point is a position where a positioning signal received by the self-moving device does not meet a preset quality condition; acquiring at least one unprocessed area after the self-moving device performs work according to the planned path in the working area; the unprocessed area is an area that has not been worked on by the self-moving device; determining the unprocessed area near the shadow point as the target shadow area to be worked on, comprising: extending each unprocessed area outward, and acquiring the number of shadow points covered by each unprocessed area after extension; judging the unprocessed area with a number of shadow points greater than a preset number threshold as the target shadow area to be worked on; identifying the positional relationship between the target shadow area and the boundary to obtain an identification result; controlling the self-moving device to work according to a first path mode when the identification result represents 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 second path mode when the identification result represents that the distance between the target shadow area and the boundary does not exceed the preset threshold; the first path mode is different from the second path mode.

2. The method of claim 1, wherein, The control of the self-moving device to work according to the first path mode comprises: controlling the self-moving device to move in the target shadow area according to a first planned path for a first preset time, and changing the moving mode after moving for the first preset time, so that after changing the moving mode, the positioning signal received by the self-moving device meets the preset quality condition.

3. The method of claim 2, wherein, The control of the self-moving device to work according to the second path mode comprises: controlling the self-moving device to move according to a second planned path for a second preset time, and changing 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 identification of the positional relationship between the target shadow area and the boundary to obtain an identification result comprises: identifying the distance between at least one shadow point in the target shadow area and the boundary; determining the identification result according to the distance.

5. The method of claim 4, wherein, The at least one shadow point comprises a turning point.

6. The method of claim 3, wherein, The control of the self-moving device to move according to the second planned path for a second preset time, and changing the moving mode after moving for the second preset time comprises: controlling the self-moving device to move in a first direction and according to the second planned path for a second preset time; the first direction is parallel to the direction of the short side of the target shadow area.

7. The method of claim 1, wherein, 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 a planned path in the internal working mode; the triggering condition of performing the step of acquiring at least one shadow point and at least one untreated area detected when the self-moving device performs work inside the working area according to the planned path includes at least one of the following: During the process of controlling the self-moving device to move inside the working area according to the planned path, it is identified that the distance between the boundary marked as moved through or the shadow point is less than or equal to a preset threshold; or During the process of controlling the self-moving device to move inside the working area according to the planned path, the next path adjacent to the current path cannot be planned.

8. A self-moving device, characterized in that Comprise: A processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the control method of the self-moving device according to any one of claims 1 to 7.

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