Control method and device of self-moving equipment and storage medium

Abstract

The invention relates to a control method and device of a self-moving device and a storage medium, and the method comprises the steps: obtaining a relative position between the self-moving device and a pre-marked obstacle when the self-moving device cuts along a boundary; when the relative position satisfies a preset condition, a response range corresponding to the specified sensor is reduced from a first preset range to a second preset range, so that the self-moving device does not perform obstacle avoidance when a pre-marked obstacle enters the first preset range and does not enter the second preset range; the response range corresponding to the specified sensor is a range in which the self-moving equipment responds to data acquired by the specified sensor to avoid obstacles; receiving data collected by a specified sensor; and in response to the obstacle entering the second preset range, controlling the self-moving device to perform obstacle avoidance. According to the technical scheme, the response range is narrowed for the pre-marked obstacle, so that grass at the boundary where the pre-marked obstacle is located can be effectively cut, and the cutting missing area is reduced.

Description

Technical Field

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

[0002] Autonomous vehicles, such as lawn mowers, can use sensors to detect obstacles while moving. When the sensors detect that the distance between the vehicle and the obstacle is within a set distance, the vehicle will steer to avoid colliding with the obstacle. In this case, if an obstacle (such as a wall or fence) is at the edge of the work area, the autonomous vehicle will steer when the sensors detect that the distance between the vehicle and the obstacle is within the set distance. This will prevent the vehicle from effectively cutting the grass at the obstacle's edge, resulting in a large amount of missed cutting at the obstacle's edge. Summary of the Invention

[0003] In response to the above technical problems, the present application provides a control method, device and storage medium for a self-moving device, which narrows the response range for pre-marked obstacles so that the grass at the boundary of the pre-marked obstacles can be effectively cut, reducing the missed cutting area.

[0004] To solve the above technical problems, the present application provides a method for controlling a self-moving device, comprising the following steps:

[0005] When the self-moving device cuts along the boundary, obtaining the relative position between the self-moving device and the pre-marked obstacle;

[0006] When the relative position satisfies a preset condition, the response range corresponding to the designated sensor is narrowed from a first preset range to a second preset range, so that when the pre-marked obstacle enters the first preset range but does not enter the second preset range, the self-moving device does not perform obstacle avoidance; wherein the response range corresponding to the designated sensor is the range within which the self-moving device performs obstacle avoidance in response to data collected by the designated sensor;

[0007] Receive data collected by specified sensors;

[0008] In response to an obstacle entering the second preset range, the self-moving device is controlled to perform obstacle avoidance.

[0009] In one embodiment, the first preset range is a first preset distance, and the second preset range is a second preset distance.

[0010] In one embodiment, the method further includes:

[0011] When the self-moving device cuts along a boundary, a sensor close to the boundary is determined as the designated sensor according to the moving direction of the self-moving device.

[0012] In one embodiment, the designated sensor comprises at least one ultrasonic sensor.

[0013] In one embodiment, the method further includes:

[0014] When the first preset range is reduced to a second preset range, the response range corresponding to the non-designated sensor is kept unchanged, wherein the response range corresponding to the non-designated sensor is a range within which the mobile device performs obstacle avoidance in response to data collected by the non-designated sensor.

[0015] In one embodiment, after narrowing the first preset range to a second preset range, the method further includes:

[0016] Receive data collected by non-specified sensors;

[0017] In response to a non-pre-marked obstacle entering the response range corresponding to the non-designated sensor, the self-moving device is controlled to perform obstacle avoidance.

[0018] In one embodiment, after controlling the self-moving device to perform obstacle avoidance, the method further includes:

[0019] When the relative position does not satisfy the preset condition, the response range corresponding to the designated sensor is adjusted from the second preset range to the first preset range, and the self-moving device is controlled to continue moving along the boundary.

[0020] In one embodiment, after narrowing the first preset range to a second preset range, the method further includes:

[0021] Receive data collected by non-specified sensors;

[0022] In response to the pre-marked obstacle entering a response range corresponding to a non-designated sensor, the self-moving device is controlled not to perform obstacle avoidance.

[0023] In one embodiment, obtaining the relative position between the self-moving device and a pre-marked obstacle includes:

[0024] Obtaining the location data collected by the positioning module on the mobile device;

[0025] Obtaining location data of the pre-marked obstacle;

[0026] The relative position between the self-moving device and the pre-marked obstacle is obtained according to the position data of the positioning module and the position data of the pre-marked obstacle.

[0027] In one embodiment, the relative position meeting a preset condition includes: a change in the relative position indicating that the pre-marked obstacle is about to enter a first preset range.

[0028] In one embodiment, a vertical distance exists between the pre-marked obstacle and the edge-most portion of the self-moving device during the edge-adjusting process, and the vertical distance is greater than the second preset range.

[0029] The present application also provides a control device for a self-moving device, the device comprising a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the steps of any of the control methods for the self-moving device described above.

[0030] The present application also provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods for controlling a mobile device are implemented.

[0031] The control method, device, and storage medium of the self-moving device of the present application include: obtaining the relative position between the self-moving device and a pre-marked obstacle when the self-moving device cuts along a boundary; when the relative position satisfies a preset condition, reducing the response range corresponding to the designated sensor from a first preset range to a second preset range, so that when the pre-marked obstacle enters the first preset range but does not enter the second preset range, the self-moving device does not perform obstacle avoidance; the response range corresponding to the designated sensor is the range within which the self-moving device performs obstacle avoidance in response to data collected by the designated sensor; receiving data collected by the designated sensor; and controlling the self-moving device to perform obstacle avoidance in response to the obstacle entering the second preset range. The technical solution of the present application reduces the response range for pre-marked obstacles, so that grass at the boundary where the pre-marked obstacle is located can be effectively cut, reducing missed cutting areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram showing a working scenario of a mobile device according to an embodiment;

[0033] Figure 2 is a flow chart of a method for controlling a mobile device according to an embodiment;

[0034] Figure 3 is a schematic structural diagram of a self-moving device according to an embodiment;

[0035] Figure 4 FIG. 1 is a schematic structural diagram of a control device for a mobile device according to an embodiment. DETAILED DESCRIPTION

[0036] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein in the specification of the present invention are intended solely for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items. In the present invention, "each" includes one and more than two.

[0038] With the rapid development of science and technology, the application of intelligent control technology in people's lives is becoming more and more extensive. As a smart product derived from intelligent control technology, self-moving devices with autonomous working capabilities can bring convenience and speed to people's lives. Therefore, self-moving devices are frequently used in people's lives.

[0039] As the mobile device moves, it uses sensors to detect obstacles and, when it detects a set distance from an obstacle, it steers to avoid colliding with it. However, in some implementations, this approach fails to effectively cut grass at the boundary of the obstacle, resulting in a significant amount of missed cutting at the boundary of the obstacle.

[0040] Specifically, such as Figure 1 As shown, when the self-mobile device 10 moves along the boundary 20 of the working area, the sensor can detect obstacles. At this time, if the obstacle 30 (such as a wall, fence, etc.) is on the boundary 20 of the working area, the self-mobile device 10 will turn to avoid the obstacle when it detects that the distance between itself and the obstacle 30 is the set distance. For example, Figure 1 The path L1 shown is moved to avoid the obstacle. Obviously, compared with continuing to cut along the original path, the missed cutting area ( Figure 1 The middle area A) will become more, which will result in the inability to effectively cut the grass near the boundary where the obstacle 30 is located.

[0041] To address the above issues, embodiments of the present application provide a method for controlling a self-moving device. This method can be applied to a self-moving device, specifically, a control module within the self-moving device. Of course, in some cases, this method can also be applied to a server deployed on the network side that is capable of controlling the operation of the self-moving device.

[0042] Figure 2 FIG. 1 is a flow chart of a method for controlling a self-moving device according to an embodiment. Figure 2 As shown, the control method of the self-moving device of the present application includes the following steps:

[0043] Step S1: When the self-moving device cuts along the boundary, the relative position between the self-moving device and the pre-marked obstacle is obtained.

[0044] The boundary refers to the boundary of the working area of the self-moving device, and the working area can be pre-set, set by the user, or determined by the movement of the self-moving device. Pre-marked obstacles are obstacles that are pre-marked before the self-moving device starts working, for example, when the map data of the self-moving device is established. The pre-marked obstacles are located at the boundary of the working area or near the boundary of the working area. Optionally, the relative position between the self-moving device and the pre-marked obstacles includes a relative distance and / or a relative orientation. The relative orientation can use the moving direction of the self-moving device as a reference, such as right front, right rear, left front, left rear, etc. in the moving direction.

[0045] In some embodiments, the self-moving device can be a smart lawn mower, an automatic edge trimmer, or other unmanned device that can automatically move and operate within a work area defined by boundaries, or along boundaries. It should be noted that this embodiment uses a smart lawn mower as an example, and other implementation scenarios are not limited thereto.

[0046] like Figure 3 As shown, the self-moving device 1 includes a control module 20 , a working module 21 , a moving module 22 , an energy module 23 , and a positioning module 24 .

[0047] The control module 20 is used to control the automatic movement and operation of the self-moving device 1. It is the core component of the self-moving device 1. Its functions include controlling the start and stop of the operation module 21, controlling the start and stop of the movement module 22, controlling the movement direction of the self-moving device 1, determining the energy level of the energy module 23, and promptly instructing the self-moving device 1 to return to the charging station for automatic docking and charging. The control module 20 typically includes a single-chip microcomputer, memory, and other peripheral circuits.

[0048] The working module 21 is used to perform the main working tasks of the self-moving device 1. If the self-moving device 1 is a smart lawn mower, the working module 21 includes mowing blades, a cutting motor, etc., and may also include components such as a mowing height adjustment mechanism to optimize or adjust the mowing effect.

[0049] The mobile module 22 is used to move the self-propelled device 1 within the work area 7. It typically consists of a wheel assembly mounted on the self-propelled device 1 and a mobile motor that drives the wheel assembly. The wheel assembly includes drive wheels connected to the mobile motor and auxiliary wheels that primarily provide auxiliary support. In this embodiment, there are two drive wheels located at the rear of the self-propelled device 1, each connected to a mobile motor. There are one or two auxiliary wheels located at the front of the self-propelled device 1.

[0050] The energy module 23 is used to provide energy for various operations of the self-mobile device 1, and includes a rechargeable battery and a charging connection structure, which is usually a charging electrode.

[0051] The positioning module 24 is used to obtain the location data of the self-mobile device 1. The positioning module 24 can be detachably mounted on the self-mobile device 1, or can be fixedly mounted on the self-mobile device 1.

[0052] In some embodiments, the positioning module 24 may include a satellite navigation module and at least one position sensor, wherein the satellite navigation module is used to receive positioning signals, and the position sensor is used to detect characteristics related to the position of the positioning module 24. The positioning signals may include Global Positioning System (GPS) signals, Galileo satellite navigation system signals, Beidou satellite navigation system signals, etc.

[0053] In some embodiments, the positioning module 24 is typically configured as a real-time kinematic (RTK) module, that is, positioning is achieved based on real-time kinematic measurement of RTK technology. It is understandable that, regardless of the specific positioning principle based on which the positioning module is implemented, the accuracy of its positioning result depends on the quality of the positioning signal. The higher the positioning signal quality, the more accurate the positioning result. On the contrary, the lower the positioning signal quality, the less accurate the positioning result, and even it is difficult to meet the basic positioning requirements. In actual applications, especially for positioning modules that rely on satellite navigation systems, the quality of the positioning signal is easily affected by environmental factors. For example, when the self-mobile device is in an open area without obstruction, the quality of the positioning signal of the positioning module is naturally higher. On the contrary, if the self-mobile device is blocked by trees or buildings, the signal strength of the positioning signal is very weak, and it may even be difficult for the positioning module 24 to receive the positioning signal. In this case, the quality of the positioning signal provided is naturally not high, and it may be difficult to meet the use requirements.

[0054] In this embodiment, the positioning module 24 is taken as an RTK module for illustration. Since the navigation mode of the RTK module is a dead reckoning navigation mode, when the positioning signal quality does not meet the preset quality requirements, the positioning signal is still reliable within a certain period of time. Of course, its positioning accuracy will decrease with time. That is to say, when the positioning signal quality does not meet the preset quality requirements, it is believed that the positioning module 24 can still provide an accurate position within a certain period of time.

[0055] In some embodiments, the position sensor includes a motion or state sensor that detects motion parameters or state parameters. In some examples, the motion or state sensor includes an inertial navigation sensor, which may include an inertial measurement unit (IMU), an accelerometer, an odometer, a gyroscope, an attitude detection sensor, etc., for detecting the speed, acceleration, driving direction, etc. of the positioning module 24. The positioning module 24 also includes a fusion processing unit, which includes at least two inputs, one of which is a positioning signal and the other is an output of the position sensor. The fusion processing unit operates on the positioning signal and the output of the position sensor and outputs data representing the position information of the positioning module 24.

[0056] In addition to the above modules, the self-mobile device 1 also includes a shell for accommodating and installing each module, a control panel for user operation, etc. The self-mobile device 1 may also include various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, light sensors, ultrasonic sensors, cameras, lidars, etc. These sensors can help the self-mobile device judge the working environment and execute corresponding programs.

[0057] In this embodiment, when the self-moving device needs to perform cutting along the boundary, the control module 20 can control the movement module 22 to work based on the map data of the working area so that the self-moving device moves along the boundary. During the movement, the control module 20 controls the working module 21 to work for cutting.

[0058] In some implementation scenarios, when the self-mobile device cuts along the boundary, the control module 20 can obtain the data collected by the positioning module 24, and then obtain the relative position between the self-mobile device and the pre-marked obstacle based on the data collected by the positioning module 24 and the map boundary data.

[0059] In other implementation scenarios, when the self-mobile device cuts along the boundary, the control module 20 can also directly obtain the relative position between the self-mobile device and the pre-marked obstacle from the server arranged on the network side. Specifically, for example, in some implementation scenarios, the self-mobile device can send the data collected by the positioning module 24 to a server (such as the cloud) that can communicate with the self-mobile device in real time or at intervals, so that the server can determine the relative position between the self-mobile device and the pre-marked obstacle based on the data collected by the positioning module and the map boundary data. Furthermore, when it is necessary to obtain the relative position between the self-mobile device and the pre-marked obstacle, the control module 20 can send an instruction to request the relative position to the server, and the server sends the relative position between the self-mobile device and the pre-marked obstacle to the control module 20 based on the received instruction.

[0060] The map data includes map boundary data. Map boundary data can be generated when a map is created on a mobile device. The map boundary data is stored sequentially and includes boundary data and pre-marked obstacle location data. The boundary data and pre-marked obstacle location data each correspond to different attributes (e.g., the boundary data and pre-marked obstacle location data each correspond to different tags). The control module and / or the server can pre-store the map data or map boundary data.

[0061] Of course, the above is only an exemplary description of a method for obtaining the relative position between the mobile device and the pre-marked obstacle. The relative position between the mobile device and the pre-marked obstacle can also be obtained by other methods, and this application does not limit this.

[0062] Step S2: When the relative position satisfies a preset condition, the response range corresponding to the designated sensor is narrowed from a first preset range to a second preset range, so that when a pre-marked obstacle enters the first preset range but does not enter the second preset range, the self-moving device does not perform obstacle avoidance; wherein, the response range corresponding to the designated sensor is the range within which the self-moving device performs obstacle avoidance in response to data collected by the designated sensor.

[0063] When the relative position meets the preset conditions, it indicates that there is a risk of collision between the self-moving device and the pre-marked obstacle. The response range corresponding to the designated sensor is pre-set and is used to represent the range within which the self-moving device avoids obstacles in response to the data collected by the designated sensor. In other words, based on the data collected by the designated sensor, the self-moving device determines whether to avoid obstacles. When the data collected by the designated sensor indicates that the obstacle is within the response range, the self-moving device responds to avoid obstacles. When the data collected by the designated sensor indicates that the obstacle is not within the response range, the self-moving device does not respond to avoid obstacles. The designated sensors are a part of the sensors pre-designated on the self-moving device.

[0064] It should be noted that the autonomous device can operate in both edge-along and non-edge-along modes. In non-edge-along mode, the autonomous device avoids obstacles within a first preset range. In edge-along mode, the first preset range is switched to a second preset range when the relative position between the autonomous device and a pre-marked obstacle meets a preset condition.

[0065] In this embodiment, after obtaining the relative position between the mobile device and the pre-marked obstacle, the mobile device may adjust the response range corresponding to the designated sensor according to the relative position between the mobile device and the pre-marked obstacle.

[0066] In some implementation scenarios, when the relative position meets the preset conditions, the control module can narrow the response range corresponding to the designated sensor from a first preset range to a second preset range. In this way, when the pre-marked obstacle enters the first preset range but does not enter the second preset range, the self-moving device does not perform obstacle avoidance, so that the self-moving device can be closer to the boundary where the pre-marked obstacle is located for edge cutting, and obstacle avoidance will not be performed at a position far away from the boundary due to the detection of the pre-marked obstacle. The grass at the boundary where the pre-marked obstacle is located can be effectively cut, the missed cutting area is reduced, and cutting to the edge is achieved.

[0067] In some implementation scenarios, the first preset range and the second preset range may be pre-stored in a storage module. When the relative position satisfies a preset condition, the control module may retrieve the second preset range from the storage module and adjust the response range corresponding to the designated sensor from the first preset range to the second preset range.

[0068] Typically, to ensure effective cutting of grass at the boundary of a pre-marked obstacle, minimize missed areas, and achieve full edge cutting, the control module reduces the response range corresponding to the designated sensor from a first preset range to a second preset range. It should be noted that in some implementation scenarios, since the first and second preset ranges are for the same sensor, the lower limits of the first and second preset ranges can be considered the same, and the first and second preset ranges refer to the upper limits of the preset ranges (the preset ranges referred to subsequently can be understood as corresponding upper limits). Thus, reducing the response range corresponding to the designated sensor from the first preset range to the second preset range can be understood as reducing the upper limit of the first preset range to the upper limit of the second preset range. For example, if the first preset range is [0, 0.5m] and the second preset range is [0, 0.2m], reducing the response range corresponding to the designated sensor from the first preset range to the second preset range can be understood as reducing the upper limit of 0.5m in [0, 0.5m] to the upper limit of 0.2m in [0, 0.2m].

[0069] In one implementation scenario, the response range corresponding to the designated sensor can be represented by a distance, wherein the first preset range is a first preset distance, and the second preset range is a second preset distance. Preferably, the pre-marked obstacle is an obstacle located at the boundary and whose relative position to the boundary remains unchanged (i.e., a fixed-position obstacle), such as a fence, a wall, etc. After the response range corresponding to the designated sensor is reduced, the self-moving device can move closer to the wall / fence and move along the edge without turning to avoid the obstacle, so that the moving area of the self-moving device is closer to the boundary of the working area. In actual implementation, the response range corresponding to the designated sensor can also be represented by distance and direction. For example, the first preset range is a first preset distance to the right front / left front of the direction of travel, and the second preset range is a second preset distance to the right front / left front of the direction of travel. This application does not limit this.

[0070] Please continue to refer to Figure 1 Obstacle 30 is a pre-marked obstacle, such as a wall or fence. After narrowing the response range corresponding to the designated sensor from the first preset range to the second preset range, the self-moving device 10 no longer follows path L1, but instead follows path L2 for a distance before turning. It can be seen that by following path L2 for a distance before turning, the self-moving device can move closer to obstacle 30 and move along the edge. Accordingly, the missed area B in this case is significantly reduced compared to the missed area A when following path L1.

[0071] It should be noted that when the response range corresponding to the designated sensor is reduced from the first preset range to the second preset range, the detection range of the designated sensor itself remains unchanged. The reduced second preset range can be set according to actual conditions. For example, when building a map, the distance between the outermost edge of the self-moving device and the actual boundary is 0.15m. Since the designated sensor will retract when installed on the self-moving device (that is, the installation position of the designated sensor is a certain distance away from the outermost edge of the self-moving device), the second preset range corresponding to the designated sensor can be set to 0.2m. In this way, within the second preset range, the self-moving device can be moved closer to the boundary while avoiding collisions.

[0072] Step S3: receiving data collected by a designated sensor.

[0073] In this embodiment, after adjusting the response range corresponding to the designated sensor from the first preset range to the second preset range, the control module can receive data collected by the designated sensor and determine whether to perform obstacle avoidance based on the second preset range and the data collected by the designated sensor.

[0074] Step S4: In response to the obstacle entering the second preset range, controlling the mobile device to perform obstacle avoidance.

[0075] The obstacles that enter the second preset range can be any obstacles. In other words, the obstacles that enter the second preset range can include pre-marked obstacles and / or non-pre-marked obstacles. This can reduce missed areas while preventing collisions between the self-moving device and obstacles.

[0076] In some implementation scenarios, after the response range corresponding to a designated sensor is reduced from a first preset range to a second preset range, the self-moving device will continue to move along the set boundary. During this movement, the control module may determine whether to control the self-moving device to perform obstacle avoidance based on the data collected by the sensors. Specifically, if a pre-marked obstacle (such as a fence) is determined to have entered the second preset range based on the data collected by the sensors, the control module controls the self-moving device to perform obstacle avoidance. If a non-pre-marked obstacle (such as a movable obstacle such as a chair, a bucket, or a person) is determined to have entered the second preset range based on the data collected by the sensors, the control module also controls the self-moving device to perform obstacle avoidance. In other words, as long as the data collected by the sensors determines that an obstacle has entered the second preset range, regardless of whether it is marked, the control module controls the self-moving device to perform obstacle avoidance. Optionally, obstacle avoidance (or obstacle avoidance response) may include stopping or steering to prevent the self-moving device from colliding with the obstacle. When obstacle avoidance (or obstacle avoidance response) is to stop, the control module 20 controls the movement module 22 and the working module 21 to stop operating. When the obstacle avoidance (or obstacle avoidance response) is a turn, the control module 20 controls the movement module 22 to change the movement direction. At this time, the working module 21 can continue to operate. The distance threshold between the self-moving device and the obstacle corresponding to the shutdown is less than the distance threshold between the self-moving device and the obstacle corresponding to the turn.

[0077] In one embodiment, the method of the present application further includes:

[0078] When the self-moving device cuts along the boundary, the sensor close to the boundary is determined as the designated sensor according to the moving direction of the self-moving device.

[0079] When the self-moving device cuts along the boundary, the boundary can be determined to be on the left or right side of the self-moving device based on the direction of motion (also referred to as the moving direction or the traveling direction) of the self-moving device. The designated sensor is preferably a portion of the sensors located near the boundary. This allows for more accurate detection of obstacles at the boundary, and furthermore, the relative position of the self and the obstacle at the boundary can be more accurately determined based on the data detected by the designated sensor.

[0080] In some implementation scenarios, the sensor on which side is determined as the designated sensor can be determined based on the control instruction sent by the control module. For example, if the control module sends a left edge instruction, the boundary is determined to be on the left side of the self-moving device. At this time, the sensor on the left side of the self-moving device is used as the designated sensor.

[0081] In other implementation scenarios, the designated sensor can be determined based on the positioning data from the positioning module and the map boundary data. For example, if the positioning data from the positioning module and the map boundary data determine that the positioning data is located to the left of the boundary, i.e., the boundary is to the right of the mobile device, then the mobile device is considered to be moving right along the edge. In this case, the sensor located to the right of the mobile device is designated as the designated sensor. The left and right are determined based on the direction of travel of the mobile device. Of course, other directions can also be used as the basis for determination, and this application is not limited to this.

[0082] In one embodiment, the designated sensor includes at least one ultrasonic sensor. The self-moving device may be equipped with various types of sensors, such as ultrasonic sensors, cameras, and radars. Preferably, the designated sensor is a portion of the ultrasonic sensor located near the boundary. This ensures the safety of the self-moving device during movement, leveraging the ultrasonic sensor's low power consumption and rapid response.

[0083] In one embodiment, the method of the present application further includes:

[0084] When the first preset range is reduced to the second preset range, the response range corresponding to the non-designated sensor is maintained unchanged, wherein the response range corresponding to the non-designated sensor is the range within which the mobile device performs obstacle avoidance in response to data collected by the non-designated sensor.

[0085] A non-designated sensor can be any sensor on the mobile device other than the designated sensor. When the relative position between the mobile device and a pre-marked obstacle meets preset conditions, only the response range corresponding to the designated sensor is reduced, while the response ranges of the other sensors remain unchanged. This allows the mobile device to detect obstacles in other directions while moving closer to the obstacle, ensuring safety during movement.

[0086] In one embodiment, after narrowing the first preset range to a second preset range, the method of the present application further includes:

[0087] Receive data collected by non-specified sensors;

[0088] In response to a non-pre-marked obstacle entering a response range corresponding to a non-designated sensor, the self-mobile device is controlled to perform obstacle avoidance.

[0089] Non-pre-marked obstacles are those that were not marked before the self-mobile device began operating. For example, obstacles that were not marked when the self-mobile device's map data was created. Non-pre-marked obstacles can be movable obstacles or obstacles that appear at the boundaries or work area after the self-mobile device begins operating, such as chairs, barrels, and people.

[0090] In some implementation scenarios, after narrowing the first preset range to the second preset range, the control module can determine whether a non-pre-marked obstacle enters the response range corresponding to the non-designated sensor based on the data collected by the non-designated sensor. If a non-pre-marked obstacle enters the response range corresponding to the non-designated sensor, the control module controls the self-moving device to perform obstacle avoidance, so that the safety of the self-moving device during movement can be guaranteed. Specifically, taking the non-designated sensor as a camera as an example, after narrowing the response range corresponding to the designated sensor from the first preset range to the second preset range, the control module determines whether a non-pre-marked obstacle enters the response range corresponding to the camera based on the data collected by the camera. When it is determined that a non-pre-marked obstacle (such as a parked bicycle or a walking person) enters the response range corresponding to the camera, the control module controls the self-moving device to perform obstacle avoidance.

[0091] Of course, in some implementation scenarios, before narrowing the response range corresponding to the designated sensor from the first preset range to the second preset range, the control module may also control the self-mobile device to perform obstacle avoidance in response to a non-pre-marked obstacle entering the response range corresponding to the non-designated sensor.

[0092] In some implementations, in response to a non-pre-marked obstacle entering the response range of a non-designated sensor, controlling the mobile device to perform obstacle avoidance includes: identifying whether the obstacle is a non-pre-marked obstacle and determining whether the obstacle enters the response range of the non-designated sensor. This embodiment does not limit the order of these identification and determination steps.

[0093] In some implementation scenarios, when identifying whether an obstacle is a non-pre-marked obstacle based on data collected by non-designated sensors, the data collected by non-designated sensors (such as cameras, radars, inertial measurement units, etc.) can be fused with the data of the positioning module to obtain the location data of the obstacle. Further, the obtained obstacle data can be compared with the pre-stored location data of pre-marked obstacles. If they are consistent, the identified obstacle is considered to be a pre-marked obstacle, otherwise, it is a non-pre-marked obstacle. Among them, the self-mobile device can pre-store the location data of pre-marked obstacles. It should be noted that when it is impossible to determine whether the obstacle is a pre-marked obstacle based on the data collected by non-designated sensors (such as only ultrasound or radar), the data of the positioning module is combined. Otherwise, there is no need to combine the data of the positioning module. The obstacle position is determined directly based on the data collected by the non-designated sensors, and then compared with the pre-stored map data to determine whether the obstacle is a pre-marked obstacle.

[0094] In some implementation scenarios, when determining whether an obstacle has entered the response range corresponding to the non-designated sensor based on the data collected by the non-designated sensor, the distance between the obstacle and the self-moving device can be determined based on the data collected by the non-designated sensor. Further, the distance is compared with the response range corresponding to the non-designated sensor. If the distance is less than or equal to the response range corresponding to the non-designated sensor, it is determined that the obstacle has entered the response range corresponding to the non-designated sensor; otherwise, it has not entered.

[0095] In actual implementation, when an obstacle is detected, the control module can first fuse the data collected by non-designated sensors (such as cameras, radars, inertial measurement units, etc.) with the data from the positioning module to obtain the obstacle's location data. The obtained obstacle location data is then compared with the pre-stored location data of pre-marked obstacles. If they match, the identified obstacle is considered a pre-marked obstacle; otherwise, it is considered a non-pre-marked obstacle. Furthermore, when the obstacle is determined to be a non-pre-marked obstacle, the control module can determine whether the obstacle enters the response range corresponding to the non-designated sensor based on the data collected by the non-designated sensor. If so, the self-mobile device will be controlled to perform obstacle avoidance.

[0096] Of course, in actual implementation, when an obstacle is detected, the control module can also first determine whether the obstacle enters the response range corresponding to the non-designated sensor based on the data collected by the non-designated sensor (such as a camera, radar, inertial measurement unit, etc.). If it does, the data collected by the non-designated sensor is fused with the data of the positioning module to obtain the position data of the obstacle. Then, based on the obtained obstacle position data and the pre-stored pre-marked obstacle position data, it is determined whether the detected obstacle is a non-pre-marked obstacle. If so, the self-mobile device is controlled to perform obstacle avoidance.

[0097] In one embodiment, after narrowing the first preset range to a second preset range, the method of the present application further includes:

[0098] Receive data collected by non-specified sensors;

[0099] In response to a pre-marked obstacle entering a response range corresponding to a non-designated sensor, the self-mobile device is controlled not to perform obstacle avoidance.

[0100] Because the response range corresponding to the non-designated sensor remains unchanged when the first preset range is reduced to the second preset range, a pre-marked obstacle may enter the response range corresponding to the non-designated sensor. For example, a pre-marked fence may enter the response range corresponding to the camera. To allow the self-moving device to continue moving along the edge and effectively cut the grass at the boundary where the pre-marked obstacle is located, after reducing the first preset range to the second preset range, the control module may control the self-moving device to not perform obstacle avoidance in response to the pre-marked obstacle entering the response range corresponding to the non-designated sensor.

[0101] Similarly, in some implementations, in response to a pre-marked obstacle entering the response range of a non-designated sensor, controlling the mobile device to not perform obstacle avoidance includes: identifying whether the obstacle is a pre-marked obstacle and determining whether the obstacle has entered the response range of the non-designated sensor. Of course, this embodiment does not limit the order of these identification and determination steps. The specific implementation process can be referred to the above embodiment and will not be described in detail here.

[0102] In actual implementation, when an obstacle is detected, the control module can first fuse the data collected by non-designated sensors (such as cameras, radars, inertial measurement units, etc.) with the data from the positioning module to obtain the obstacle's location data. Furthermore, the obtained obstacle location data is compared with the pre-stored location data of pre-marked obstacles. If they are consistent, the identified obstacle is considered a pre-marked obstacle; otherwise, it is a non-pre-marked obstacle. Furthermore, when the obstacle is determined to be a pre-marked obstacle, the control module can determine whether the obstacle enters the response range corresponding to the non-designated sensor based on the data collected by the non-designated sensor. If so, the self-mobile device is controlled not to perform obstacle avoidance.

[0103] It should be noted that the above-mentioned methods of identifying the type of obstacle and determining whether the obstacle enters the response range are merely exemplary and are not limited in this application.

[0104] In this embodiment, after narrowing the first preset range to a second preset range, obstacle avoidance is performed based on the conditions of obstacles entering the second preset range and non-pre-marked obstacles entering the response range corresponding to non-designated sensors. This prevents collisions between the autonomous device and obstacles while maintaining the device's ability to continue moving along the edge. By providing different responses to different types of obstacles, a better edge cutting effect can be achieved while ensuring the safety of the autonomous device during its movement.

[0105] In one embodiment, after controlling the mobile device to perform obstacle avoidance, the method of the present application further includes:

[0106] When the relative position does not meet the preset condition, the response range corresponding to the designated sensor is adjusted from the second preset range to the first preset range, and the self-moving device is controlled to continue moving along the boundary.

[0107] After the mobile device performs obstacle avoidance operations, such as turning, it will gradually move away from the obstacle. At this time, the mobile device can adjust the response range of the designated sensor based on its relative position to the pre-marked obstacle.

[0108] In some implementation scenarios, when the relative position does not meet a preset condition, it indicates that there is no collision risk or the collision risk has decreased between the self-moving device and the pre-marked obstacle. In this case, the control module can adjust the response range corresponding to the designated sensor from the second preset range to the first preset range, i.e., restore the response range corresponding to the designated sensor, allowing the self-moving device to continue edge cutting based on the first preset range corresponding to the designated sensor. Preferably, when the positioning module and the obstacle are offset in the direction of travel of the self-moving device, it is determined that the relative position does not meet the preset condition. In this case, the control module adjusts the response range corresponding to the designated sensor from the second preset range to the first preset range, and controls the self-moving device to continue edge cutting. Of course, the relative position not meeting the preset condition can also mean that the positioning module is not within a set range, which is not limited in this application. The set range can be a range centered on a certain position of the obstacle. The position of the positioning module and the obstacle being offset can be understood as the position data determined based on the data collected by the positioning module being different from the position data of the obstacle; or the position data determined based on the data collected by the positioning module being outside the range centered on the position of the obstacle.

[0109] In one embodiment, obtaining the relative position between the mobile device and a pre-marked obstacle includes:

[0110] Obtain location data collected from the positioning module on the mobile device;

[0111] Obtaining location data of pre-marked obstacles;

[0112] The relative position between the mobile device and the pre-marked obstacle is obtained based on the position data of the positioning module and the position data of the pre-marked obstacle.

[0113] In some implementation scenarios, in the process of controlling the movement of a self-mobile device along the edge, the position data collected by the positioning module on the self-mobile device can be obtained, the position data of the pre-marked obstacle can be obtained, and then the relative position between the self-mobile device and the pre-marked obstacle, such as the relative distance and / or relative orientation, can be determined based on the position data of the pre-marked obstacle and the position data collected by the positioning module on the self-mobile device. In this way, since the position data of the pre-marked obstacle has been pre-stored, the relative position can be determined by combining the position data of the positioning module without the need for data calibration or conversion, which is simpler and more accurate. Among them, the self-mobile device can generate map boundary data when building a map, and the map boundary data is stored in sequence. The map boundary data includes boundary data and position data of pre-marked obstacles. The boundary data and the position data of pre-marked obstacles correspond to different attributes (for example, the boundary data and the position data of pre-marked obstacles correspond to different labels).

[0114] In actual implementation, the relative position between the self-mobile device and the pre-marked obstacle can also be determined based on data collected by other sensors. For example, the control module can identify the pre-marked obstacle using data collected by a camera and / or radar, then determine the position of the pre-marked obstacle based on the data collected by the camera and / or radar. Furthermore, the relative position is determined based on the determined position of the pre-marked obstacle and the position data collected by the positioning module.

[0115] In one embodiment, the relative position meeting a preset condition includes: a change in the relative position indicating that a pre-marked obstacle is about to enter a first preset range.

[0116] The pre-marked obstacle is about to enter the first preset range when the distance between the pre-marked obstacle and the self-moving device gradually decreases to a point where it is substantially close to the first preset range. At this point, narrowing the response range of the designated sensor can achieve more precise control and avoid missing detection of the pre-marked obstacle. In actual implementation, the control module can detect the distance between the pre-marked obstacle and the self-moving device. When it is detected that the distance between the pre-marked obstacle and the self-moving device is gradually decreasing and the pre-marked obstacle is located a distance before entering the first preset range, the relative position is deemed to meet the preset condition, and the first preset range is then narrowed.

[0117] In one embodiment, a vertical distance between the pre-marked obstacle and the edge-most portion of the autonomous device during edge tracking is greater than the second predetermined range. For example, when the autonomous device is moving right along an edge, the reduced response distance is less than the distance between the rightmost tire of the autonomous device and the wall / fence during edge tracking. Consequently, when the autonomous device approaches the wall / fence, it will move along the wall / fence and will not trigger obstacle avoidance.

[0118] The control method of the self-moving device of the present application obtains the relative position between the self-moving device and a pre-marked obstacle when the self-moving device is cutting along a boundary; when the relative position satisfies a preset condition, the response range corresponding to the designated sensor is narrowed from a first preset range to a second preset range, so that when the pre-marked obstacle enters the first preset range but not the second preset range, the self-moving device does not perform obstacle avoidance; the response range corresponding to the designated sensor is the range within which the self-moving device performs obstacle avoidance in response to data collected by the designated sensor; the data collected by the designated sensor is received; and in response to the obstacle entering the second preset range, the self-moving device is controlled to perform obstacle avoidance. The technical solution of the present application narrows the response range for pre-marked obstacles, allowing grass at the boundary where the pre-marked obstacle is located to be effectively cut, reducing missed cutting areas.

[0119] like Figure 4 As shown, the present application also provides a control device for a self-moving device, which includes a processor 11 and a memory 12; the memory 11 stores a program, which is loaded and executed by the processor 12 to implement the steps of the control method for the self-moving device as described in the above embodiment.

[0120] The present application also provides a computer storage medium, which stores a computer program, characterized in that when the computer program is executed by a processor, the steps of the control method of the mobile device as described in the above embodiment are implemented.

[0121] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for controlling a self-propelled device, characterized in that: The following steps are involved: When the self-moving device cuts along the boundary, obtaining the relative position between the self-moving device and the pre-marked obstacle; When the relative position satisfies a preset condition, the response range corresponding to the designated sensor is narrowed from a first preset range to a second preset range, so that when the pre-marked obstacle enters the first preset range but does not enter the second preset range, the self-moving device does not perform obstacle avoidance; wherein the response range corresponding to the designated sensor is the range within which the self-moving device performs obstacle avoidance in response to data collected by the designated sensor; Receive data collected by specified sensors; In response to an obstacle entering the second preset range, the self-moving device is controlled to perform obstacle avoidance.

2. The method according to claim 1, characterized in that The first preset range is a first preset distance, and the second preset range is a second preset distance.

3. The method according to claim 1, characterized in that The method further comprises: When the self-moving device cuts along a boundary, a sensor close to the boundary is determined as the designated sensor according to the moving direction of the self-moving device.

4. The method according to claim 3, characterized in that The designated sensor includes at least one ultrasonic sensor.

5. The method according to claim 1, wherein The method further comprises: When the first preset range is reduced to a second preset range, the response range corresponding to the non-designated sensor is kept unchanged, wherein the response range corresponding to the non-designated sensor is a range within which the mobile device performs obstacle avoidance in response to data collected by the non-designated sensor.

6. The method according to claim 5, characterized in that After narrowing the first preset range to a second preset range, the method further includes: Receive data collected by non-specified sensors; In response to a non-pre-marked obstacle entering the response range corresponding to the non-designated sensor, the self-moving device is controlled to perform obstacle avoidance.

7. The method according to claim 1 or 6, characterized in that After controlling the mobile device to perform obstacle avoidance, the method further includes: When the relative position does not satisfy the preset condition, the response range corresponding to the designated sensor is adjusted from the second preset range to the first preset range, and the self-moving device is controlled to continue moving along the boundary.

8. The method according to claim 5, characterized in that After narrowing the first preset range to a second preset range, the method further includes: Receive data collected by non-specified sensors; In response to the pre-marked obstacle entering a response range corresponding to a non-designated sensor, the self-moving device is controlled not to perform obstacle avoidance.

9. The method according to claim 1, characterized in that The obtaining of the relative position between the self-moving device and the pre-marked obstacle includes: Obtaining the location data collected by the positioning module on the mobile device; Obtaining location data of the pre-marked obstacle; The relative position between the self-moving device and the pre-marked obstacle is obtained according to the position data of the positioning module and the position data of the pre-marked obstacle.

10. The method according to claim 9, characterized in that The relative position meeting a preset condition includes: a change in the relative position indicating that the pre-marked obstacle is about to enter a first preset range.

11. The method according to claim 1, wherein There is a vertical distance between the pre-marked obstacle and the edge-most portion of the self-moving device during the edge-adjusting process, and the vertical distance is greater than the second preset range.

12. A control device for a self-moving device, characterized in that: The device includes a processor and a memory; the memory stores a program, and the program is loaded and executed by the processor to implement the steps of the control method of the self-moving device according to any one of claims 1 to 11.

13. A computer storage medium storing a computer program, wherein: When the computer program is executed by a processor, the steps of the method for controlling a self-mobile device according to any one of claims 1 to 11 are implemented.

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