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

Abstract

The invention relates to the technical field of robots, and discloses a control method of self-moving equipment and the self-moving equipment. The method comprises the following steps: detecting a boundary signal based on a boundary sensor; determining a moving action of the self-moving equipment according to the boundary signal; wherein if the boundary signal indicates that the self-moving device crosses the boundary, the moving action is a rotating action; if the boundary signal indicates that the self-moving equipment is out of the boundary, the moving action is that the self-moving equipment firstly retreats at a slow speed and then rotates; and controlling the self-moving equipment to move according to the moving action. According to the method, the number of times and the detection time of boundary detection of the inductance boundary sensor can be increased, so that the detection accuracy of the inductance boundary sensor is improved, and the coverage rate and the trafficability of the mowing robot are improved.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of robotics, and in particular to a control method for a self-moving device and a self-moving device. [Background Technology]

[0002] A lawn mower robot is a self-propelled device that mows the lawn in a preset working area. The working area includes a boundary that limits the working area. The lawn inside the boundary is the lawn that needs to be worked on, and the lawn outside the boundary is a lawn-free area or a lawn area that does not need to be mowed. The boundary of the working area of ​​the lawn mower robot needs to be set in advance. The lawn mower robot walks in a straight line in a random direction inside the working area until the robot recognizes that it is out of the boundary, and then returns to the boundary according to the preset movement strategy.

[0003] At present, an inductive boundary sensor is provided on a lawn mowing robot, and the angle of the robot relative to the boundary is obtained through the inductive boundary sensor, so that the movement strategy of the robot is designed according to the angle of the robot relative to the boundary.

[0004] However, in actual applications, since the inductive boundary sensor has a large error when detecting boundary signals, the robot cannot directly obtain the angle of the robot relative to the boundary through the inductive boundary sensor, so it is difficult to ensure the coverage and passability of the random robot. [Summary of the invention]

[0005] The purpose of the embodiments of the present application is to provide a control method for a self-moving device, so as to increase the number of times and detection time of the inductive boundary sensor to detect the boundary, so as to improve the detection accuracy of the inductive boundary sensor, thereby improving the coverage rate and passability of the lawn mowing robot.

[0006] To solve the above technical problems, an embodiment of the present application provides a control method for a self-moving device, characterized in that the self-moving device moves in a straight line along a random path within a preset working area, the working area is provided with a boundary line, and boundary sensors are symmetrically provided on the left and right sides of the self-moving device; the method comprises: detecting a boundary signal based on the boundary sensor; determining the moving action of the self-moving device according to the boundary signal; wherein, if the boundary signal indicates that the self-moving device crosses the boundary, the moving action is a rotation action; if the boundary signal indicates that the self-moving device is out of the boundary, the moving action is to first slowly retreat and then rotate; and the movement of the self-moving device is controlled according to the moving action.

[0007] An embodiment of the present application also provides a self-mobile device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps in the above method are implemented when the computer program is executed by the processor.

[0008] Compared with the prior art, the embodiment of the present application uses the boundary sensor of the self-moving device to detect whether it is out of bounds, and further determines the out-of-bounds type according to the boundary signal, thereby determining the movement of the self-moving device; and controls the movement of the self-moving device according to the slow backward and / or rotation action in the preset movement action, so that the self-moving device returns to the boundary. Because the method enables the self-moving device to slowly retreat, the lawn mower robot can increase the number of times and detection time of the inductive boundary sensor to detect the boundary, thereby improving the detection accuracy of the inductive boundary sensor, thereby improving the coverage rate and passability of the lawn mower robot.

[0009] In addition, the method also includes: if the boundary sensor on any side of the self-moving device receives an out-of-bounds signal and the boundary sensor on the other side receives an in-bounds signal, it is determined that the self-moving device has crossed the boundary; if the boundary sensors on both sides of the self-moving device receive out-of-bounds signals, it is determined that the self-moving device has gone out of bounds.

[0010] In addition, if the boundary sensor on any side of the self-moving device receives an out-of-bounds signal and the boundary sensor on the other side receives an in-bounds signal, it is determined that the self-moving device has crossed the boundary, including: if the boundary sensor on the left side of the self-moving device detects an out-of-bounds signal and the boundary sensor on the right side detects an in-bounds signal, it is determined that the self-moving device has crossed the boundary clockwise; if the boundary sensor on the right side of the self-moving device detects an out-of-bounds signal and the boundary sensor on the left side detects an in-bounds signal, it is determined that the self-moving device has crossed the boundary counterclockwise.

[0011] In addition, before determining the moving action of the self-moving device according to the boundary signal, the method also includes: when the boundary sensor of the self-moving device detects the boundary signal, stopping the movement and recording the current straight-ahead distance; if the current straight-ahead distance and the previous straight-ahead distance are both greater than a first preset distance, determining that the working area where the self-moving device is located is a non-narrow road area; if the current straight-ahead distance and the previous straight-ahead distance are both less than the first preset distance, determining that the working area where the self-moving device is located is a narrow road area.

[0012] In addition, the working area is a non-narrow road area, and the self-moving device crosses the boundary, and the movement of the self-moving device is controlled according to the moving action, including: if the self-moving device crosses the boundary clockwise, the rotation direction is clockwise; if the self-moving device crosses the boundary counterclockwise, the rotation direction is counterclockwise; the self-moving device is rotated in the rotation direction at a first rotation angle, wherein the first rotation angle is greater than a first preset angle.

[0013] In addition, when the working area is a narrow road area and the self-moving device crosses the boundary, the movement of the self-moving device is controlled according to the moving action, including: if the self-moving device crosses the boundary clockwise, the rotation direction is clockwise; if the self-moving device crosses the boundary counterclockwise, the rotation direction is counterclockwise; the self-moving device is rotated in the rotation direction at a second rotation angle; wherein the second rotation angle is greater than a second preset angle.

[0014] In addition, the working area is a non-narrow road area, and when the self-moving device is out of bounds, the movement of the self-moving device is controlled according to the moving action, including: causing the self-moving device to retreat slowly and detecting boundary signals in real time; if the self-moving device crosses the boundary during the slow retreat process, determining the rotation direction according to the cross-border type, causing the self-moving device to rotate in the rotation direction at a third rotation angle; wherein the cross-border type includes clockwise crossing or counterclockwise crossing, and the third rotation angle is greater than a third preset angle; if the self-moving device returns to the boundary during the slow retreat process or does not cross the boundary or return to the boundary until the self-moving device retreats to a second preset distance, causing the self-moving device to rotate in a random direction at a fourth rotation angle; wherein the fourth rotation angle is greater than a fourth preset angle.

[0015] In addition, when the working area is a narrow road area and the self-moving device is out of bounds, the movement of the self-moving device is controlled according to the moving action, including: causing the self-moving device to retreat slowly and detecting boundary signals in real time; if the self-moving device crosses the boundary during the slow retreat process, determining the rotation direction according to the cross-border type, causing the self-moving device to rotate in the rotation direction at a fifth rotation angle; wherein the cross-border type includes clockwise cross-border or counterclockwise cross-border, and the fifth rotation angle is greater than a fifth preset angle; if the self-moving device returns to the boundary during the slow retreat process or does not cross the boundary or return to the boundary until the self-moving device retreats to a second preset distance, causing the self-moving device to rotate in the opposite direction of the previous rotation direction at a sixth rotation angle; wherein the sixth rotation angle is greater than the sixth preset angle.

[0016] In addition, the preset angles are preset fixed values, and any of the preset angles are different. [Drawings]

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1is a flow chart of a control method of a self-moving device provided in an embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of a self-moving device going out of bounds provided in an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a cross-border device provided in an embodiment of the present application;

[0021] Figure 4 is another flow chart of a method for controlling a self-moving device provided in one embodiment of the present application;

[0022] Figure 5 is a schematic diagram of a moving path of a self-moving device provided in an embodiment of the present application;

[0023] Figure 6 is a schematic diagram of a rotation action of a self-moving device provided in an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of the slow retreat of a mobile device provided in one embodiment of the present application. [Specific implementation method]

[0025] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0026] The self-moving device (hereinafter referred to as "device") mentioned in the embodiments of this specification is an intelligent device with an automatic walking function, which can be an intelligent lawn mower that mows in a preset working area. Its working area includes a boundary that limits the working area. The lawn that needs to be operated is within the boundary, and the lawn area outside the boundary is a lawn-free area or a lawn area that does not need to be mowed, such as a neighbor's lawn. The boundary of the working area needs to be pre-set for the lawn mower robot. When the robot recognizes that it has gone out of the boundary while working inside, it can automatically turn around and leave the boundary and return inside to achieve the function of prohibiting going out of the boundary.

[0027] Specifically, when the device moves to the edge area of ​​the working area, if the device continues to move, it will encounter the boundary line of the working area. It can be understood that, on the one hand, the boundary line can be a real physical boundary line, then the device needs to be configured with a signal station that provides signals for the boundary line, and the boundary line is connected to the signal station interface. The signal station can pass a DC pulse signal to the boundary line, and the current on the boundary line generates a magnetic field. The direction of the magnetic field is detected by the boundary sensor to determine whether it encounters the boundary line. Furthermore, the magnetic field generated in the working area surrounded by the boundary line is different from the direction of the magnetic field outside the working area. On the other hand, the device can also determine whether it is located in the working area. The boundary line can also be a virtual boundary line that depends on positioning technology. The device can determine whether the device encounters the boundary line based on its own positioning and the position of the virtual boundary line.

[0028] Since the inductive boundary sensor has a large error when detecting boundary signals, it is impossible to directly obtain the angle of the robot relative to the boundary through the inductive boundary sensor. Therefore, it is difficult to guarantee the coverage and passability of the random robot by designing the robot's motion strategy based on the angle of the robot relative to the boundary. In order to improve the detection accuracy of the inductive boundary sensor, it is necessary to reduce the robot's running speed when the boundary line is detected based on the existing hardware and increase the detection time. Since the robot's linear motion is the main operating action of the robot, if the robot's straight-line speed is directly reduced, it will seriously affect the robot's operating efficiency.

[0029] In view of the above-mentioned problems, the purpose of this application is to enable the lawn mowing robot to increase the number of times and detection time of the inductive boundary sensor to detect the boundary through a slow retreat method, so as to improve the detection accuracy of the inductive boundary sensor, thereby improving the coverage and passability of the lawn mowing robot.

[0030] An embodiment of the present application relates to a control method for a self-propelled device. The specific process is as follows Figure 1 shown.

[0031] Step 101: Detecting a boundary signal based on a boundary sensor.

[0032] The self-moving device (hereinafter referred to as "device") may be a smart device with an automatic walking function such as a lawn mower. The self-moving device moves in a straight line along a random path in a preset working area, the working area is provided with a boundary line, and boundary sensors are provided on both sides of the self-moving device.

[0033] Specifically, when the device continues to move and encounters the boundary line of the working area, the boundary sensor of the device will receive the boundary signal and analyze the type of the boundary signal; in this embodiment, the boundary signal includes an out-of-bounds signal and a cross-bounds signal.

[0034] Step 102: Determine the moving action of the self-moving device according to the boundary signal.

[0035] Specifically, if the boundary signal indicates that the self-moving device has crossed the boundary, the moving action is a rotation action; if the boundary signal indicates that the self-moving device has gone out of the boundary, the moving action is first slowly moving backward and then rotating.

[0036] When the boundary signal indicates that the self-moving device crosses the boundary, it means that a small part of the device is out of the boundary; Figure 2 (a), so only controlling the device to perform a rotation action can bring the device back into the boundary. When the boundary signal indicates that the self-moving device is out of the boundary, the device has already exceeded a large part of the boundary, such as Figure 2 (b), so at this time, it is necessary to drive the device to perform the backward action first, and then perform the rotation action.

[0037] It should be noted that the backward movement performed by the driving device is a slow backward movement, which makes the device retreat away from the boundary line after encountering the boundary line. By driving the device to retreat slowly at a lower speed, the number of times and detection time of the boundary by the inductive boundary sensor can be increased to improve the detection accuracy of the inductive boundary sensor, and the problem of blind spots in the working area caused by the device retreating too fast and being far away from the boundary can be avoided, ensuring the coverage and passability of the random robot.

[0038] Step 103: Control the movement of the mobile device according to the movement action.

[0039] Specifically, according to the moving action, the device is returned to the boundary and moves linearly in the direction after rotation until the boundary signal is detected again. When the boundary signal is detected again, step 101 is executed.

[0040] The device of the embodiment of the present specification is equipped with boundary sensors on both sides, and the boundary sensors of the self-moving device detect whether it is out of bounds, and further determine the out-of-bounds type according to the boundary signal, thereby determining the movement of the self-moving device; according to the slow retreat and / or rotation action in the preset movement action, the self-moving device is controlled to move, so that the self-moving device returns to the boundary. Because the method enables the self-moving device (a lawn mowing robot) to retreat slowly, the lawn mowing robot can increase the number of times and detection time of the inductive boundary sensor to detect the boundary, thereby improving the detection accuracy of the inductive boundary sensor, thereby improving the coverage rate and passability of the lawn mowing robot.

[0041] The boundary sensor may be a distance sensor, an infrared sensor, an ultrasonic sensor, a collision sensor, a magnetic sensor, etc. The two boundary sensors may be symmetrically arranged or asymmetrically arranged. For example, the device is provided with a central axis parallel to the walking direction, and the two boundary sensors may be located on both sides of the central axis.

[0042] If the boundary sensor on any side of the mobile device receives an out-of-bounds signal and the boundary sensor on the other side receives an in-bounds signal, it is determined that the mobile device has crossed the boundary; if the boundary sensors on both sides of the mobile device receive out-of-bounds signals, it is determined that the mobile device has gone out of bounds.

[0043] Specifically, Figure 2 As shown in (a), one side of the device is outside the boundary, and the other side is inside the boundary, that is, the boundary sensor on one side receives an out-of-bounds signal, and the boundary sensor on the other side receives an in-bounds signal, and the self-moving device crosses the boundary. Figure 2 As shown in (b), at this time, both sides of the device are out of bounds, so the boundary sensors on both sides of the self-moving device will receive out-of-bounds signals, and the self-moving device is out of bounds at this time.

[0044] Among them, cross-border includes clockwise cross-border and counterclockwise cross-border.

[0045] like Figure 3 As shown, Figure 3 Indicates two types of cross-border. Figure 3 (a), when the boundary sensor on the left side of the self-moving device detects an out-of-bounds signal and the boundary sensor on the right side detects an in-bounds signal, it is determined that the self-moving device crosses the boundary clockwise; Figure 3 (b) When the boundary sensor on the right side of the self-moving device detects an out-of-bounds signal and the boundary sensor on the left side detects an in-bounds signal, it is determined that the self-moving device crosses the boundary counterclockwise.

[0046] The rotation direction can also be determined according to the crossover type. If the crossover type is clockwise, such as Figure 3 (a) The indicated θ, the rotation direction is clockwise; if the crossover type is counterclockwise crossover, such as Figure 3 (b) The indicated θ, the rotation direction is counterclockwise.

[0047] Another embodiment of the present application relates to a control method for a self-moving device, such as Figure 4 As shown,

[0048] Step 400: Determine the area type where the mobile device is located.

[0049] Specifically, when the boundary sensor of the self-moving device detects a boundary signal, the self-moving device stops moving and records the current straight distance.

[0050] Among them, Figure 5As shown, the straight distance is the distance traveled between the moment Tn-1 when the boundary signal was detected last time and the moment Tn when the boundary signal was detected this time. Similarly, the straight distance of the previous time should be the distance traveled between the moment Tn-2 when the boundary signal was detected last time and the moment Tn-1 when the boundary signal was detected last time.

[0051] Furthermore, after obtaining the moving distances of the device for several straight movements, the working area of ​​the current device can be determined according to the moving distances. The working area is divided into a narrow area (i.e., a narrow area) and a non-narrow area (i.e., a wide area).

[0052] Specifically, if the straight-ahead distance this time and the straight-ahead distance last time are both greater than the first preset distance, it is determined that the working area where the self-moving device is located is a non-narrow road area; if the straight-ahead distance this time and the straight-ahead distance last time are both less than the first preset distance, it is determined that the working area where the self-moving device is located is a narrow road area.

[0053] For example, in this embodiment, the first preset distance is set to 1.5 meters based on the empirical value. That is, when the distances between any two adjacent straight lines are greater than 1.5 meters, it indicates that the device is in a non-narrow road area, and when the distances between any two adjacent straight lines are less than 1.5 meters, it indicates that the device is in a narrow road area. It is understood that the present invention does not specifically limit the specific numerical value of the first preset value.

[0054] Step 401: Detecting a boundary signal based on a boundary sensor.

[0055] Step 402: Determine the movement action of the mobile device according to the boundary signal.

[0056] Specifically, the moving action of the self-moving device is determined according to the boundary signal; wherein, if the boundary signal indicates that the self-moving device has crossed the boundary, the moving action is a rotation action; if the boundary signal indicates that the self-moving device has gone out of the boundary, the moving action is to first slowly retreat and then rotate.

[0057] Among them, when the boundary signal indicates that the self-moving device has crossed the boundary, it means that only a small part of the device is out of the boundary; therefore, only controlling the device to perform a rotation action can bring the device back into the boundary; when the boundary signal indicates that the self-moving device has gone out of the boundary, the device has exceeded a large part of the boundary, so at this time, it is necessary to drive the device to perform a backward action first, and then perform a rotation action.

[0058] Furthermore, if the boundary signal indicates that the self-moving device crosses the boundary, the moving action is a rotation action, and the rotation direction may be determined according to the crossing type.

[0059] Specifically, if the crossover type is a clockwise crossover, the rotation direction is clockwise; if the crossover type is a counterclockwise crossover, the rotation direction is counterclockwise.

[0060] The rotation action may be to rotate in a certain direction by setting a rotation angle according to an empirical value. The preset rotation angle includes a compensation angle and a random angle, such as Figure 6 As shown, Figure 6 It is a schematic diagram of a device rotating back into the boundary after crossing the boundary. In actual operation, the device is first rotated at a compensation angle θ, and then rotated at an arbitrary random value α. It should be noted that the compensation angle in the embodiment of the present application is a fixed value set according to empirical values, and the compensation angles are different in different scenarios. By driving the device to rotate at the compensation angle, the device can be made approximately parallel to the boundary line, and then rotated at a random angle so that the robot's orientation after rotation is perpendicular to the rotation direction of the boundary line, so that the device can quickly return to the boundary.

[0061] Step 403: Control the movement of the mobile device according to the movement action.

[0062] Specifically, according to the moving action, the device is returned to the boundary and moves linearly in the rotated direction until the boundary signal is detected again.

[0063] Furthermore, in some embodiments, the movement action of the device is set according to the boundary signal and the area where the device is located that have been determined in step 400 and step 401.

[0064] In one embodiment, the working area is a non-narrow road area, and when the self-moving device crosses the boundary, the self-moving device is controlled to move according to the moving action, which may be: determining the rotation direction according to the crossover type; wherein, if the crossover type is clockwise, the rotation direction is clockwise; if the crossover type is counterclockwise, the rotation direction is counterclockwise; the self-moving device is rotated in the rotation direction at a first rotation angle, wherein the first rotation angle includes a first compensation angle and a first random angle, wherein the first compensation angle is a fixed value, and the first compensation angle is obtained based on multiple tests, for example, preferably 35 degrees. Therefore, it can be understood that the first rotation angle is greater than the first compensation angle.

[0065] Specifically, if the self-moving device crosses the boundary clockwise (that is, the left boundary sensor of the device detects an out-of-bounds signal, and the right boundary sensor detects an in-bounds signal), the rotation direction of the device is selected to be clockwise, and the clockwise rotation angle is the compensation angle θ1 plus the random angle α1; if the self-moving device crosses the boundary counterclockwise (that is, the right boundary sensor of the device detects an out-of-bounds signal, and the left boundary sensor detects an in-bounds signal), the rotation direction of the device is selected to be counterclockwise, and the counterclockwise rotation angle is the compensation angle θ1 plus the random angle α1.

[0066] Further, in some embodiments, if the working area is a non-narrow road area, and the self-moving device is out of bounds, the self-moving device is controlled to move according to the moving action, which may be: the self-moving device is made to slowly retreat, and the boundary signal is detected in real time; if the self-moving device crosses the boundary during the slow retreat process, the rotation direction is determined according to the crossing type, and the self-moving device is rotated in the rotation direction at a third rotation angle; wherein the third rotation angle includes a third compensation angle and a third random angle, wherein the third compensation angle is a fixed value, and the third compensation angle is obtained based on multiple tests, for example, preferably 50 degrees. Therefore, it can be understood that the third rotation angle is greater than the third compensation angle.

[0067] If the self-moving device returns to the boundary during the slow retreat process or the self-moving device has not crossed the boundary or returned to the boundary after retreating to the second preset distance, the self-moving device is rotated in a random direction at a fourth rotation angle; wherein the fourth rotation angle includes a fourth compensation angle and a fourth random angle, wherein the fourth compensation angle is a fixed value, and the fourth compensation angle is obtained based on multiple tests, for example, preferably 80 degrees. Therefore, it can be understood that the fourth rotation angle is greater than the fourth compensation angle. Exemplarily, the second preset distance is 0.2m.

[0068] For details, please refer to Figure 7 When the self-moving device goes out of bounds (i.e., both the left boundary sensor and the right boundary sensor of the device detect out-of-bounds signals), the slow retreat distance is the preset moving distance of 0.2m, and the boundary signal is detected in real time during the retreat process.

[0069] Among them, due to the hardware defects of the boundary sensor, the cross-boundary signal may be detected as an out-of-bounds signal, which may cause errors. Therefore, when an out-of-bounds signal is detected, the robot is controlled to retreat slowly and detect the boundary signal in real time during the retreat process. This can increase the detection time and improve the detection accuracy. If:

[0070] 1) If Figure 7 As shown in (a), when the device crosses the boundary during the backward movement:

[0071] 1.1) If the vehicle crosses the boundary counterclockwise during the backward movement, it stops moving backward and performs a counterclockwise rotation. The rotation angle is the compensation angle θ3 plus the random angle α3;

[0072] 1.2) If the vehicle crosses the boundary clockwise during the backward movement, the vehicle stops moving backward and performs a clockwise rotation. The rotation angle is the compensation angle θ3 plus the random angle α3.

[0073] 2) If Figure 7 (b) When the device returns to the in-bounds signal during the backward movement, or Figure 7As shown in (c), when the device does not cross the boundary or return to the boundary until the back-movement is completed, the robot generates a random rotation direction (counterclockwise or clockwise), and the random rotation angle is the compensation angle θ4 plus the random angle α4.

[0074] Further, in some embodiments, the working area is a narrow road area, and the self-moving device crosses the boundary, and the self-moving device is controlled to move according to the moving action, and the rotation direction can be determined according to the cross-border type; wherein, if the cross-border type is a clockwise cross-border, the rotation direction is clockwise; if the cross-border type is a counterclockwise cross-border, the rotation direction is counterclockwise; the self-moving device is rotated in the rotation direction at a second rotation angle; wherein the second rotation angle includes a second compensation angle and a second random angle, wherein the second compensation angle is a fixed value, and the second compensation angle is obtained based on multiple tests, for example, preferably 25 degrees. Therefore, it can be understood that the second rotation angle is greater than the second compensation angle.

[0075] Specifically, when the robot goes out of the boundary or crosses the boundary during straight movement, it stops moving straight and determines the straight distance. If the current straight distance and the previous straight distance are both less than 1.5m, it is considered to have entered a narrow path. If the boundary signal indicates that the self-moving device crosses the boundary clockwise (that is, the left boundary sensor of the device detects an out-of-bounds signal, and the right boundary sensor detects an in-bounds signal), the robot rotates clockwise, and the clockwise rotation angle is the compensation angle θ2 plus the random angle α2; if the boundary signal indicates that the self-moving device crosses the boundary counterclockwise (that is, the right boundary sensor of the device detects an out-of-bounds signal, and the left boundary sensor detects an in-bounds signal), the robot rotates counterclockwise, and the counterclockwise rotation angle is the compensation angle θ2 plus the random angle α2.

[0076] Further, in some embodiments, the working area is a narrow road area, and when the self-moving device is out of bounds, controlling the movement of the self-moving device according to the moving action may be to make the self-moving device slowly retreat and detect boundary signals in real time; if the self-moving device crosses the boundary during the slow retreat process, the rotation direction is determined according to the cross-boundary type, and the self-moving device rotates in the direction of the rotation at a fifth rotation angle; wherein the fifth rotation angle includes a fifth compensation angle and a fifth random angle, wherein the fifth compensation angle is a fixed value, and the fifth compensation angle is obtained based on multiple tests, for example, preferably 25 degrees. Therefore, it can be understood that the fifth rotation angle is greater than the fifth compensation angle; if the self-moving device returns to the boundary during the slow retreat process or does not cross the boundary or return to the boundary until the self-moving device retreats to the second preset distance, the self-moving device is rotated in the opposite direction of the previous rotation direction at a sixth rotation angle; wherein the sixth rotation angle includes a sixth compensation angle and a sixth random angle, wherein the sixth compensation angle is a fixed value, and the sixth compensation angle is obtained based on multiple tests, for example, preferably 50 degrees. Therefore, it can be understood that the sixth rotation angle is greater than the sixth compensation angle.

[0077] For details, please refer to Figure 7 When the self-moving device is out of bounds (i.e., both the left boundary sensor and the right boundary sensor of the device detect out-of-bounds signals), it slowly retreats the second preset distance, i.e., the preset moving distance of 0.2m, and detects boundary signals in real time during the retreat process. If:

[0078] 1) If Figure 7 As shown in (a), when the device crosses the boundary during the backward movement:

[0079] 1.1) If the clockwise boundary is crossed during the backward movement, the backward movement will stop and the clockwise rotation will be performed. The rotation angle is the compensation angle θ5 plus the random angle α5;

[0080] 1.2) If the boundary is crossed counterclockwise during the backward movement, stop moving backward and perform a counterclockwise rotation. The rotation angle is the compensation angle θ5 plus the random angle α5.

[0081] 2) If Figure 7 (b), when the device returns to the boundary during the backward movement, or as Figure 7 As shown in (c), when the device does not cross the boundary or return to the boundary until the back-movement is completed, the robot generates a random rotation direction (counterclockwise or clockwise), and the random rotation angle is the compensation angle θ6 plus the random angle α6.

[0082] Further, in some embodiments, the compensation angle is a preset fixed value, and any of the compensation angles are different. The compensation angle in the embodiment of the present application is a fixed value set according to multiple tests, and the compensation angles in different scenes are different. After the driving device rotates at the compensation angle, the device can be made approximately parallel to the boundary line, and then rotated at a random angle so that the robot is rotated in a direction perpendicular to the boundary line. This allows the device to quickly return to the boundary.

[0083] In this embodiment, the boundary sensor of the self-moving device detects whether it is out of bounds, further determines the out-of-bounds type according to the boundary signal, determines the area where the device is located according to the travel distance, and thus determines the movement of the device; the self-moving device is controlled to move according to the slow backward and / or rotation action in the preset movement action, so that the self-moving device returns to the boundary. Since this method allows the self-moving device to move backward at a slow speed, the lawn mower robot can increase the number of times and detection time of the inductive boundary sensor to detect the boundary, thereby improving the detection accuracy of the inductive boundary sensor, thereby improving the coverage rate and passability of the lawn mower robot.

[0084] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0085] Another embodiment of the present application discloses a self-mobile device, characterized in that it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above method embodiment when executed by the processor.

[0086] The self-moving device (hereinafter referred to as "device") mentioned in the embodiments of this specification is an intelligent device with an automatic walking function, which can be an intelligent lawn mower that mows in a preset working area. Its working area includes a boundary that limits the working area. The lawn that needs to be operated is within the boundary, and the lawn area outside the boundary is a lawn-free area or a lawn area that does not need to be mowed, such as a neighbor's lawn. The boundary of the working area needs to be pre-set for the lawn mower robot. When the robot recognizes that it has gone out of the boundary while working inside, it can automatically turn around and leave the boundary and return inside to achieve the function of prohibiting going out of the boundary.

[0087] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0088] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0089] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A control method for a self-moving device, characterized in that: The self-moving device moves in a straight line along a random path in a preset working area, the working area is provided with a boundary line, and boundary sensors are symmetrically provided on the left and right sides of the self-moving device; the method comprises: detecting a boundary signal based on the boundary sensor; Determine the moving action of the self-moving device according to the boundary signal; wherein, If the boundary signal indicates that the self-moving device has crossed the boundary, the moving action is a rotation action; if the boundary signal indicates that the self-moving device has gone out of the boundary, the moving action is to first slowly move backward and then rotate; The movement of the self-moving device is controlled according to the movement action.

2. The control method of the self-moving device according to claim 1, characterized in that: The method further comprises: If the boundary sensor on any side of the self-moving device receives an out-of-bounds signal, and the boundary sensor on the other side receives an in-bounds signal, it is determined that the self-moving device crosses the boundary; If the boundary sensors on both sides of the self-moving device receive out-of-bounds signals, it is determined that the self-moving device is out of bounds.

3. The control method of the self-moving device according to claim 2, characterized in that: If the boundary sensor on any side of the self-moving device receives an out-of-bounds signal and the boundary sensor on the other side receives an in-bounds signal, then determining that the self-moving device has crossed the boundary includes: If the boundary sensor on the left side of the self-moving device detects an out-of-bounds signal and the boundary sensor on the right side detects an in-bounds signal, it is determined that the self-moving device crosses the boundary clockwise; If the boundary sensor on the right side of the self-moving device detects an out-of-bounds signal and the boundary sensor on the left side detects an in-bounds signal, it is determined that the self-moving device crosses the boundary counterclockwise.

4. The control method of the self-moving device according to claim 1, characterized in that: Before determining the moving action of the self-moving device according to the boundary signal, the method further includes: When the boundary sensor of the self-moving device detects a boundary signal, the self-moving device stops moving and records the straight distance traveled this time; If the straight-ahead distance this time and the straight-ahead distance last time are both greater than the first preset distance, it is determined that the working area where the self-moving device is located is a non-narrow road area; If the current straight-ahead distance and the previous straight-ahead distance are both smaller than the first preset distance, it is determined that the working area where the self-moving device is located is a narrow road area.

5. The control method of a self-moving device according to any one of claims 1 to 4, characterized in that: The working area is a non-narrow road area, and the self-moving device crosses the boundary, and the self-moving device is controlled to move according to the moving action, including: If the self-moving device crosses the boundary clockwise, the rotation direction is clockwise; If the self-moving device crosses the boundary counterclockwise, the rotation direction is counterclockwise; The self-moving device is rotated in the rotation direction at a first rotation angle, wherein the first rotation angle is greater than a first preset angle.

6. The control method of a self-moving device according to any one of claims 1 to 4, characterized in that: When the working area is a narrow road area and the self-moving device crosses the boundary, controlling the self-moving device to move according to the moving action includes: If the self-moving device crosses the boundary clockwise, the rotation direction is clockwise; If the self-moving device crosses the boundary counterclockwise, the rotation direction is counterclockwise; The self-moving device is rotated toward the rotation direction at a second rotation angle; wherein the second rotation angle is greater than a second preset angle.

7. The control method of a self-moving device according to any one of claims 1 to 4, characterized in that: When the working area is a non-narrow road area and the self-moving device is out of bounds, controlling the self-moving device to move according to the moving action includes: The self-moving device is caused to move backward slowly, and a boundary signal is detected in real time; If the self-moving device crosses the boundary during the slow backward movement, the rotation direction is determined according to the cross-border type, so that the self-moving device rotates in the rotation direction at a third rotation angle; wherein the cross-border type includes clockwise cross-border or counterclockwise cross-border, and the third rotation angle is greater than a third preset angle; If the self-moving device returns to the boundary during the slow retreat process or has not crossed the boundary or returned to the boundary until the self-moving device retreats to the second preset distance, the self-moving device is rotated in a random direction at a fourth rotation angle; wherein the fourth rotation angle is greater than the fourth preset angle.

8. The control method of a self-moving device according to any one of claims 1 to 4, characterized in that: When the working area is a narrow road area and the self-moving device is out of the boundary, controlling the self-moving device to move according to the moving action includes: The self-moving device is caused to move backward slowly, and a boundary signal is detected in real time; If the self-moving device crosses the boundary during the slow backward movement, the rotation direction is determined according to the cross-border type, so that the self-moving device rotates in the rotation direction at a fifth rotation angle; wherein the cross-border type includes clockwise cross-border or counterclockwise cross-border, and the fifth rotation angle is greater than a fifth preset angle; If the self-moving device returns to the boundary during the slow retreat process or has not crossed the boundary or returned to the boundary after retreating to the second preset distance, the self-moving device is rotated in the opposite direction of the last rotation direction at a sixth rotation angle; wherein the sixth rotation angle is greater than the sixth preset angle.

9. The control method of a self-moving device according to any one of claims 5 to 8 is characterized in that: The preset angles are preset fixed values, and any of the preset angles are different.

10. A self-propelled device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps in the method according to any one of claims 1 to 9 are implemented when the computer program is executed by the processor.

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