Device control method, self-moving device and storage medium

Abstract

The invention provides an equipment control method, self-moving equipment and a storage medium, and the method comprises the steps: carrying out the path planning of an edge sub-region, and obtaining a path for operation: taking a non-parallel direction of at least one boundary segment as a long bow direction of bow-shaped path planning, carrying out the bow-shaped path planning of the edge sub-region for at least one time, and obtaining a path for operation; obtaining at least one bow-shaped path for operation; at least one bow-shaped path is tracked to walk and execute the operation task, the bow-shaped path comprises a first long bow path parallel to the long bow direction, the starting end point of the first long bow path points to the terminal point, and the distance from the terminal point to the outer boundary in the long bow direction is smaller than the distance from the starting end point to the outer boundary; and when the first long bow path is tracked to move and move to the terminal point position, if the outer boundary is not detected, keeping the current direction to continuously move until the outer boundary is detected. According to the method, the working efficiency of the self-moving equipment can be improved.

Description

Technical Field

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

[0002] In the field of mobile devices, positioning devices are usually used to determine the outer boundary of the working area, so as to construct a working map of the working area. Positioning devices usually include an inertial measurement unit (IMU) and an odometer (ODO). Long-term operation will have accumulated errors, resulting in inaccurate positioning, and there will be corresponding deviations between the constructed working map and the actual working area. In the subsequent operation process, it is necessary to rely on the path planned according to the working map to move. If there is a deviation between the working map and the actual working area, the path planned according to the working map will not cover the entire working area. As a result, some areas will be missed. For example, when a lawn mower robot moves along the path planned by the working map during mowing, it cannot reach the outer boundary due to the accumulated error, and the grass will be missed near the outer boundary, affecting the efficiency of mowing. Summary of the invention

[0003] The embodiments of the present application disclose a device control method, a self-moving device and a storage medium, which solve the technical problem that operations are easily missed in the area where the outer boundary is located.

[0004] The present application provides a device control method, which is applied to a self-moving device that performs a work task in a working area defined by an outer boundary, wherein the working area includes a sub-area, and the sub-area includes an edge sub-area, and the edge sub-area includes at least one boundary segment that overlaps with at least one segment of the outer boundary. The method includes: performing path planning on the edge sub-area to obtain a path for the operation, including: taking a non-parallel direction of the at least one boundary segment as a longbow direction for bow-shaped path planning, performing bow-shaped path planning on the edge sub-area at least once, and obtaining at least one bow-shaped path for the operation; tracking the at least one bow-shaped path to walk and perform the work task, wherein the bow-shaped path includes a first longbow path parallel to the longbow direction, the starting point of the first longbow path points to the terminal point, and the distance from the terminal point to the outer boundary in the longbow direction is less than the distance from the starting point to the outer boundary; when tracking the movement of the first longbow path and moving to the terminal point position, if the outer boundary is not detected, maintaining the current direction and continuing to move until the outer boundary is detected.

[0005] In some embodiments of the present application, the bow path also includes an untraveled path located behind the first long bow path. After the outer boundary is detected, the method also includes: returning to the first position of the untraveled path; and continuing to track the bow path from the first position to perform the work task.

[0006] In some embodiments of the present application, the untraveled path includes a second longbow path parallel to the longbow direction, the second longbow path is adjacent to the first longbow path, the starting point of the second longbow path points to the terminal point in a direction opposite to the longbow direction of the first longbow path, the first position is the starting point of the second longbow path, and returning to the first position of the untraveled path includes: planning an extended path, the extended path including a first sub-path between a first boundary position and a second boundary position, and a second sub-path between the second boundary position and the first position; the first boundary position is the position when the outer boundary is detected, and the second boundary position is the intersection position where the extension line of the second longbow path intersects the outer boundary; and returning to the first position according to the extended path.

[0007] In some embodiments of the present application, a non-parallel direction of the at least one boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is performed at least once with respect to the bow-shaped path planning to obtain at least one bow-shaped path for the operation, including: determining a first number of the boundary segments; if the first number is greater than or equal to a first preset number, determining the longest preferred boundary segment from the at least one boundary segment; a non-parallel direction of the longest preferred boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is performed with respect to the bow-shaped path planning to obtain a first bow-shaped path, and a direction perpendicular to the non-parallel direction is used as the long bow direction of the bow-shaped path planning to perform the bow-shaped path planning on the edge sub-area to obtain a second bow-shaped path.

[0008] In some embodiments of the present application, a non-parallel direction of the at least one boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is performed at least once with respect to the bow-shaped path planning to obtain at least one bow-shaped path for the operation, including: determining a first number of the boundary segments; if the first number is greater than or equal to a first preset number, determining a second preset number of preferred boundary segments from the at least one boundary segment according to the length of each boundary segment, and the second preset number is less than or equal to the first number; respectively using a non-parallel direction of each preferred boundary segment as the long bow direction of the bow-shaped path planning, and performing the bow-shaped path planning on the edge sub-area to obtain the bow-shaped path corresponding to each long bow direction, and the number of the bow-shaped paths is equal to the second preset number.

[0009] In some embodiments of the present application, the method also includes determining the type of the sub-area, including: determining the circumscribed polygon of the sub-area map corresponding to the sub-area, the circumscribed polygon including multiple circumscribed edges, the sub-area map belongs to at least a part of a working map, and the working map is a map representing the working area obtained by mapping the self-mobile device along the outer boundary; if any circumscribed edge includes an outer edge segment, and the length of the outer edge segment is greater than a preset length threshold, then any circumscribed edge is determined to be an outer edge; the outer edge segment represents at least a part of a map boundary of the working map, and the map boundary represents the outer boundary; if any circumscribed polygon includes at least one outer edge, then the type of the sub-area corresponding to any circumscribed polygon is determined to be the edge sub-area.

[0010] In some embodiments of the present application, the working map is a grid map, and the method further includes: based on the grid map, determining the attributes of the grids corresponding to the multiple circumscribed edges, the attributes including the upper-boundary attributes of the grids located on the map boundary and the outer-boundary attributes of the grids located outside the map boundary; accumulating a second number of grids with the outer-boundary attributes and the upper-boundary attributes that are continuous for any circumscribed edge; if the second number is greater than or equal to a preset number of grids, determining that any circumscribed edge is the outer edge.

[0011] In some embodiments of the present application, at least a portion of the outer edge represents the boundary segment, a non-parallel direction of at least one boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is subjected to at least one bow-shaped path planning at least once to obtain at least one bow-shaped path for the operation, comprising: determining a third number of the outer edges; if the third number is greater than or equal to the first preset number, determining a target outer edge corresponding to the longest outer edge segment from the at least one outer edge; using a non-parallel direction of the target outer edge as the long bow direction of the bow-shaped path planning, performing bow-shaped path planning on the edge sub-area to obtain a first bow-shaped path, and using a direction perpendicular to the non-parallel direction as the long bow direction of the bow-shaped path planning to perform bow-shaped path planning on the edge sub-area to obtain a second bow-shaped path.

[0012] In some embodiments of the present application, at least a portion of the outer edge represents the boundary segment, and a non-parallel direction of at least one boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is performed at least once. The step of obtaining at least one bow path for the operation includes: determining a third number of the outer edges; if the third number is greater than or equal to the first preset number, determining a second preset number of target outer edges from at least one outer edge according to the length of the outer edge segment of each outer edge, and the second preset number is less than or equal to the third number; respectively using a non-parallel direction of each target outer edge as the long bow direction of the bow-shaped path planning, performing bow-shaped path planning on the edge sub-area to obtain a bow path corresponding to each long bow direction, and the number of the bow paths is equal to the second preset number.

[0013] In some embodiments of the present application, the non-parallel direction is a vertical direction.

[0014] The present application also provides a self-moving device, which includes a controller and a memory, and the controller is used to implement the device control method when executing a computer program stored in the memory.

[0015] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a controller, the device control method is implemented.

[0016] In the device control method provided in the present application, a path for operation is obtained by path planning for the edge sub-area, and the path includes at least one bow-shaped path, and the long bow direction of the bow-shaped path planning of the at least one bow-shaped path is a non-parallel direction of at least one boundary segment. The planning direction of the bow-shaped path set for the edge sub-area can ensure that the planned path can reach all boundary segments of the edge sub-area, and to a certain extent, avoid the situation of missing operations in the working area. The self-moving device tracks at least one bow-shaped path and performs the operation task. When tracking the movement of the first long bow path and moving to the position corresponding to the terminal point, if the outer boundary is not detected, it means that a certain deviation has occurred in the process of planning the path of the edge sub-area, resulting in the failure to detect the outer boundary when tracking the movement of the first long bow path planned. In the case that the outer boundary is not detected, keep moving in the current direction until the outer boundary is detected. Ensure that all outer boundaries can be reached in the planning coverage, avoid the situation of missing operations near the outer boundary, and to a certain extent, improve the working efficiency of the self-moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the outer boundary leakage provided in the embodiment of the present application.

[0018] Figure 2 It is a flow chart of the device control method provided in the embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of the edge sub-area and the internal sub-area in the embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the planning of the bow path in the embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of the planning of the bow path in another embodiment of the present application.

[0022] Figure 6 It is a schematic diagram of the planning of multiple bow-shaped paths in an embodiment of the present application.

[0023] Figure 7 It is a schematic diagram of planning of multiple bow-shaped paths in another embodiment of the present application.

[0024] Figure 8 It is a schematic diagram of the planning of the expansion path in the embodiment of the present application.

[0025] Fig. 9 This is a flow chart for determining the type of a sub-area provided in an embodiment of the present application.

[0026] Fig.10 This is a schematic diagram of generating a circumscribed polygon provided in an embodiment of the present application.

[0027] Fig.11 This is a schematic diagram of generating a circumscribed polygon provided in yet another embodiment of the present application.

[0028] Fig.12 It is a schematic diagram of the working width between adjacent longbow paths provided in an embodiment of the present application.

[0029] Fig.13 It is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given by way of example for reference.

[0031] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0032] In the field of self-moving equipment, a positioning device is usually used to determine the outer boundary of the working area, so as to construct a working map of the working area. In one example, before driving the mowing robot to work, it is necessary to first establish a working map corresponding to the working area, and the map boundary of the working map is the boundary of the working area. Then, the mowing robot performs path planning on the working map to obtain the working path, and the working path effectively covers the entire working map. Finally, the mowing robot tracks the movement of the working path in the working area and works simultaneously, thereby achieving effective coverage of the working area. For mowing robots, work and coverage refer to mowing. For other types of self-moving equipment, the working content is also different accordingly, which will not be repeated.

[0033] Ideally, the positioning result of the positioning device is absolutely accurate, and there is no deviation between the working map obtained by mapping and the actual working area, that is, the working map is accurate, and the working path planned according to the accurate working map can well cover the entire working area.

[0034] In fact, self-moving devices usually use a low-cost positioning device, which includes an inertial measurement unit (IMU) and an odometer (ODO). The disadvantage is that long-term operation will have accumulated errors, resulting in inaccurate positioning. The constructed work map and the actual work area will also have corresponding deviations, that is, the work map. In the subsequent operation process, the work path planned according to the work map cannot cover the entire work area, resulting in some areas being missed when tracking the work path. For example, when a lawn mowing robot moves along the work path planned by the work map during mowing, it cannot reach the outer boundary due to the accumulated errors, and will miss mowing near the outer boundary, affecting the mowing efficiency. A commonly used path planning method for self-moving devices is bow-shaped path planning. To obtain the bow-shaped path, the following is combined with Figure 1 Provide explanation.

[0035] like Figure 1As shown in (1), the solid rectangular box is the outer boundary of the work area, and the dotted rectangular box is the map boundary of the work map. When constructing the work map, a deviation occurs, resulting in the constructed work map being offset relative to the work area. For example, the map boundaries on the left and upper sides of the work map are offset toward the work area. The dotted line inside the map boundary is the bow-shaped path obtained by bow-shaped path planning based on the work map. When the mowing robot is operating by following the path planned based on the work map, the following will appear. Figure 1 The situation (2) of missed mowing, that is, a missed mowing area occurs. In the case of a missed mowing area, the operation efficiency of the mowing robot is affected, and the missed mowing area needs to be re-operated.

[0036] It should be noted that, ideally, Figure 1 The solid rectangular frame and the dotted rectangular frame in (1) overlap, and the bow path is completely within the solid rectangular frame, such as the left and right outer boundaries of the working area in the figure. When the bow path is tracked to reach the two ends of the long bow path, the front end of the body of the mowing robot reaches the outer boundary, and the blade disc under the body can completely cover the lawn near the left and right outer boundaries, such as the upper and lower outer boundaries of the working area in the figure. When tracking the movement of the uppermost and lowermost long bow paths, the blade disc can completely cover the lawn near the upper and lower outer boundaries, that is, there is no missed grass near the outer boundaries.

[0037] In order to solve the technical problem that operations are easily missed in the area where the outer boundaries are located, the embodiments of the present application provide a device control method, a self-moving device and a storage medium, which can ensure that all outer boundaries can be reached within the planned coverage, avoiding the situation where operations are missed in the outer boundaries.

[0038] The device control method provided in the embodiment of the present application can be applied to one or more self-moving devices. The self-moving device can include a device with a self-moving auxiliary function, or it can be a semi-self-moving device or a fully autonomous mobile device. For example, any intelligent robot or movable machine device with a navigation function, such as a lawn mower robot, a sweeping robot, a vending robot, a mobile robot, etc. This application does not limit the type of self-moving device.

[0039] In order to more clearly illustrate the device control method, the self-mobile device and the storage medium provided in the embodiments of the present application, the device control method applied to the self-mobile device will be described below. In addition, the application on the self-mobile device is only an exemplary description, and is not limited to this in actual application. In one example, the above-mentioned device control method can also be applied to a terminal device that communicates with the self-mobile device, for example, a terminal device such as a mobile phone or a computer.

[0040] Figure 2This is a flow chart of the device control method provided by the embodiment of the present application. According to different requirements, the order of the steps in the flow chart can be changed, and some steps can be omitted.

[0041] Step S201, performing path planning on the edge sub-area to obtain a path for operation, including: using a non-parallel direction of at least one boundary segment as the long bow direction of the bow-shaped path planning, performing bow-shaped path planning on the edge sub-area at least once, and obtaining at least one bow-shaped path corresponding to the edge sub-area.

[0042] In some embodiments of the present application, the self-mobile device performs a work task in a work area defined by an outer boundary, wherein the outer boundary may be an actual boundary line of the work area, the work area may be an area where the work is to be performed, and the work task may include a task that can be completed by the functions of the self-mobile device.

[0043] In one example, the self-moving device is a lawn mowing robot. The lawn mowing robot performs a lawn mowing task in the lawn, and the area where the lawn is located is the working area, the boundary line of the area where the lawn is located is the outer boundary, and the lawn mowing task is the operation task.

[0044] In some embodiments of the present application, the working area includes sub-areas, and the number of sub-areas can be determined according to the actual application scenario, which is not limited by the present application. A sub-area is a minimum area for executing path planning by a mobile device. Based on the relationship between the boundary of the sub-area and the outer boundary of the working area, the sub-areas can be classified into edge sub-areas and internal sub-areas.

[0045] The edge sub-region includes at least one boundary segment that overlaps with at least one segment of the outer boundary, and is located in the area of ​​the working area including the outer boundary; the internal sub-region does not include a boundary segment, and is located in the area of ​​the working area excluding the outer boundary. The internal sub-region is located inside the working area not close to the outer boundary, and is far away from the outer boundary of the working area, so it will not cause missed cutting near the outer boundary, while the edge sub-region is a sub-region close to the outer boundary, and it will cause missed cutting near the outer boundary. Therefore, the target of step S201 is the edge sub-region.

[0046] Combine the following Figure 3 Describe the edge sub-region and the interior sub-region.

[0047] like Figure 3 As shown in (1), it is a diagram corresponding to the working area, and the working area includes the outer boundary. The working area is divided into Figure 3There are 9 sub-areas shown in (2). Sub-area A1 and sub-area A3 both include boundary segments that coincide with the outer boundary. Specifically, sub-area A1 includes two boundary segments, and sub-area A3 includes one boundary segment. Therefore, sub-area A1 and sub-area A3 can be regarded as edge sub-areas. Sub-area A2 does not include a boundary segment, so sub-area A2 can be regarded as an internal sub-area. In addition, if the working area is a minimum area for performing path planning, the working area is directly regarded as a sub-area, then Figure 3 The area shown in (1) includes four boundary segments, which are edge sub-areas.

[0048] In some embodiments of the present application, by dividing the working area into sub-areas, the self-mobile device can perform independent path planning and independent operations for each sub-area, which is highly efficient. Specifically, the controller of the self-mobile device obtains the data of the outer boundary, builds a map based on the outer boundary data, obtains a working map representing the working area, and the working map at least includes a representation of the outer boundary, and then the controller divides the working map into multiple sub-area maps.

[0049] For the edge sub-area, the refinement step in step S201 is performed to use a non-parallel direction of at least one boundary segment as the long bow direction of the bow-shaped path planning, and the edge sub-area is subjected to at least one bow-shaped path planning to obtain at least one bow-shaped path corresponding to the edge sub-area. In step S201, different gap filling planning strategies are used for edge sub-areas in different situations, and different path planning results are obtained. Figure 4-7 Provide explanation.

[0050] 1) The first leak-filling planning strategy:

[0051] like Figure 4 The edge area shown includes a boundary segment, and the angle between the boundary segment and the non-parallel direction of the boundary segment is θ. In order to achieve the best leak repair effect, the non-parallel direction is set to the vertical direction, that is, θ = 90°. The direction at 90° to the boundary segment is taken as the longbow direction. According to the longbow direction, the edge sub-area is subjected to bow-shaped path planning, and the following is obtained: Figure 4 The bow paths shown have a number N of bow paths.

[0052] Among them, the strategy of bow-shaped path planning includes the long side path (also called long bow path) turning to connect the short side path (also called short bow path). The short bow path turns to connect the new long bow path, and the new long bow path turns to connect the new short bow path, and so on until the entire sub-area is traversed. Among them, the angle of each turn is the same, which can be 90°, or other different angles can be selected according to actual conditions, and this application is not limited to this. Each long bow path is parallel to each other. The preferred short bow path can be a straight line or a special-shaped line.

[0053] Planning Figure 4After the bow-shaped path shown, the self-mobile device can track the bow-shaped path to perform operations. Among them, θ = 90° is only an example, and the angle range of θ includes: 0°<θ<180°. Figure 5 An example diagram for θ = 75° is shown.

[0054] Compared with other θ angles, θ=90° has the best leak repairing effect. In practical applications, θ=90° can be set as a priority to achieve optimal operating efficiency and the best leak repairing effect. See the detailed description below for details.

[0055] like Figure 4 The example shown here is a case where the edge region includes one boundary segment. In another example, an edge region may include at least two boundary segments. Figure 6 and Figure 7 Provide explanation.

[0056] 2) The second gap-filling planning strategy: (chessboard planning strategy)

[0057] In some embodiments of the present application, a first number of boundary segments of the edge region is counted, and if the first number is greater than or equal to a first preset number (e.g., 2), the length of each boundary segment is obtained. According to the result of sorting the boundary segments from large to small in length, the longest preferred boundary segment is determined from the multiple boundary segments. Figure 6 The edge region shown includes three boundary segments, namely, line segment ab, line segment bc, and line segment cd. Comparing the lengths of line segment ab, line segment bc, and line segment cd, the sorting results include: line segment cd>line segment ab>line segment bc. According to the sorting results, line segment cd is selected as the longest preferred boundary segment.

[0058] After the longest preferred boundary segment is determined, a non-parallel direction of the longest preferred boundary segment is used as the long bow direction of the bow-shaped path planning (such as Figure 6 The Q1 direction shown in the figure) is used to perform bow-shaped path planning on the edge sub-area to obtain the first bow-shaped path. Figure 6 The Q2 direction shown in FIG. 1 is used as the long bow direction of the bow-shaped path planning, that is, the Q1 direction is perpendicular to the Q2 direction. The second bow-shaped path is obtained by performing bow-shaped path planning on the edge sub-area according to the Q2 direction. That is, the number of boundary segments is M, M is greater than or equal to 2, and the number of boundary segments Y is preferably fixed to 1, and the number of bow-shaped paths N is fixed to 2.

[0059] Through the above Figure 6 The path planning method shown, which determines the planning method of the first bow-shaped path and the second bow-shaped path based on the longest boundary segment, can reduce the amount of calculation to a certain extent and improve the efficiency of path planning.

[0060] 3) The third gap-filling planning strategy:

[0061] In other embodiments of the present application, for an edge region including at least two boundary segments, in addition to the following Figure 6 The chessboard-like planning method shown can also be based on Figure 7 Specifically, Figure 7 The edge region shown includes three boundary segments, namely, line segment ab, line segment bc, and line segment cd. The sorting results based on the length include: line segment cd>line segment ab>line segment bc. A second preset number (e.g., 2) of preferred boundary segments are determined based on the sorting results, and the selected preferred boundary segments include line segment cd and line segment ab.

[0062] A non-parallel direction of each preferred boundary segment is used as the long bow direction of the bow-shaped path planning. For example, a non-parallel direction of the line segment cd can be as follows Figure 7 As shown in the Q1 direction, a non-parallel direction of line segment ab can be as follows Figure 7 The Q3 direction shown is as follows Figure 7 Take the example that the angle between the Q3 direction shown and the extension line of the line segment ab is 90°. Perform bow-shaped path planning on the edge sub-area to obtain the bow-shaped path corresponding to each long bow direction. For example, the first bow-shaped path is planned with the Q1 direction as the long bow direction, and the second bow-shaped path is planned with the Q3 direction as the long bow direction. In addition, the number of bow-shaped paths planned by screening the second preset number of preferred boundary segments is equal to the second preset number. For example, if 3 preferred boundary segments are screened, the path of the edge sub-area includes 3 bow-shaped paths. That is, the number of boundary segments M is greater than or equal to 2, the number of bow-shaped paths is N, N is less than or equal to M, and the number of preferred boundary segments Y is equal to the number of bow-shaped paths N. When M=N, that is, step S201 performs a path planning in a non-parallel direction on all boundary segments to obtain a bow-shaped path, thereby obtaining N bow-shaped paths.

[0063] For edge regions with only one boundary segment, the first leak-filling planning strategy must be implemented. For edge regions with more than or equal to 2 boundary segments, the second or third leak-filling planning strategy can be implemented. For edge regions with at least one boundary segment, there may be other leak-filling planning strategies, which will not be described in detail here, as long as at least one bow-shaped path with a long bow direction toward the boundary segment is obtained.

[0064] Step S202, tracking at least one bow-shaped path and executing the task.

[0065] In some embodiments of the present application, after all the bow paths of each sub-area are planned, the order of performing operations along the bow paths is not restricted. Each bow path includes a first longbow path parallel to the longbow direction, the starting point of the first longbow path points to the terminal point, and the distance from the terminal point to the outer boundary in the longbow direction is less than the distance from the starting point to the outer boundary. In addition, the terminal point of the first longbow path can also be understood as an endpoint closer to the outer boundary than the starting endpoint.

[0066] The mobile device tracks at least one bow-shaped path and performs a work task. For example, the mowing robot travels along a first long bow path within any bow-shaped path and cuts the lawn on the first long bow path during the travel.

[0067] Step S203, when tracking the movement of the first longbow path and moving to the terminal point position, if the outer boundary is not detected, keep moving in the current direction until the outer boundary is detected.

[0068] In some embodiments of the present application, in order to facilitate the determination of whether the self-moving device has moved to the outer boundary of the working area, a powered cable can be provided on the outer boundary to emit a magnetic field signal. When the self-moving device moves to the cable position, the magnetic field signal can be detected by at least two boundary sensors on the self-moving device to determine the positional relationship between the position of the self-moving device and the outer boundary. "+" indicates that the boundary sensor of the self-moving device is located on the inner side of the outer boundary, and "-" indicates that the boundary sensor of the self-moving device is located on the outer side of the outer boundary. The groups of magnetic field signals that may be obtained by the self-moving device include: (+, -), (-, +), (+, +), (-, -).

[0069] Among them, (+,-), (-,+) means that one boundary sensor is located outside the outer boundary, and the other boundary sensor is located inside the outer boundary. (+,+) means that both boundary sensors are located inside the outer boundary. (-,-) means that both boundary sensors are located outside the outer boundary.

[0070] The above are only examples, and the mobile device may also detect the outer boundary of the working area by other means, such as visual detection, and this application is not limited to this.

[0071] In some embodiments of the present application, when the self-mobile device moves to the terminal point while tracking the first longbow path, if no outer boundary is detected, it means that a certain deviation occurs when planning the bow path, resulting in the self-mobile device moving to the terminal point without detecting the outer boundary. If no outer boundary is detected, the current direction is maintained and the movement continues until the outer boundary is detected. Figure 7 Provide explanation.

[0072] like Figure 8As shown, point P1 represents the starting point of the first longbow path, and point P2 represents the terminal point of the first longbow path. Figure 8 It can be seen that there is still a certain distance between point P2 and the outer boundary. When the mobile device moves from the position corresponding to point P1 to the position corresponding to point P2, it continues to move in the current direction until the outer boundary is detected.

[0073] In the above-mentioned steps S201-S203 of this embodiment, step S203 is to use the longbow path of the bow path to fill in the outer boundary. If the outer boundary is not detected when the first longbow path is walking, it means that a certain deviation has occurred in the process of planning the path of the edge sub-area, and then the filling action is immediately performed - keep walking until the boundary line is detected, so that the filling between the terminal point of the first longbow path and the outer boundary is completed; wherein step S201 is executed before S203, and the non-parallel direction with the outer boundary of the working area is the best direction for filling in the vicinity of the outer boundary by using the bow-shaped walking. Path planning is performed in this direction, so that the path direction of at least part of the longbow path on the bow-shaped path is toward the outer boundary of the edge sub-area (i.e., the boundary segment), which can ensure that at least part of the longbow path in the planned bow-shaped path executes step S201 to achieve filling in the vicinity of the specific boundary line. Correspondingly, the missed cutting area near all the boundary segments of the corresponding edge sub-area can be filled by a corresponding bow-shaped path in S201. Thus, S203 performs the gap filling near the boundary line under the bow-shaped planning, and S201 improves the efficiency of the gap filling near the boundary line under the bow-shaped planning, ensuring that all the missed cuts near the boundary line can be effectively filled.

[0074] At least part of the longbow path is the first longbow path mentioned above, and the path direction of at least part of the longbow path is the direction from the starting point to the terminal point. The other longbow direction is the second longbow path, and its path direction is opposite to the first longbow path.

[0075] On the contrary, if the optimal direction path planning of S201 is not performed, the first longbow path mentioned above may be rare or non-existent in the bow path, and the corresponding execution of S203 to achieve the leak repair effect near the outer boundary (boundary segment) is poor, and can only occasionally achieve the leak repair near a small section of the outer boundary, or even fail to achieve the leak repair. S201 in this application is a planned bow path leak repair for the outer boundary.

[0076] It should be pointed out that the longbow direction of the bow path is selected as the best direction of the bow planning for filling the gap rather than the shortbow direction. The reason is that in the principle of bow planning, the length of a longbow path is greater than the length of a shortbow path, and the straight-line distance between adjacent longbow paths is less than or equal to the unit operating width of the self-propelled robot, such as the operating width X of the cutting disc as shown below. Fig.12, the longbow path is the main segment to achieve effective coverage, while the shortbow path is to achieve the steering between adjacent longbows. The distance between adjacent shortbow paths is longer than the path between adjacent longbow paths. If a non-parallel direction is selected as the shortbow direction for path planning and the first shortbow path (corresponding to the first longbow path) is used to perform the step S203' with the same principle as step S203, the number of times of patching / patch segment for the same outer boundary (boundary segment) is much less than that of performing S203 after step S201 mentioned in the present application, and the patching effect is poor.

[0077] In some embodiments of the present application, after the mobile device detects the outer boundary, if there is still an untraveled path, it can return to the first position of the untraveled path, thereby continuing to track the bow path based on the first position to perform the work task.

[0078] In this way, the mobile device can return to the bow path and walk to the next first long bow path in parallel, continue to perform the covering cutting of the original bow path and continue to perform new leak repair.

[0079] In order to return to the first position, the self-moving device can plan an extended path. The extended path includes a first sub-path between the first boundary position and the second boundary position, and a second sub-path between the second boundary position and the first position; wherein the first boundary position is the position when the outer boundary is detected, and the second boundary position is the intersection position where the extension line of the second longbow path intersects with the outer boundary. The longbow direction of the second longbow path is opposite to the longbow direction of the first longbow path, and the first longbow path and the second longbow path are adjacent paths. In this way, on the second longbow path of the bow path, it is also possible to fill in the missed cutting area near the boundary line, with high filling efficiency and improved coverage.

[0080] Combination Figure 8 As shown, the position when the outer boundary is detected is taken as the first boundary position (such as Figure 8 Determine the intersection point where the extension line of the second longbow path intersects the outer boundary (such as Figure 8 The starting point of the second longbow path is taken as the first position (such as Figure 8 point P5). Figure 8 As shown in the figure, the extended path is: P3→P4→P5. The self-mobile device starts from the first boundary position corresponding to point P3 and moves along the P3-P4 segment to the second boundary position corresponding to point P4. The self-mobile device turns 90° and moves along the P4-P5 segment to reach the first position corresponding to point P5. The extension of the path in the two longbow directions, P2-P3 and P4-P5 in the figure, performs gap filling operations outside the path planning near the boundary line.

[0081] In other embodiments, there are other ways to return to the untraveled path. For example, at the first boundary position after detecting the outer boundary, the lawn mowing robot stops and walks backward until it returns to the terminal point of the first longbow path. The first position is the terminal point of the first longbow path, and then continues to track the untraveled path. Other methods are not listed one by one, and all fall within the protection scope of this application.

[0082] In the above step S201, the second leak-filling planning strategy is adopted in the specific embodiment, see Figure 6 For the case of multiple boundary segments, the planning method of the first bow path and the second bow path is determined based on the longest boundary segment. The first bow path is used to fill in the gaps near the longest boundary segment, and the second bow path is used to fill in the gaps of the remaining short boundary segments. This cross-bow path or even mutually perpendicular bow paths can fill in most of the gaps near multiple boundary segments. The overall calculation amount is small and the path planning efficiency is high.

[0083] The above step S201 adopts the third leak-filling planning strategy as a specific embodiment, see Figure 7 , for the case of multiple boundary segments, it is another option relative to the second leak-filling planning strategy. The amount of calculation is correspondingly increased, and the path planning efficiency is reduced, but more leaks are filled and the leak-filling rate is higher, especially when N=Y=M, that is, each boundary segment must perform the corresponding leak-filling near the boundary line, that is, step S203. Figure 7 The path planning method shown can avoid the situation where multiple long boundary segments are missed. In addition, in the case of having a large number of boundary segments, by selecting a second preset number of preferred boundary segments for path planning, the operating efficiency of the self-moving device can be improved to a certain extent. Figure 7 The second preset number shown is only an example, and in other application scenarios, the second preset number may also include a number greater than or equal to 3. For example, if there are 6 boundary segments, 3 boundary segments may be selected from the 6 boundary segments.

[0084] Furthermore, θ=90° is preferred, which achieves the best leak repair effect. The reason is: Fig.12 As shown, the distance between two adjacent longbows is preferably fixed to X, and the above S203 is performed on a boundary segment of a fixed length L, such as θ = 90°, see Figure 4 In the example, the short bow length D1 = X, and the number of the leak-filling paths (P2-P3, P4-P5) between the end of the long bow and the boundary line is equal to L / X. If θ is not 90°, see Figure 5 , the short bow length D2 is greater than X, and the number of leak repair paths (P2-P3, P4-P5) between one end of the long bow and the boundary line is equal to L / D2. The conclusion is that when L / X is greater than L / D2 and θ=90°, the number of leak repairs near the external boundary is greater and the leak repair rate is higher.

[0085] In other embodiments of the present application, before operating on the work area, the self-moving device may first construct a work map. The map boundary of the work map represents the outer boundary of the work area, and the range defined by the map boundary represents the range of the work area. In one example, the self-moving device is a lawn mowing robot, and the work area is a lawn, and the lawn mowing robot needs to perform a lawn mowing task. Figure 8 Describe how to determine the type of subarea based on the working map.

[0086] Fig. 9 1 is a flow chart for determining the type of a sub-area provided in an embodiment of the present application. The work map includes a sub-area map corresponding to the sub-area. The type of the sub-area is determined by the circumscribed polygon corresponding to the sub-area map, so that the corresponding path is planned according to the type of the sub-area. Fig. 9 As shown, the following steps are included:

[0087] Step S901, determining the circumscribed polygon of the sub-area map corresponding to the sub-area.

[0088] In some embodiments of the present application, the self-mobile device can provide a human-computer interaction mode, and the user can enter the operation instruction in the self-mobile device by means of a keyboard, mouse, remote control, touchpad or voice control device. In other embodiments, the self-mobile device can also be connected to the user's terminal device for communication, and the terminal device includes but is not limited to any electronic product that can perform human-computer interaction with the user by means of a keyboard, mouse, remote control, touchpad or voice control device, such as a personal computer, a tablet computer, a smart phone, a digital camera, etc. The terminal device can also be a control device, such as a remote control. The user can send an operation instruction to the self-mobile device through the terminal device. In one embodiment, the operation instruction may include but is not limited to a composition instruction, an operation instruction (such as a mowing instruction and a cleaning instruction) and a charging instruction. The self-mobile device moves along the outer boundary of the work area in response to the composition instruction to generate a work map, and the work map includes a map boundary for representing the outer boundary of the work area.

[0089] In some embodiments of the present application, the actual working area may be an irregular polygon. In order to better perform operations on the working area later, at least one sub-area may be divided based on the working map. If the working area is a regular polygon, the sub-area may be the entire working area; if the working area is an irregular polygon, the number of sub-areas may be greater than or equal to 2.

[0090] In one example, a neural network algorithm may be deployed on a mobile device, and a user identifies an image corresponding to a work map, thereby extracting a map boundary within the image and dividing the map according to the shape of the map boundary. The type of the neural network algorithm is not limited.

[0091] In another example, the self-mobile device may include a touch screen. In response to a user's swiping operation on the touch screen, the self-mobile device determines at least one sub-area.

[0092] In another example, the self-mobile device may be connected to a terminal device having a touch screen, and the terminal device may be installed with an application program for controlling the self-mobile device. The user may perform a zone division operation through an application interface of the application program for displaying a work map, thereby determining at least one sub-area.

[0093] In some embodiments of the present application, after the sub-area corresponding to the working area is determined, a sub-area map corresponding to the sub-area is obtained. Since the map boundary of the working map is generally obtained by using a positioning device when the mobile device moves along the outer boundary of the working area, the map boundary is obtained after processing the multiple discrete positions. In the case of magnification, the presented map boundary may be a curved and uneven line, such as a concave or convex broken line or arc.

[0094] In order to facilitate the subsequent bow-shaped path planning, the sub-area map can be subjected to convex hull processing so that the processed sub-area map has straight edges, thereby obtaining the circumscribed polygon corresponding to each sub-area, and each circumscribed polygon includes multiple circumscribed edges.

[0095] Combination Fig.10 , the working area is divided into 4 sub-areas. Convex hull processing is performed on each sub-area, and the convex hull processing of sub-area H is taken as an example. After the convex hull processing of sub-area H is performed, the circumscribed polygon h is obtained, and the circumscribed edges of the circumscribed polygon h include h0-h2, h2-h3, h3-h4, and h4-h0.

[0096] Step S902, determining whether any circumscribed edge includes an outer edge segment.

[0097] In some embodiments of the present application, the outer edge segment represents at least part of the map boundary of the working map, and the map boundary represents the outer boundary of the working area. In one example, if the divided sub-areas are all regular rectangles, and the rectangle includes four sides, then each rectangular side corresponds to a circumscribed edge. If part or all of the circumscribed edge overlaps with at least part of the map boundary, it is determined that the circumscribed edge has an outer edge segment.

[0098] Combination Fig.11 , m1 and m2 represent two edges of the map boundary. It can be seen that after the convex hull processing is performed on the sub-area A1, the circumscribed edge a1 of the sub-area A1 coincides with part of the edge of m1, and the circumscribed edge a2 coincides with part of the edge of m2. Then the circumscribed edge a1 is the outer edge segment of the circumscribed polygon A1, and the circumscribed edge a2 is the outer edge segment of the circumscribed polygon A1.

[0099] In some embodiments of the present application, if any circumscribed edge does not include an outer edge segment, it is determined that the circumscribed edge belongs to an inner edge, and step S903 is executed. If any circumscribed edge includes an outer edge segment, it is determined whether the length of the outer edge segment is greater than a preset length threshold, and step S904 is executed.

[0100] Step S903: taking any circumscribed edge as an inner edge.

[0101] Step S904: determine whether the length of the outer edge segment is greater than a preset length threshold.

[0102] In some embodiments of the present application, if the length of the outer edge segment is less than a preset length threshold (such as 0.5 meters), any outer edge is considered an inner edge. If the length of the outer edge segment is greater than or equal to the preset length threshold, any outer edge is considered an outer edge. Fig.11 As shown, the circumferential edge a1 and the circumferential edge a2 are both outer edges.

[0103] If the length of the outer edge segment is less than or equal to the preset length threshold, step S903 is executed; if the length of the outer edge segment is greater than the preset length threshold, step S905 is executed.

[0104] Step S905: taking any circumscribed edge as an outer edge.

[0105] In other embodiments of the present application, the working map is a grid map, and the grids in the grid map are marked with corresponding attributes, namely, the inside attribute, the outside attribute, and the above attribute. It is also possible to determine whether the circumscribed polygon has an outer edge by the attributes of the grid. Specifically, the attributes of the grids corresponding to the multiple circumscribed edges are obtained, and the second number of grids with the outside attribute and the above attribute of any circumscribed edge are accumulated. If the second number is greater than or equal to the preset number of grids, it is determined that any circumscribed edge is an outer edge. For example, the accumulation is as follows: Fig.11 The grid attributes of the circumscribed edge a1 shown are the second number of the outside-boundary attributes and the above-boundary attributes. If it is determined that the second number is greater than or equal to the preset grid number, the circumscribed edge a1 is an outside edge.

[0106] Step S906, determining whether any circumscribed polygon includes at least one outer edge.

[0107] In some embodiments of the present application, if it is determined that any circumscribed polygon does not include an outer edge, the type of the sub-region corresponding to any circumscribed polygon is determined to be an internal sub-region, and step S907 is performed. If it is determined that any circumscribed polygon includes at least one outer edge, the type of the sub-region corresponding to any circumscribed polygon is determined to be an edge sub-region, and step S908 is performed.

[0108] Step S907: determine that the type of the sub-region corresponding to any circumscribed polygon is an internal sub-region.

[0109] In some embodiments of the present application, Figure 3 (2) is used as an example to illustrate the multiple circumscribed polygons after the convex hull processing. If the circumscribed polygon corresponding to the sub-area A2 does not include the outer edge, the sub-area A2 is an internal sub-area.

[0110] Step S908: Determine whether the type of the sub-region corresponding to any circumscribed polygon is an edge sub-region.

[0111] In some embodiments of the present application, Figure 3 (2) is used as an example to illustrate the multiple circumscribed polygons after the convex hull processing. The circumscribed polygon corresponding to the sub-area A1 includes 2 outer edges, so the sub-area A1 is an edge sub-area. The circumscribed polygon corresponding to the sub-area A3 includes 1 outer edge, so the sub-area A3 is an edge sub-area.

[0112] Through the above embodiment, the type of the sub-area can be quickly determined by processing the sub-area map, which is fast and convenient; the convex hull of the sub-area is processed into an external polygon, which is convenient for the subsequent determination of the planning direction of the bow-shaped path, and to a certain extent improves the efficiency of the bow-shaped path planning. Otherwise, when the irregular outer boundary includes too many short boundary segments, it may lead to too many non-parallel directions and too many bow-shaped paths. The calculation amount of path planning is extremely large, there are too many bow-shaped paths in the sub-area, and the same lawn is repeatedly trampled, which is not worth the loss.

[0113] In other embodiments of the present application, when the sub-region belongs to an edge sub-region, the circumscribed polygon corresponding to the edge sub-region includes at least one outer edge. An outer edge includes at least one outer edge segment, an outer edge segment represents at least part of the map boundary, the map boundary represents the outer boundary, the edge sub-region includes at least one boundary segment that coincides with at least one segment of the outer boundary, and at least part of the outer edge represents the boundary segment.

[0114] When performing bow-shaped path planning on the edge sub-area, a non-parallel direction of at least one boundary segment is used as the long bow direction of the bow-shaped path planning, and bow-shaped path planning is performed on the edge sub-area at least once to obtain at least one bow-shaped path corresponding to the edge sub-area. Since at least part of the outer edge represents the boundary segment, path planning can be performed on the edge sub-area in the following manner.

[0115] In some embodiments of the present application, a third number of outer edges included in an edge region is determined. If the third number is greater than or equal to the first preset number, a target outer edge corresponding to the longest outer edge segment is determined from at least one outer edge, that is, the target outer edge is selected by the outer edge segment length of the outer edge segment. A non-parallel direction of the target outer edge is used as the long bow direction of the bow-shaped path planning, and the edge sub-region is subjected to bow-shaped path planning to obtain a first bow-shaped path, and a perpendicular direction to the non-parallel direction is used as the long bow direction of the bow-shaped path planning to obtain a second bow-shaped path by performing bow-shaped path planning on the edge sub-region.

[0116] The first bow path and the second bow path form a chessboard pattern (such as Figure 6 In addition, a second preset number of target outer edges may be determined from at least one outer edge according to the length of the outer edge segment of each outer edge, and the second preset number is less than or equal to the third number. In an example, assuming that there are 4 outer edges and the second preset number is 2, 2 target outer edges are selected from the 4 outer edges according to the length of the outer edge segment.

[0117] After determining the second preset number of target outer edges, use a non-parallel direction of each target outer edge as the long bow direction of the bow-shaped path planning, perform bow-shaped path planning on the edge sub-area to obtain the bow path corresponding to each long bow direction, and the number of the bow paths is equal to the second preset number. Continuing with the above example, after determining two target outer edges, use a non-parallel direction of one of the target outer edges as the long bow direction of the first bow-shaped path planning, and use a non-parallel direction of the other target outer edge as the long bow direction of the second bow-shaped path planning. The final pattern formed by the first bow-shaped path and the second bow-shaped path is as follows: Figure 7 shown.

[0118] The above is a detailed embodiment after the edge sub-area is determined based on the sub-area map in step S201.

[0119] Combination Fig.10 As shown, after the convex hull processing is performed on the sub-area H, the circumscribed polygon h is obtained, and the circumscribed edges of the circumscribed polygon h include h0-h2, h2-h3, h3-h4, and h4-h0. If h1-h2 coincides with H1-H2 of the map boundary and the length is greater than the preset length threshold, then h1-h2 and h0-h1 (representing H1-H5) are the outer edge segments of the circumscribed edge h0-h2, and therefore, h0-h2 is the outer edge of the circumscribed polygon h. If h0-h5 coincides with part of H1-H5 of the map boundary and the length is greater than the preset length threshold, then h0-h5 is the outer edge segment of the circumscribed edge h0-h4, and therefore, h0-h4 is the outer edge of the circumscribed polygon h, and h0-h5 represents H1-H5.

[0120] After determining that the circumscribed polygon h has two outer edges, determine the length of the outer edge segment represented by these two outer edges. Since the length of h1-h2 is greater than h0-h5, h0-h2 is used as the target outer edge. Since the number of target outer edges is 2, two bow paths can be planned for the sub-area H based on a checkerboard manner. Specifically, a non-parallel direction of the target outer edge is used as the long bow direction of the bow path planning, and the edge sub-area is subjected to bow path planning to obtain the first bow path. The direction perpendicular to the long bow direction is obtained as the long bow direction of the bow path planning to obtain the second bow path.

[0121] In other embodiments of the present application, taking the self - moving device as a lawn mowing robot as an example. The lawn mowing robot includes a cutting cutter head. When the lawn mowing robot travels along a bow - shaped path, the working width of the cutting cutter head is fixed. When the lawn mowing robot travels along a bow - shaped path, the central axis of the lawn mowing robot coincides with the bow - shaped path. The sum of the widths on both sides of the central axis cut by the lawn mowing robot is equal to the working width. For adjacent first long bow - shaped path and second long bow - shaped path, in order to ensure the cutting coverage area, the working widths of the lawn mowing robot on the first long bow - shaped path and the second long bow - shaped path can overlap.

[0122] As Fig.12 shown, X represents the working width of the cutting cutter head. During the movement of the lawn mowing robot, the central axis divides the working width into two parts, each accounting for X / 2 of the working width. Y represents the distance between the central axes of the lawn mowing robot when operating on the first long bow - shaped path and the second long bow - shaped path. In order to ensure the cutting coverage area, it is required that Y ≤ X. Among them, the efficiency is the highest when Y = X (as shown in (1) of Fig.12 ), and there is an overlapping area when Y < X (as shown in (2) of Fig.12 ).

[0123] Referring to Fig.13 , Fig.13 is a schematic structural diagram of a self - moving device provided by an embodiment of the present application. Fig.13 In , the self - moving device 1 includes a body and a memory 11, a controller 12, a power supply 13, a sensor 14, a working mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18, and a bus 19 arranged on the body. The controller 12 is respectively coupled to the memory 11, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19.

[0124] The memory 11 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the controller 12, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0125] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the controller 12. The non-volatile memory may include a disk storage device and a flash memory.

[0126] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the controller 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the controller 12, a device control method executed on the mobile device 1 can be implemented.

[0127] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1 .

[0128] The controller 12 may include one or more processing units, for example, the controller 12 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0129] The controller 12 provides computing and control capabilities. For example, the controller 12 is used to execute a computer program stored in the memory 11 to implement the above-mentioned device control method.

[0130] The power source 13 is used to power the self-moving device. In one embodiment of the present application, the power source 13 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0131] The sensor 14 is used to obtain information for the mobile device 1, such as obtaining environmental information and movement information of the mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0132] The operating mechanism 15 is used to perform corresponding operating tasks, such as mowing, deicing, cruising, cleaning, and spraying pesticides. In some embodiments of the present application, the operating mechanism 15 may include a motor, a transmission mechanism, a cutter disc, and other mechanisms. When the self-moving device is a lawn mower, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.

[0133] The communication module 16 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 16 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0134] The positioning module 17 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 17 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0135] The driving wheel 18 is used to realize the movement of the self-moving device. In some embodiments of the present application, the driving wheel 18 can realize the movement function of the self-moving device according to the control of the controller 12. In some embodiments of the present application, the driving wheel 18 may include a left driving wheel and a right driving wheel.

[0136] The bus 19 is at least used to provide a channel for mutual communication between the memory 11 , the controller 12 , the power supply 13 , the sensor 14 , the operating mechanism 15 , the communication module 16 , the positioning module 17 , and the driving wheel 18 in the mobile device 1 .

[0137] In other embodiments of the present application, the self-moving device 1 may further include an anti-collision part and a steering assembly, etc. The anti-collision part may be used to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to enable the driving wheel 18 to adjust the driving direction.

[0138] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0139] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0140] The computer-readable storage medium may be an internal memory of the mobile device or electronic device described in the above embodiments, for example, a hard disk or memory of the mobile device or electronic device. The computer-readable storage medium may also be an external storage device of the mobile device or electronic device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc., equipped on the mobile device or electronic device.

[0141] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the mobile device or electronic device, etc.

[0142] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0143] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0144] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A device control method, applied to a self-propelled device that performs a work task in a working area defined by an outer boundary, wherein the working area includes a sub-area, the sub-area includes an edge sub-area, and the edge sub-area includes at least one boundary segment that overlaps with at least one segment of the outer boundary, characterized in that: The method comprises: Performing path planning on the edge sub-area to obtain a path for operation, comprising: taking a non-parallel direction of the at least one boundary segment as a long bow direction of bow-shaped path planning, performing bow-shaped path planning on the edge sub-area at least once, and obtaining at least one bow-shaped path for operation; Tracking at least one bow-shaped path and performing a task, wherein the bow-shaped path includes a first longbow path parallel to a longbow direction, a starting point of the first longbow path points to a terminal point, and a distance from the terminal point to the outer boundary in the longbow direction is less than a distance from the starting point to the outer boundary; When tracking the first longbow path and moving to the terminal point position, if the outer boundary is not detected, the current direction is maintained and the movement is continued until the outer boundary is detected.

2. The device control method according to claim 1, characterized in that: The bow path also includes an untraveled path behind the first longbow path, and after the outer boundary is detected, the method further includes: Returning to the first position of the untraveled path; Continue to track the bow path from the first position to perform the task.

3. The device control method according to claim 2, characterized in that: The untraveled path includes a second longbow path parallel to the longbow direction, the second longbow path is adjacent to the first longbow path, the direction from the starting point of the second longbow path to the terminal point is opposite to the direction from the starting point of the first longbow path to the terminal point, the first position is the starting point of the second longbow path, and returning to the first position of the untraveled path includes: Planning an extended path, the extended path comprising a first sub-path between a first boundary position and a second boundary position, and a second sub-path between the second boundary position and the first position; the first boundary position is a position when the outer boundary is detected, and the second boundary position is an intersection position where an extension line of the second longbow path intersects the outer boundary; Return to the first position according to the extended path.

4. The device control method according to claim 1, characterized in that: The method of using a non-parallel direction of the at least one boundary segment as the long bow direction of the bow-shaped path planning, performing at least one bow-shaped path planning on the edge sub-area, and obtaining at least one bow-shaped path for operation comprises: determining a first number of said boundary segments; If the first number is greater than or equal to a first preset number, determining the longest preferred boundary segment from the at least one boundary segment; A non-parallel direction of the longest preferred boundary segment is used as the long bow direction of the bow-shaped path planning, and the bow-shaped path planning is performed on the edge sub-area to obtain the first bow-shaped path. The vertical direction of the non-parallel direction is used as the long bow direction of the bow-shaped path planning, and the bow-shaped path planning is performed on the edge sub-area to obtain the second bow-shaped path.

5. The device control method according to claim 1, characterized in that: The method of using a non-parallel direction of the at least one boundary segment as the long bow direction of the bow-shaped path planning, performing at least one bow-shaped path planning on the edge sub-area, and obtaining at least one bow-shaped path for operation comprises: determining a first number of said boundary segments; If the first number is greater than or equal to a first preset number, determining a second preset number of preferred boundary segments from the at least one boundary segment according to the length of each boundary segment, the second preset number being less than or equal to the first number; A non-parallel direction of each preferred boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is subjected to bow-shaped path planning to obtain the bow-shaped path corresponding to each long bow direction, and the number of the bow-shaped paths is equal to the second preset number.

6. The device control method according to claim 1, characterized in that: The method further includes determining the type of the sub-area, including: Determine a circumscribed polygon of a sub-area map corresponding to the sub-area, the circumscribed polygon comprising a plurality of circumscribed edges, the sub-area map being at least a portion of a working map, the working map being a map constructed by the mobile device along the outer boundary to represent the working area; If any circumscribed edge includes an outer edge segment, and the length of the outer edge segment is greater than a preset length threshold, then the any circumscribed edge is determined to be an outer edge; the outer edge segment represents at least a portion of a map boundary of the working map, and the map boundary represents the outer boundary; If any circumscribed polygon includes at least one outer edge, the type of the sub-region corresponding to the any circumscribed polygon is determined to be the edge sub-region.

7. The device control method according to claim 6, characterized in that: The working map is a grid map, and the method further includes: Based on the grid map, determining the attributes of the grids corresponding to the plurality of circumscribed edges, the attributes comprising the above-boundary attributes of the grids located on the map boundary and the outside-boundary attributes of the grids located outside the map boundary; Accumulating a second number of grids of the out-of-bounds attribute and grids of the on-bounds attribute that are continuous along any external tangent edge; If the second number is greater than or equal to the preset grid number, any one of the circumscribed edges is determined to be the outer edge.

8. The device control method according to claim 6, characterized in that: At least part of the outer edge represents the boundary segment, a non-parallel direction of at least one boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is subjected to at least one bow-shaped path planning to obtain at least one bow-shaped path for operation, comprising: determining a third number of said outer edges; If the third number is greater than or equal to the first preset number, determining a target outer edge corresponding to the longest outer edge segment from the at least one outer edge; A non-parallel direction outside the target is used as the long bow direction of the bow-shaped path planning, and the bow-shaped path planning is performed on the edge sub-area to obtain the first bow-shaped path. The vertical direction of the non-parallel direction is used as the long bow direction of the bow-shaped path planning, and the bow-shaped path planning is performed on the edge sub-area to obtain the second bow-shaped path.

9. The device control method according to claim 6, characterized in that: At least part of the outer edge represents the boundary segment, a non-parallel direction of at least one boundary segment is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is subjected to at least one bow-shaped path planning to obtain at least one bow-shaped path for operation, comprising: determining a third number of said outer edges; If the third number is greater than or equal to the first preset number, determining a second preset number of target outer edges from at least one outer edge according to the length of the outer edge segment of each outer edge, and the second preset number is less than or equal to the third number; A non-parallel direction outside each target is used as the long bow direction of the bow-shaped path planning, and the edge sub-area is subjected to bow-shaped path planning to obtain the bow-shaped path corresponding to each long bow direction, and the number of the bow-shaped paths is equal to the second preset number.

10. The device control method according to claim 1, characterized in that: The non-parallel direction is a vertical direction.

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