Control method of autonomous working robot, autonomous working robot and storage medium

Abstract

A control method of an autonomous working robot, the method comprising: acquiring a grid map of a target area, the grid map comprising a plurality of grids, the grids being set according to grid sizes (S101); acquiring planned paths of the autonomous working robot in the grid map, wherein the spacing distance between adjacent planned paths is a first integer multiple of the grid size (S102); the autonomous working robot is controlled to work according to the planned path, and grids covered by the effective working width of the autonomous working robot in the working process are marked as working areas on a grid map; the effective working width is a second integer multiple of the grid size (S103). Therefore, the effective working width of the autonomous working robot and the spacing distance between the adjacent planned paths are controlled to be integer multiples of the grid size in the grid map, so that the corresponding working area only contains a complete grid in the process that the autonomous working robot works along the planned path each time; the grid corresponding to the working area can be conveniently and accurately marked, and the working efficiency is improved.

Description

Control method of autonomous working robot, autonomous working robot and storage medium Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a control method for an autonomous working robot, an autonomous working robot and a computer-readable storage medium. Background Art

[0002] With the continuous advancement of computer technology and artificial intelligence technology, autonomous working robots, similar to intelligent robots, are becoming more and more widely used. Autonomous working robots can move and work within a limited working area without human operation.

[0003] Typically, an autonomous working robot obtains a map of a target area, plans a path in the target area based on the map, and controls the autonomous working robot to travel and / or work along the planned path.

[0004] Summary of the Invention

[0005] To overcome the problems existing in the related art, the present disclosure provides a control method for an autonomous working robot, an autonomous working robot and a storage medium. To achieve the above objectives:

[0006] In one embodiment of the present application, a control method for an autonomous working robot is provided. The autonomous working robot includes: a working part configured to perform work under the control of the autonomous working robot; and a moving part configured to move under the control of the autonomous working robot. The method includes:

[0007] Obtaining a map of a target area where the autonomous working robot is to perform work;

[0008] Generate a planned path based on the map, and control the autonomous working robot to move along multiple paths to traverse the target area, wherein the multiple paths are parallel to each other, adjacent paths of the multiple paths are in opposite directions, and the number of paths N in at least part of the target area is less than or equal to Wherein, R1 represents the length of a line segment in the at least partial area that is substantially perpendicular to the path direction, W represents the working range of the working portion, and B represents a set value for adjusting the path width, 1.2 cm ≤ B ≤ 7 cm.

[0009] In one possible implementation, generating a planned path based on the map includes: shrinking the map boundary by a preset distance S, and generating a planned path based on the shrunk map, wherein the number N of generated planned paths is less than or equal to

[0010] In one possible implementation, B≤2 cm.

[0011] In a possible implementation, the moving part includes: a front moving part and a rear moving part, and at least the overlap amount of the projections of the front moving part and the working part in the target area is less than or equal to W*5%.

[0012] In a possible implementation manner, an overlap amount between a projection of the front moving part on the target area and a projection of the working part on the target area is 0.

[0013] In a possible implementation, the target area includes an area where the satellite signal strength is greater than or equal to a preset threshold.

[0014] In one possible implementation, the autonomous working robot is controlled to travel along multiple paths to traverse the target area, including: controlling the autonomous working robot to travel along multiple first paths in a first working cycle to traverse the target area; controlling the autonomous working robot to travel along multiple second paths in a second working cycle to traverse the target area, and the second paths are at least partially non-overlapping with the first paths.

[0015] In a possible implementation, the second path is substantially parallel to the first path, and a distance between adjacent second paths and the first path is greater than or equal to 5 cm and / or less than or equal to (WB-5) cm.

[0016] In a possible implementation manner, a preset angle is formed between the second path and the first path.

[0017] In one possible implementation, the working part is configured to perform mowing work; accordingly, the method also includes: obtaining environmental parameters near the autonomous working robot, the environmental parameters reflecting the growth rate of grass in the target area; and adjusting the time interval between the first working cycle and the second working cycle according to the environmental parameters.

[0018] In a possible implementation, the time interval between the second working cycle and the first working cycle is less than or equal to 48 hours.

[0019] In one possible implementation, the map includes: a grid map, the grid map includes multiple grids, multiple paths are generated according to the grid map, the autonomous working robot is controlled to move along the multiple paths, and the grids of a preset width covered by it are marked as worked on the grid map, where the preset width is an integer multiple of the grid size.

[0020] In a possible implementation, when the working part is located on the central axis of the autonomous working robot, correspondingly, each of the multiple paths passes through the midpoint of the preset width.

[0021] In a possible implementation, the grid size includes: a grid width, where the grid width is equal to (WB) / n, where n represents a preset number of grids to be marked.

[0022] In one possible implementation, the method further includes: determining the set value according to at least one of the following methods: determining the set value according to the area type of the target area, or determining the set value according to user input; or determining the set value according to the stored data of the autonomous working robot.

[0023] An embodiment of the present invention further provides an autonomous working robot, the autonomous working robot comprising:

[0024] a working portion configured to perform work under the control of the autonomous working robot;

[0025] a moving portion configured to perform movement under the control of the autonomous working robot;

[0026] A controller, the controller being connected to the working part and the moving part by signal,

[0027] The controller obtains a map of the target area where the autonomous working robot is to perform work; generates a planned path based on the map, and controls the autonomous working robot to travel along multiple paths to traverse the target area, wherein the multiple paths are parallel to each other, and adjacent paths of the multiple paths are in opposite directions; the number of paths N in at least part of the target area is less than or equal to R1 / (WB), wherein R1 represents the length of a line segment in a direction roughly perpendicular to the path direction in at least part of the area, W represents the width of the working range of the working part, and B represents a set value for adjusting the path width, 1.2cm≤B≤7cm.

[0028] In an embodiment of the present application, a planned path is generated based on the map, and the autonomous working robot is controlled to move along multiple paths to traverse a target area. The multiple paths are parallel to each other, and adjacent paths in the multiple paths are in opposite directions. The number of paths N in at least a portion of the target area is less than or equal to R1 / (WB), and 1.2 cm ≤ B ≤ 7 cm, where B represents a set value for adjusting the path width. Based on this path planning method and this set value, fast and efficient work can be achieved.

[0029] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the method described in the above solution.

[0030] An embodiment of the present invention further provides a control method for an autonomous working robot, the autonomous working robot comprising:

[0031] a working portion configured to perform work under the control of the autonomous working robot;

[0032] a moving portion configured to perform movement under the control of the autonomous working robot;

[0033] The method comprises:

[0034] Obtaining a map of a target area where the autonomous working robot is to perform work, the map comprising: a grid map, the grid map comprising a plurality of grids;

[0035] generating a plurality of paths according to the grid map;

[0036] The autonomous working robot is controlled to move along multiple paths, and grids of a preset width covered by the robot are marked as worked on the grid map, where the preset width is an integer multiple of the grid size.

[0037] An embodiment of the present invention further provides a control method for an autonomous working robot, wherein the autonomous working robot comprises: a working part configured to perform work under the control of the autonomous working robot; and a moving part configured to move under the control of the autonomous working robot. The method comprises:

[0038] Obtaining a map of a target area where the autonomous working robot is to perform work;

[0039] A planned path is generated according to the map, and the autonomous working robot is controlled to move along multiple paths to traverse the target area, the multiple paths are parallel to each other, adjacent paths of the multiple paths are in opposite directions, and the path width between the adjacent paths is greater than or equal to (WB), wherein W represents the working range of the working part, and B represents the setting value for adjusting the path width. The position deviation of the autonomous working robot during movement is 1.2cm≤B≤7cm.

[0040] The present application also provides a method for controlling an autonomous working robot, the method comprising:

[0041] Obtaining a grid map of a target area, the grid map comprising a plurality of grids, the grids being arranged according to a grid size; and obtaining a planned path of the autonomous working robot within the grid map;

[0042] The autonomous working robot is controlled to work along the planned path, and based on the working position of the autonomous working robot, the grids within a preset width range where the autonomous working robot has worked are marked as worked areas on the grid map; the preset width is an integer multiple of the grid size.

[0043] In a possible implementation, the preset width is smaller than or equal to a projection width of the working part of the autonomous working robot perpendicular to the moving direction of the autonomous working robot.

[0044] In a possible implementation, the preset width includes an effective working width of the autonomous working robot; the effective working width is a second integer multiple of the grid size.

[0045] In a possible implementation, the interval between adjacent planned paths is a first integer multiple of the grid size.

[0046] In a possible implementation, the target area includes an open area, where the satellite positioning signal meets a preset quality requirement; in the open area, the first integer multiple is equal to the second integer multiple.

[0047] In one possible implementation, the target area includes a shadow area and / or a slope area, the shadow area is an area where the satellite positioning signal does not meet the quality requirements, and the slope area is an area where the slope angle value is equal to or greater than the preset slope angle value; in the shadow area and / or slope area, the first integer multiple is less than the second integer multiple; the interval distance is equal to the difference between the effective working width and the overlapping area width; the overlapping area width is used to characterize the width of the grid that the autonomous working robot has worked on at least twice during the working process along adjacent planned paths, perpendicular to the direction of movement of the autonomous working robot.

[0048] In a possible implementation, the planned path passes through a midpoint of the effective working width.

[0049] In a possible implementation, the effective working width is the projection width of the working part of the autonomous working robot perpendicular to the moving direction of the autonomous working robot.

[0050] In a possible implementation, if the autonomous working robot includes multiple working parts, the effective working width is the sum of the projection widths of the multiple working parts perpendicular to the moving direction of the autonomous working robot.

[0051] In one possible implementation, the effective working width is the difference between the width of the working part of the autonomous working robot perpendicular to the direction of movement of the autonomous working robot and the set working deviation. The working deviation is used to characterize the width of the area within the coverage range of the working part but that the working part cannot actually cover perpendicular to the direction of movement of the autonomous working robot.

[0052] In a possible implementation, the grid size includes a grid length and / or a grid width.

[0053] In a possible implementation, if the grid size includes a grid length and a grid width, the grid length is equal to the grid width.

[0054] In one possible implementation, the preset width includes the difference between the effective working width of the autonomous working robot and the width of the overlapping area; the difference between the effective working width of the autonomous working robot and the width of the overlapping area is the third integer multiple of the grid size.

[0055] In a possible implementation, the overlapping area width is used to characterize the width of a grid that the autonomous working robot has worked on at least twice while working along adjacent planned paths, perpendicular to the moving direction of the autonomous working robot.

[0056] In a possible implementation, the autonomous working robot determines the width of the overlapping area according to the area type of the target area, and the area type of the target area includes at least one of the following: an open area; a shadow area; a slope area; or a user-selected area.

[0057] In one possible implementation, before obtaining the grid map of the target area, the method further includes: obtaining the width of the overlapping area, and obtaining the width of the overlapping area at least includes: obtaining the width of the overlapping area based on user input; or, obtaining the width of the overlapping area based on the stored data of the autonomous working robot.

[0058] In one possible implementation, if the overlapping area width of the target area obtained according to user input is the first overlapping area width, then the first spacing distance of the target area is determined to be equal to the difference between the effective working width and the first overlapping area width; the first preset width of the target area is determined according to the first spacing distance; the first grid size of the first grid map of the target area is set according to the first preset width; the first planned path of the autonomous working robot in the first grid map is obtained; the autonomous working robot is controlled to work along the first planned path, and in combination with the working position of the autonomous working robot, the grids within the first preset width range where the autonomous working robot has worked are marked as worked areas on the first grid map.

[0059] In one possible implementation, if the overlapping area width of at least part of the target area is changed to a second overlapping area width according to user input, the second spacing distance of at least part of the target area is determined to be equal to the difference between the effective working width and the second overlapping area width; the second preset width of at least part of the target area is determined according to the second spacing distance; the second grid size of the second grid map of at least part of the target area is set according to the second preset width; the second planned path of the autonomous working robot in the second grid map is obtained; the autonomous working robot is controlled to work along the second planned path, and in combination with the working position of the autonomous working robot, the grids within the second preset width range where the autonomous working robot has worked are marked as worked areas on the second grid map.

[0060] In one possible implementation, if the overlapping area width of the target area obtained according to the stored data of the autonomous working robot is the third overlapping area width, then the third spacing distance of the target area is determined to be equal to the difference between the effective working width and the third overlapping area width; the third preset width of the target area is determined according to the third spacing distance; the third grid size of the third grid map of the target area is set according to the third preset width; the third planned path of the autonomous working robot in the third grid map is obtained; the autonomous working robot is controlled to work along the third planned path, and in combination with the working position of the autonomous working robot, the grids within the third preset width range where the autonomous working robot has worked are marked as worked areas on the third grid map.

[0061] In one possible implementation, the grid within the preset width range worked by the autonomous working robot is located on at least one of the left and right sides of the planned path, and the total width of the grid within the preset width range corresponding to any of the planned paths perpendicular to the planned path is equal to the preset width.

[0062] In a possible implementation, the planned path passes through a midpoint of the preset width.

[0063] In a possible implementation, the effective working width is the projection width of the working part of the autonomous working robot perpendicular to the moving direction of the autonomous working robot.

[0064] In a possible implementation, if the autonomous working robot includes multiple working parts, the effective working width is the sum of the projection widths of the multiple working parts perpendicular to the moving direction of the autonomous working robot.

[0065] In one possible implementation, the effective working width is the difference between the projection width of the working part of the autonomous working robot perpendicular to the direction of movement of the autonomous working robot and the set working deviation. The working deviation is used to characterize the width of the area within the coverage range of the working part but where the working part cannot work, perpendicular to the direction of movement of the autonomous working robot.

[0066] In a second aspect, an embodiment of the present application provides an autonomous working robot, comprising: a processor and a memory storing a computer program, and implementing the steps of the above method when the processor runs the computer program.

[0067] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0068] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: by controlling the effective working width of the autonomous working robot or the difference between the effective working width of the autonomous working robot and the width of the overlapping area to be an integer multiple of the grid size in the grid map, it is ensured that the corresponding worked area of ​​the autonomous working robot each time it works along the planned path only contains complete grids, so that all grids contained in the worked area can be marked each time, which facilitates and accurately marks the grids corresponding to the worked area, avoids the situation where the grid cannot be marked in the worked area, and solves the problem of the prior art that the grid cannot be marked due to the work area containing incomplete grids. At the same time, since the situation of the grid cannot be marked in the worked area is avoided, the autonomous working robot does not need to repeatedly process the processed part of the grid that cannot be marked, thereby reducing repeated work, solving the problem of the prior art that the work area contains incomplete grids and causing repeated processing, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 is a schematic diagram of the working process of the autonomous working robot;

[0070] FIG2 is a schematic diagram showing the conversion of coordinates in the real world into grids in a grid map;

[0071] FIG3 is a schematic diagram of an autonomous working robot working along a planned path in the prior art;

[0072] FIG4 is a second schematic diagram of an autonomous working robot working along a planned path in the prior art;

[0073] FIG5 is a schematic flow chart of a control method for an autonomous working robot according to an embodiment of the present invention;

[0074] FIG6 is a first schematic diagram of an autonomous working robot working along a planned path according to an embodiment of the present invention;

[0075] FIG7 is a second schematic diagram of an autonomous working robot working along a planned path according to an embodiment of the present invention;

[0076] FIG8 is a schematic structural diagram of an autonomous working robot provided by an embodiment of the present invention;

[0077] FIG9 is a schematic diagram of a working scenario of an autonomous working robot provided by an embodiment of the present invention;

[0078] FIG10 is a schematic flow chart of another control method for an autonomous working robot provided by an embodiment of the present invention;

[0079] FIG11 is a schematic diagram of a grid map containing autonomous working robots. DETAILED DESCRIPTION

[0080] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0081] It should be noted that, in this document, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0082] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the term "if" as used herein may be interpreted as "at the time of," "when," or "in response to a determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, meaning any one or any combination. Thus, “A, B, or C” or “A, B, and / or C” means “any of: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition occurs only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0083] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0084] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. Those skilled in the art may execute S102 first and then S101, etc. during specific implementation, but these should all be within the scope of protection of this application. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application. In the subsequent description, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of this application and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0085] As shown in Figure 1, the autonomous robot 100 in the disclosed embodiment can autonomously move within a target area 200 to automatically perform tasks. The autonomous robot can be an unmanned device such as an automatic lawn mower, automatic sprinkler, automatic fertilizer applicator, automatic sweeper, or automatic snowplow. These devices automatically move across the surface of the work area to mow, water, fertilize, vacuum, or sweep snow. Other unmanned devices may also be used, but this is not limited to this embodiment of the present specification. The autonomous robot 1 moves and operates within a working range defined by an outer boundary 2 and an inner boundary 3, as shown in Figure 9. Specifically, the target area is defined within the outer boundary and outside the inner boundary, and the area within the inner boundary 3 is referred to as an island or obstacle. When the robot's battery is low, it returns to a charging station 4 for recharging. The autonomous robot performs specific functions through its working parts, and different working parts may be different. For example, the working part of an automatic lawn mower is the blade that performs mowing, the working part of an automatic sprinkler is the watering component, the working part of an automatic fertilizer applicator is the fertilizer component, and the working part of an automatic sweeper is a roller brush or mop. It should be noted that the autonomous robot may also include a controller that outputs control instructions to the mobile and working parts; a mobile part, such as wheels, that drives the robot's movement; a power device, such as a motor and a transmission structure connected to the motor, that provides power for the autonomous robot's movement and operation; and a power supply device, such as a battery pack, that provides the energy required for the autonomous robot's working part, mobile part, and power device to operate. The following describes this application using an autonomous lawn mower as an example.

[0086] Taking into account the influences such as the topography, the change of satellite signal quality, the transmission or response delay of the control signal (such as the motor), the assembly of the machine itself, the wear of the blade cutter disc during use, etc., it is easy to cause the problem of missing work in some working areas in the process of obtaining the target autonomous working robot moving along the planned path, for example, when the automatic lawn mower moves along the planned path in the target area, there may be a phenomenon of missing cutting. In order to solve this problem, the missed grass area can be recut by manually controlling the machine, but this method is relatively cumbersome and not smart enough. In an embodiment of the present application, the working range W can be reduced by a certain set value B when planning the path to avoid missing cutting, that is, to avoid missing cutting by increasing the overlap between the paths. However, when working in this way, if the path width is too small, the overlap between the cutting areas during work is too large, which will cause the robot to repeat work in a larger area, and the working efficiency is low; if the path width is too large, the overlap between the cutting areas during work is too small, which will cause missing cutting in the working area. In response to the problem of how to set the path width to ensure high-quality and efficient work, the present application proposes a control method for an autonomous working robot, in which the number of paths N in at least a portion of the target area is controlled to be less than or equal to R1 / (WB), wherein R1 represents the length of the line segment in the direction roughly perpendicular to the path direction in at least a portion of the area, W represents the working range of the working part, and B represents the set value for adjusting the path width, 1.2cm≤B≤7cm, thereby ensuring that the robot can basically achieve no work omissions and relatively efficient cutting. Alternatively, the path width between adjacent paths in at least a portion of the target area can also be controlled to be greater than or equal to (WB), thereby ensuring that the robot can basically achieve no work omissions and relatively efficient cutting. Specifically, as shown in Figure 10, the solution proposed in the embodiment of the present application is as follows:

[0087] S1001: Obtain a map of the target area where the autonomous working robot is to perform work.

[0088] S1002: Generate a planned path based on the map, and control the autonomous working robot to move along multiple paths to traverse the target area, the multiple paths are parallel to each other, and the directions of adjacent paths of the multiple paths are opposite. In at least a part of the target area, in the area determined by at least part of the continuous paths in the multiple paths, the number N of paths is less than or equal to R1 / (WB), where R1 represents the length of a line segment in at least a part of the area that is roughly perpendicular to the path direction, as shown in Figure 11, W represents the working range of the working part, and B represents the set value for adjusting the path width, 1.2cm≤B≤7cm.

[0089] When a robot travels along a path with a width equal to the working section width W, various errors can cause missed cuts in the work area. To determine how to set the path width to ensure high-quality and efficient work, technicians conducted multiple targeted tests. The work area used during these tests was a regular area with no islands. The application scenarios discussed in this application also involve regular areas without islands, as shown in the dashed boxed area in Figure 11 or Figure 10. Figure 11 shows the grid map corresponding to the dashed boxed area in Figure 10. For example, a robot is placed in an open area with strong satellite signal and is controlled to travel along a planned path with a path width equal to the working section width W. By counting the distance between the robot's actual position and the planned position while traveling along the planned path, it is found that the positional deviation between the two is always less than or equal to 7 cm. Therefore, when planning a path, the path width can be set to (W - 7 cm). This ensures that the robot will never miss cuts while moving along the planned path. Furthermore, the positional deviations between multiple actual and planned positions, as well as the probability of occurrence of these positional deviations, are counted. Analysis of these statistical results reveals that the probability of occurrence of positional deviations approximately conforms to a Gaussian normal distribution. The position deviation represented by Sigma, which has a relatively high probability of occurrence (about 68%), is 1.2 cm. That is, under about 68% of working conditions, when the robot travels according to the planned path, the actual driving position will fall within the position deviation range, that is, there will be about 1.2 cm of grass missing in the working area. The position deviation represented by 2 Sigma, which has a higher probability of occurrence (about 95%), is 2 cm. That is, under about 95% of working conditions, when the robot travels according to the planned path, the actual driving position will fall within the position deviation range, that is, there will be about 2 cm of grass missing in the working area. Therefore, if you want to avoid missing grass under more common working conditions, you can reduce the path width by 2 cm, that is, you can set the set value for adjusting the path width to 2 cm.

[0090] A number of factors can affect a robot's position, including wear and tear during use and assembly errors in various components, such as the travel and working sections. When technicians conducted the same test using a freshly manufactured robot, they found that the positional deviation represented by the sigma, with a relatively high probability (approximately 95%), was 1.2cm. This means that under approximately 95% of operating conditions, the robot's actual position would fall within this deviation range when following the planned path. Furthermore, technicians conducted multiple tests at different times and under different operating conditions, yielding similar results. Therefore, when users require fast cutting, they can set the path width adjustment value to 1.2cm, thereby adjusting the planned path width to (W - 1.2). Under these test conditions, if all robot conditions are optimized to ideal levels, a smaller setting value, such as 1.2cm, can be used. For robots that do not meet certain positioning requirements, such as positioning environment, mold accuracy, and assembly accuracy, a larger setting value, such as 7cm, may be required.

[0091] Therefore, in the present application, when generating a planned path based on a map, the planned path width can be determined as (WB) based on the width of the robot's working part and the set value, where 1.2cm≤B≤7cm, multiple paths are parallel to each other, and adjacent paths are in opposite directions, so that the number of paths N in at least some areas is less than or equal to R1 / (WB), where, as shown in FIG11 , R1 represents the length of a line segment in a plane determined by at least some areas that is roughly perpendicular to the path direction, W represents the working range of the working part, and can also be the width of the working part, such as the width of the cutter head, and B represents the set value for adjusting the path width. The set value can be a value input by the user between 1.2cm and 7cm; at least some areas are regular areas where there are no islands, which can be the entire working area, or a regular area intercepted from the entire working area that meets the island requirements. This application does not limit this.

[0092] Furthermore, when performing path planning after obtaining the working map, the map boundary S can be shrunk, and a planned path is generated based on the shrunk map, wherein the number N of generated planned paths is less than or equal to (R1-2S) / (WB).

[0093] In one embodiment of the present application, the robot structure can also be optimized to meet high-quality cutting. For example, by setting the projection overlap of the front moving part and the working part in the target area to be less than or equal to W*5%. That is, when the robot is moving forward, the front wheels will squeeze part of the grass and make it fall down, and the lawn mower cannot cut the grass that has just fallen, so it will miss cutting. With this setting, the working range of the working part does not include the grass that the front wheels have just crushed, so there will be no missed cutting due to such problems. Preferably, the projection overlap is 0. For the rear wheels, the projection of the rear wheels in the target area can overlap with the projection of the working part, because after the rear wheels crush the grass, the robot will not cut the grass in this area immediately, but will pass by here after a period of time. At this time, the grass has basically returned to its normal growth state and is easy to cut. Of course, considering the missed cutting in the backward scenario, the rear wheels can also be set to not overlap with the working range of the working part.

[0094] In one case, if the lawn use environment has high requirements for the lawn height and unevenness cannot occur, it is necessary to control the set value to be as large as possible or equal to the possible position deviation of the robot to meet the lawn use requirements. In another case, when the set value is close to or basically the same as the robot position deviation, there may be a certain degree of grass leakage on the lawn after the robot works. Technicians have found that in scenarios where there are no strict requirements for lawn flatness, when the lawn is maintained frequently, a small amount of grass leakage will not be recognized by the naked eye, as long as the grass that was not cut the first time can be cut during the second cutting. For example, robots used in households usually cut once a day. In one embodiment of the present application, the target area can be mowed a second time in other ways during the second working cycle to avoid possible grass leakage, wherein the second path of the second cutting does not overlap with the first path of the first cutting at least in part.

[0095] In one embodiment, after the robot has traveled in a target area with a path width of W-7 cm for a period of time, the user changes the set value to 2 cm, thereby adjusting the path width to (W-2 cm). The robot can obtain the grids in the original grid map that are not marked as worked, and readjust the values ​​of each grid in the grid map based on the adjusted path width, and work on the unworked areas according to the adjusted grid map.

[0096] In one embodiment, environmental parameters near the autonomous robot are obtained, reflecting the growth rate of grass in a target area. The time interval between the first and second working cycles is adjusted based on the environmental parameters. The growth rate and time interval are negatively correlated. For example, the environmental parameters can be images captured by a camera, where the growth rate is determined based on the grass height in the images. A greater difference in grass height between images captured at the same time interval indicates faster grass growth. Alternatively, the environmental parameters can be weather or seasonal information obtained from the cloud, indicating faster grass growth when temperatures are high. Alternatively, the environmental parameters can be weather information or light intensity information collected by a photosensor, indicating faster grass growth when light intensity is high. When the grass grows quickly, the time interval between the second cutting and the previous cutting is shorter. When the grass grows slowly, the time interval between the second cutting and the previous cutting is longer. This approach allows users to detect missed cuts even if the first cut is missed, resulting in a better user experience. Typically, the difference between the start time of the second working cycle and the start time of the first working cycle can be set to be less than or equal to 48 hours. By setting different cycle intervals for different scenarios, it ensures that even if there is a missed cut during the previous cutting, the user cannot obviously identify it, which provides a good user experience and greatly improves work efficiency.

[0097] In one embodiment, the second path during the secondary cutting is roughly parallel to the first path during the first cutting, and the distance between the adjacent second paths and the first path is greater than or equal to 5 cm and / or less than or equal to (WB-5) cm. When the robot travels along the first path and the second path, there may be a gap of less than or equal to 5 cm between the grids it covers and the actual working area scene, so the path can be translated to achieve complementary cutting. Furthermore, the position after translation needs to meet the requirement that the preset width covered is an integer multiple of the grid size mentioned in the following embodiments. The first cutting path is translated a certain distance as proposed in the above embodiment to obtain a secondary cutting path, so that when the robot moves along the path, the area that was missed last time can be supplemented and cut cleanly.

[0098] In one embodiment, the second path forms a preset angle with the first path. The target area can be cut along a path different from the first path, so that when the robot moves along the path, the area that was missed last time can be cut cleanly.

[0099] In full-coverage operation mode, autonomous robots typically move and operate along a planned path within a grid map. Grid maps are a commonly used form of high-precision maps that divide the environment into a series of grid cells. The resolution of conventional grid maps can be determined based on the required map accuracy. For example, if higher map accuracy is required, the grid length r is set to a smaller value to increase the resolution (1 / r). If lower map accuracy is required, the grid length r is set to a larger value to decrease the resolution (1 / r). As shown in Figure 2, in a one-dimensional space, x represents a real-world coordinate, i represents a coordinate within the discretized map (i.e., the grid map), r represents the length of a grid cell, 1 / r represents the resolution, and i = ceil(x / r). Assuming r is 10 cm, the corresponding i is determined based on the coordinate interval of x. That is, if 0 < x ≤ 10 cm, then i = 1; if 10 cm < x ≤ 20 cm, then i = 2; if 20 cm < x ≤ 30 cm, then i = 3, and so on. Similarly, in two-dimensional space, (i, j) = (ceil(x / r), ceil(y / r)), where x and y are coordinates in the real world, and i and j are coordinates in a discretized map (i.e., a grid map). The grid map consists of multiple grids, each of which is the same size.

[0100] During the operation of an autonomous robot, it is necessary to mark the worked areas on a grid map. However, because existing techniques only set the grid map resolution based on accuracy requirements, marking the worked areas presents two problems (taking the autonomous robot as an automatic lawn mower as an example): One problem is that during the cutting process, the cut areas need to be marked to distinguish them from the uncut areas. This marking is performed in the grid map on a per-grid basis, meaning that only the entire grid can be marked at a time. If the grid map resolution is set without considering the relationship between resolution and the effective cutting width of the automatic lawn mower, the cut areas may contain incomplete grids when mapped to the grid map. If an incomplete grid is included, marking the entire grid will result in missing uncut portions of the grid; if the grid is not marked, the cut portions of the grid will be cut again, reducing work efficiency. Therefore, it is impossible to properly mark the cut areas containing incomplete grids. As shown in FIG3 , assuming that the effective working width of the automatic lawn mower is 5 grids, when the automatic lawn mower works along path A, the direction indicated by the arrow in FIG3 is the forward direction of the automatic lawn mower. At this time, the worked area (as shown by the diagonal line in FIG3 ) includes 2.5 grids along both sides of path A. Since the worked area includes incomplete grids, if the incomplete grids in the worked area are not marked, the cut part of the incomplete grid will be cut repeatedly, reducing work efficiency.

[0101] Another problem is that when an automatic lawn mower based on real-time kinematic (RTK) is working, due to insufficient positioning accuracy, when the automatic lawn mower works along the planned path, its actual working position will be offset to the left and right sides of the planned path relative to the points on the planned path, causing the area cut by the automatic lawn mower to also be offset to the left and right sides of the planned path. The current solution is to set an overlapping area between two adjacent paths when planning the path of the automatic lawn mower, so that when the automatic lawn mower cuts along the two adjacent paths, it cuts the overlapping area twice in succession, which can solve the problem of cutting area offset caused by insufficient positioning accuracy and avoid missing cutting. Therefore, when the automatic lawn mower cuts along two adjacent paths, the automatic lawn mower needs to mark the worked areas corresponding to the two adjacent paths respectively, including the first worked area, the overlapping area, and the second worked area. If any of these three areas contains an incomplete grid, it is impossible to accurately mark these three areas. Alternatively, the automated lawn mower needs to mark the worked areas corresponding to two adjacent paths. The worked area is equal to the area actually cut by the mowing component of the automated lawn mower minus the overlapping area. If the area corresponding to the area actually cut by the mowing component of the automated lawn mower minus the overlapping area contains incomplete grids, then the worked area cannot be accurately marked. For example, as shown in Figure 4, path A and path B are adjacent paths. The direction indicated by the arrow in Figure 4 is the direction of movement of the automated lawn mower. Assuming the effective working width of the automated lawn mower is 5 grids, the cut area corresponding to the cut along path A is the first worked area (indicated by the shaded portion in Figure 4), and the cut area corresponding to the cut along path B is the second worked area (indicated by the shaded portion in Figure 4). Each includes 4.5 grids. The overlapping area between the first worked area and the second worked area (indicated by the shaded portion in Figure 4) includes 0.5 grids. In this case, the overlapping area cannot be accurately marked.

[0102] Therefore, the prior art needs to solve the problem of how to create a grid map so that the grid map meets the subsequent requirements for marking the cut areas. After the grid size in the grid map is determined based on the requirements for marking the cut areas and the grid map is created, the automatic lawn mower will not encounter problems such as missed cuts or low work efficiency due to the cut areas including incomplete grids. In the case where the spacing between adjacent planned paths is inconsistent with the width of the cut areas, it is also necessary to meet the path planning requirements so that after the grid size in the grid map is determined based on the requirements for path planning and marking the cut areas and the grid map is created, the automatic lawn mower will not encounter problems such as missed cuts or low work efficiency due to the cut areas including incomplete grids. Based on this, the present application proposes a control method for an autonomous working robot. It should be noted that although the present disclosure provides the method operation steps shown in the following embodiments or figures, the method may include more or fewer operation steps based on routine or no creative effort. In the case of steps that are not logically necessarily causally related, the execution order of these steps is not limited to the execution order provided in the embodiments of the present disclosure.

[0103] The method may be executed by a control device of an autonomous working robot. The device may be implemented in software and / or hardware. In this embodiment, the method is performed by an autonomous working robot as an example. The method provided in this embodiment includes:

[0104] Step 1: Obtain a grid map of the target area, wherein the grid map includes a plurality of grids, and the grids are set according to a grid size.

[0105] It should be noted that the raster map of the target area can be generated by the autonomous robot itself or the cloud server, and accordingly, the autonomous robot can obtain the raster map of the target area from itself or the cloud server. If the autonomous robot obtains the raster map of the target area from itself, it can be specifically that the autonomous robot retrieves the raster map of the target area from its own storage device such as a memory. If the autonomous robot obtains the raster map of the target area from the cloud server, it can be specifically that the autonomous robot sends a map acquisition request to the cloud server for obtaining the raster map of the target area, and receives the raster map of the target area issued by the cloud in response to the map acquisition request. Among them, the specific operations of the autonomous robot or the cloud server to generate the raster map can refer to the existing relevant technologies and will not be repeated here.

[0106] The target area can be the area where the autonomous robot will operate. The target area type can vary for different types of autonomous robots. For example, for an autonomous lawn mower, the target area type can be a grass area; for an autonomous sweeper, the target area type can be a ground area. The target area grid map can include only the target area or include both the target area and other areas, such as adjacent areas.

[0107] Grid dimensions can include grid length and / or grid width. Grid length refers to the distance between two adjacent vertical dividing lines in a grid map, while grid width refers to the distance between two adjacent horizontal dividing lines in a grid map, as shown in Figure 6. Furthermore, if grid dimensions include both grid length and grid width, the grid length and grid width can be set equal to facilitate processes such as path planning and grid marking. Integer multiples can be set based on actual needs, such as the storage space and working accuracy requirements of the autonomous robot. Generally speaking, the integer in the integer multiple is at least greater than or equal to 2.

[0108] Step 2: Generate a planned path for the robot within the grid map based on the map, where the interval between adjacent paths is an integer multiple of the grid size.

[0109] In one embodiment of the present application, the distance between adjacent paths in opposite directions (also known as the path width) can be set to an integer multiple of the grid size. The distance between adjacent paths is (WB), which is also the effective working width of the robot. The effective working width (preset width) is an integer multiple of the grid size. By determining the grid size in the grid map in this way, when the robot moves along the planned path, it will cover the entire grid without including incomplete grids, thus solving the problem of multiple cuts or missed cuts mentioned above.

[0110] It should be noted that the planned path of the autonomous robot within the grid map can be generated by the autonomous robot itself or by a cloud server. Accordingly, the autonomous robot can obtain the planned path within the grid map from itself or from the cloud server. If the autonomous robot obtains the planned path within the grid map from itself, this can specifically involve the autonomous robot retrieving the planned path within the grid map from its own storage device, such as a memory. If the autonomous robot obtains the planned path within the grid map from a cloud server, this can specifically involve the autonomous robot sending a path acquisition request to the cloud server to obtain the planned path within the grid map, and receiving the planned path within the grid map issued by the cloud server in response to the path acquisition request.

[0111] It can be understood that in order for the autonomous working robot to work normally or complete the specified work task in the target area, it is necessary to control the autonomous working robot to work in the target area according to the planned path. Therefore, before controlling the autonomous working robot to work, it is necessary to first obtain the planned path of the autonomous working robot in the grid map. Among them, there may be multiple planned paths in the grid map, and the positions of different planned paths are usually adjacent. Adjacent planned paths refer to the planned paths with the closest geographical locations in the grid map, such as path A and path B shown in Figure 6. The area covered by the robot when moving along path A or path B, that is, the preset width or effective working width (WB) is an integer multiple of the grid size, so that the grid width is equal to (WB) / n. Specifically, the value corresponding to the integer multiple can be determined according to the memory size, map accuracy, etc., for example: 3, 4, etc. For example, FIG11 illustrates a partial area of ​​the target area that satisfies the no-island condition. When planning a path for the area, the working range W of the cutter head of the lawn mower 100 is 35 cm, the set value is 7 cm, and the integer multiple of the grid size is 3. Therefore, the grid width shown in FIG11 can be set to (35-7) / 3=9.3 cm, and the lawn mower is controlled to operate according to the partial path shown in FIG11 . If the set value is 2 cm, the grid width shown in FIG11 can be adjusted to (35-2) / 3=11 cm, and the lawn mower is controlled to operate according to the partial path shown in FIG11 .

[0112] It should be noted that the planned path can be determined based on the position of the cutterhead on the robot. If the cutterhead is offset, the corresponding path direction is in the offset direction of the preset width (effective working width). If the cutterhead is centered, the corresponding path direction passes through the midpoint of the preset width (effective working width). The path directions shown in Figures 6 and 7 are the path directions for the scenario where the cutterhead is centered. If the spacing between adjacent paths is an odd multiple of the grid size, as shown in Figure 6, the effective working width of the autonomous working robot is 5 times the grid width, path A passes through the midpoint of grid a, and path B passes through the point of grid b. If the spacing between adjacent paths is an even multiple of the grid size, the planned path can be located at the dividing line between two adjacent grids. The grid dividing line is used to separate adjacent grids. As shown in Figure 7, the preset width of the autonomous working robot is 6 times the grid width. In this case, path C can be set at the dividing line between adjacent grids a and b, and path D can be set at the dividing line between adjacent grids c and d.

[0113] In one embodiment of the present application, the autonomous working robot can be controlled to work along a planned path, and combined with the working position of the autonomous working robot, the integer multiples of the grids near the working position of the robot are marked as worked areas on the grid map.

[0114] It should be noted that the autonomous working robot can control the autonomous working robot to walk along the planned path through a walking device (also called a moving part), and at the same time control the working part of the autonomous working robot to work, so as to realize the control of the autonomous working robot to work according to the planned path. In combination with the working position of the autonomous working robot, the grids that have been worked by the autonomous working robot as an integer multiple are marked on the grid map as worked areas, which can be processed by the autonomous working robot itself or the cloud server. If the autonomous working robot marks the grids that have been worked by the autonomous working robot as worked areas on the grid map as integer multiples, it can be specifically that the autonomous working robot marks the grids that have been worked by the autonomous working robot as worked areas on the grid map as integer multiples according to its own position during the working process. If the cloud server marks an integer multiple of the grids worked by the autonomous working robot during the working process as worked areas on the grid map, the autonomous working robot can specifically send a marking request including its own position and a preset width to the cloud server, so that the cloud server will mark the row of grids perpendicular to the planned path and passing through the autonomous working robot's own position on the grid map as worked areas according to the marking request. The total width of the grids is equal to several adjacent grids. These several adjacent grids can be located on at least one of the left and right sides of the planned path, for example, on the left or right side of the planned path, or symmetrically or asymmetrically on the left and right sides of the planned path.

[0115] In the process of controlling the autonomous working robot to work along the planned path, the working position of the autonomous working robot can be simultaneously combined to mark the integer multiples of the grids where the autonomous working robot has worked as worked areas on the grid map, so as to realize timely marking of the worked areas.

[0116] Here, the grids that are integer multiples of the grids that the autonomous working robot has worked on are marked as worked areas on the grid map. The pixel values ​​of the grids that are integer multiples of the grids that the autonomous working robot has worked on on the grid map can be changed to preset pixels, etc. There is no specific limitation here, as long as it can be distinguished from the grids in the non-worked area.

[0117] In an embodiment of the present application, a planned path is generated based on the map, and the autonomous working robot is controlled to move along multiple paths to traverse a target area. The multiple paths are parallel to each other, and adjacent paths in the multiple paths are in opposite directions. The number of paths N in at least a portion of the target area is less than or equal to R1 / (WB), and 1.2 cm ≤ B ≤ 7 cm, where B represents a set value for adjusting the path width. Based on this path planning method and this set value, fast and efficient work can be achieved.

[0118] During the process of the autonomous working robot working along the planned path, usually in the direction perpendicular to the forward movement direction of the autonomous working robot, the effective working width of the working part of the autonomous working robot can only be the projection width of the working part in the direction perpendicular to the forward movement direction of the autonomous working robot. Taking the autonomous working robot as an automatic lawn mower as an example, in the direction perpendicular to the forward movement direction of the automatic lawn mower, the effective working width actually cut by the automatic lawn mower is only the projection width of the cutting component in the direction perpendicular to the forward movement direction of the automatic lawn mower.

[0119] It is understood that when an autonomous robot includes multiple working parts, if each working part is able to fully cover the area within the coverage area of ​​the corresponding working part during operation, the effective working width of the autonomous robot can be considered to be the sum of the projected widths of the multiple working parts in a direction perpendicular to the direction of motion of the autonomous robot. For example, if the autonomous robot is an automatic lawn mower and includes multiple circular cutterheads placed side by side but not overlapping, the effective working width of the automatic lawn mower can be considered to be the sum of the projected widths of the diameters of the multiple cutterheads in a direction perpendicular to the direction of motion of the autonomous robot. In a specific embodiment of the control method provided herein, the preset width includes the effective working width of the autonomous robot, the spacing between adjacent planned paths is a first integer multiple of the grid size, and the effective working width is a second integer multiple of the grid size. Referring to Figure 5, the method provided in this embodiment includes: Step S101: Obtaining a grid map of the target area, the grid map including multiple grids, the grids being arranged according to the grid size.

[0120] Step S102: obtaining a planned path of the autonomous working robot in the grid map, wherein the interval between adjacent planned paths is a first integer multiple of the grid size.

[0121] Step S103: Control the autonomous working robot to work according to the planned path, and mark the grid covered by the effective working width of the autonomous working robot during the working process as the worked area on the grid map; the effective working width is the second integer multiple of the grid size.

[0122] In the process of controlling the autonomous robot to operate along the planned path, the grid cells covered by the effective working width of the autonomous robot during operation can be simultaneously marked on the grid map as the worked area, thereby achieving timely marking of the worked area. Here, since the effective working width is the second integer multiple of the grid size, and the distance between adjacent planned paths is the first integer multiple of the grid size, that is, the effective working width and the distance between adjacent planned paths can be the same or different integer multiples of the grid size, but the distance between adjacent planned paths cannot be greater than the effective working width. It can be understood that the planned path is planned starting from one side of the grid map, and the distance between the initial planned path and the boundary of one side of the grid map can be half of the effective working width, and the effective working width is an integer multiple of the grid size. In this case, the initial planned path is located at the boundary line between adjacent grids or passes through the midpoint of the grid. Therefore, when working along the initial planned path, the effective working width of the autonomous robot covers an integer number of grids. When working along other planned paths that are adjacent or non-adjacent to the initial planned path, since the distance between adjacent planned paths is an integer multiple of the grid size, that is, the distance between other planned paths and the initial planned path is also an integer multiple of the grid size, it is ensured that the effective working width of the autonomous robot when working along other planned paths also covers an integer number of grids. In other words, when the autonomous robot works along the planned path, the corresponding worked area will not contain incomplete grids, so that all grids contained in the worked area can be marked each time, achieving accurate marking of the worked area and avoiding the situation where grids in the worked area cannot be marked. At the same time, since the situation of unmarkable grids appearing in the worked area is avoided, the autonomous working robot does not need to repeat the work on the worked part of the unmarkable grid or make incorrect marks on the unworked part of the unmarkable grid, thereby reducing repetitive work, improving work efficiency, and avoiding the autonomous working robot missing the unworked part of the unmarkable grid.

[0123] For example, as shown in FIG7 , path C and path D are adjacent planned paths, and path C is at the boundary between adjacent grids a and b, while path D is at the boundary between adjacent grids c and d. The distance between path C and path D is 5 times the grid width, and the effective working width of the autonomous working robot is 6 times the grid width. The arrows in FIG7 respectively indicate the movement direction of the autonomous working robot when working along path C and path D. First, when the autonomous working robot moves along path C and works on the area where the bottom row of grids in FIG7 is located, the grids covered by the effective working width of the autonomous working robot include grids e, f, g, h, i, and j, that is, the corresponding worked area includes grids e, f, g, h, i, and j, and grids e, f, g, h, i, and j can be marked respectively. Then, when the autonomous robot moves along path D, which is separated from path C by a distance of 5 times the grid width, and works on the area of ​​the bottom row of grids in Figure 7, the grids covered by the effective working width of the autonomous robot at this time include grids k, p, n, m, k, and j. That is, the corresponding worked area includes grids k, p, n, m, k, and j, and the corresponding overlapping area includes grid j, and grids k, p, n, m, and k can be marked respectively. It should be noted that grid j, which is included in the overlapping area, can also be marked when the autonomous robot is working along path D.

[0124] The effective working width of the autonomous robot can be adjustable or fixed. Furthermore, the effective working width of the autonomous robot may also vary depending on the working portion of the autonomous robot. Marking the grid covered by the effective working width of the autonomous robot during operation as the worked area on the grid map can be accomplished by changing the pixel values ​​of the grid covered by the effective working width of the autonomous robot during operation to preset pixels on the grid map, without specific limitation, as long as the grid can be distinguished from the grid in the unworked area.

[0125] It should be noted that the technical solution defined in steps S101 to S103 above is the ideal solution for this application, that is, during operation, the position and posture of the autonomous robot are consistent with the planned path, the autonomous robot is able to operate perfectly along the planned path, and the worked area is the area covered by the effective working width along the planned path. However, when the autonomous robot is actually operating, its position and posture may be affected by positioning error and / or heading error in addition to the planned path. The actual path of the autonomous robot is the path after the planned path is affected by positioning error and / or heading error.

[0126] Since it is currently impossible to quantify the impact of positioning error and / or heading error on the path, the present application can minimize the impact of positioning error and / or heading error on the actual path of the autonomous working robot, and thus on the working results, by setting the grid size. Therefore, the integers in the first integer multiple and the second integer multiple are preferably greater than or equal to 2. For example, taking the autonomous working robot as an automatic lawn mower, assuming that the effective working width includes two grids, if the automatic lawn mower deviates to the left relative to the planned path, only the left grid of the planned path can be marked; if the automatic lawn mower deviates to the right relative to the planned path, only the right grid of the planned path can be marked.

[0127] In summary, in the method provided by the above embodiment, by controlling the effective working width of the autonomous working robot and the spacing distance between adjacent planned paths to be integer multiples of the grid size in the grid map, it is ensured that the corresponding worked area each time the autonomous working robot works along the planned path only contains complete grids, so that all grids contained in the worked area can be marked each time, which facilitates and accurately marks the grids corresponding to the worked area, avoids the situation where the grids cannot be marked in the worked area, and solves the problem of the prior art that the grids cannot be marked due to the work area containing incomplete grids. At the same time, since the situation of the grids cannot be marked in the worked area is avoided, the autonomous working robot does not need to repeatedly process the processed parts of the grids that cannot be marked, thereby reducing repeated work, solving the problem of repeated processing due to the work area containing incomplete grids in the prior art, and improving work efficiency.

[0128] In a possible implementation, the target area includes an open area, where the open area is an area where the satellite positioning signal meets a preset quality requirement; in the open area, the first integer multiple is equal to the second integer multiple.

[0129] It can be understood that when the autonomous robot is operating in an open area where the satellite positioning signal meets the preset quality requirements, the positioning accuracy can be considered to be high at this time, and the actual path of the autonomous robot can be considered to be consistent with the planned path. Therefore, when setting the planned path, the overlapping areas of the areas already worked by the autonomous robot when working along adjacent planned paths can be ignored. That is, the problem of overlapping areas of the areas already worked by the autonomous robot when working along adjacent planned paths is not considered. Instead, the distance between adjacent planned paths is directly set to be equal to the effective working width of the autonomous robot, that is, the first integer multiple is set to be equal to the second integer multiple. Here, the satellite positioning signal meeting the preset quality requirements can be set according to actual needs, for example, the strength of the satellite positioning signal can be greater than a preset strength threshold. In this way, in the open area, the first integer multiple is controlled to be equal to the second integer multiple, that is, the distance between adjacent planned paths is equal to the effective working width of the autonomous robot, so as to further reduce the area of ​​repeated work when the autonomous robot works along adjacent planned paths, thereby further improving the working efficiency of the autonomous robot.

[0130] In one possible implementation, the target area includes a shadow area and / or a slope area, the shadow area is an area where the satellite positioning signal does not meet the quality requirements, and the slope area is an area where the slope angle value is equal to or greater than the preset slope angle value; in the shadow area and / or the slope area, the first integer multiple is less than the second integer multiple; the interval distance is equal to the difference between the effective working width and the width of the overlapping area; the width of the overlapping area is used to characterize the width of the grid repeatedly covered by the effective working width during the working process of the autonomous working robot along adjacent planned paths, perpendicular to the direction of movement of the autonomous working robot.

[0131] It can be understood that when the autonomous working robot is working in an area where the satellite positioning signal does not meet the preset quality requirements, i.e., a shadow area, and / or an area where the slope angle value is equal to or greater than the preset slope angle value, i.e., a slope area, it can be considered that the positioning accuracy is low at this time, and the actual path of the autonomous working robot may deviate from the planned path. Therefore, when setting the planned path, the overlapping area of ​​the working area when the autonomous working robot works along adjacent planned paths cannot be ignored, that is, the problem of overlapping areas of the working area when the autonomous working robot works along adjacent planned paths must be considered to avoid the existence of unworked areas between adjacent planned paths after the autonomous working robot works along adjacent planned paths. Therefore, the first integer multiple can be set to be smaller than the second integer multiple, that is, the distance between adjacent planned paths is smaller than the effective working width of the autonomous working robot. At this time, the distance between adjacent planned paths is equal to the difference between the effective working width and the width of the overlapping area, and the width of the overlapping area is used to characterize the width of the grid perpendicular to the direction of movement of the autonomous working robot that has been worked at least twice during the working process of the autonomous working robot along the adjacent planned paths.

[0132] Since the distance between adjacent planned paths is a first integer multiple of the grid size, and the effective working width is a second integer multiple of the grid size, and the distance between adjacent planned paths is equal to the difference between the effective working width and the width of the overlapping area, the width of the overlapping area is also an integer multiple of the grid size. Thus, in shaded and / or sloped areas, the first integer multiple is controlled to be smaller than the second integer multiple, that is, the distance between adjacent planned paths is equal to the difference between the effective working width of the autonomous robot and the width of the overlapping area. This ensures that the autonomous robot can fully process the area between adjacent planned paths, thereby improving the autonomous robot's work quality and efficiency.

[0133] In one possible implementation, the planned path passes through the midpoint of the effective working width. That is, when the autonomous robot operates along the planned path, half of the effective working width of the autonomous robot is controlled to be on the left side of the planned path, and the other half is on the right side of the planned path.

[0134] In a possible implementation, the effective working width is the projection width of the working part of the autonomous working robot perpendicular to the moving direction of the autonomous working robot.

[0135] Among them, in the process of the autonomous working robot working along the planned path, usually only the projection width of the working part of the autonomous working robot perpendicular to the moving direction of the autonomous working robot is the actual working width, and the effective working width is the projection width of the working part of the autonomous working robot perpendicular to the moving direction of the autonomous working robot.

[0136] In a possible implementation, if the autonomous working robot includes multiple working parts, the effective working width is the sum of the projection widths of the multiple working parts perpendicular to the moving direction of the autonomous working robot.

[0137] It is understood that when an autonomous robot includes multiple working parts, if each working part is able to fully cover the area within the coverage area of ​​the corresponding working part during operation, the effective working width of the autonomous robot can be considered to be the sum of the projected widths of the multiple working parts perpendicular to the direction of movement of the autonomous robot. For example, if the autonomous robot is an automatic lawn mower and includes multiple circular blade discs placed side by side but not overlapping, the effective working width of the automatic lawn mower can be considered to be the sum of the projected widths of the multiple blade discs perpendicular to the direction of movement of the autonomous robot.

[0138] In one possible implementation, the effective working width is the difference between the projection width of the working part of the autonomous working robot perpendicular to the direction of movement of the autonomous working robot and the set working deviation. The working deviation is used to characterize the width of the area within the coverage range of the working part but that the working part cannot actually cover perpendicular to the direction of movement of the autonomous working robot.

[0139] It is understood that when an autonomous robot is operating, due to factors such as the inherent working characteristics of the working part of the autonomous robot, the working part of the autonomous robot may not be able to achieve full coverage of the area within the coverage range of the working part, especially the edge areas within the coverage range of the working part. In this case, the effective working width can be considered to be the difference between the projected width of the working part of the autonomous robot perpendicular to the direction of movement of the autonomous robot and the set working deviation. The working deviation (the working deviation is also the set value B used to adjust the path width above) is used to represent the width of the area within the coverage range of the working part but not covered by the effective working width perpendicular to the direction of movement of the autonomous robot. For example, if the autonomous robot is an automatic lawn mower and the projected width of the working part of the automatic lawn mower perpendicular to the direction of movement of the autonomous robot is the diameter of the cutter disc, because the grass is relatively soft, the cutter disc will bend the grass during the mowing operation, resulting in the grass at the edge areas of the cutter disc coverage area not being cut by the cutter disc. In this case, the effective working width of the automatic lawn mower is less than the cutter disc diameter. It can also be considered that the effective working width of the automatic lawn mower is the difference between the cutter disc diameter and the mowing working deviation. In this way, the effective working width of the autonomous working robot is determined based on the difference between the projection width of the working part of the autonomous working robot perpendicular to the moving direction of the autonomous working robot and the set working deviation, thereby improving the working quality of the autonomous working robot.

[0140] In a possible implementation, the method may further include: setting a grid size according to a preset width, where the preset width includes an effective working width of the autonomous working robot.

[0141] It is understandable that the grid size can be set first according to the effective working width of the autonomous working robot, that is, the effective working width is the second integer multiple of the grid size, and then a grid map of the target area can be established based on the set grid size, and the spacing distances of adjacent planned paths can be planned based on the first integer multiple of the grid size, so as to ensure that each subsequent working process of the autonomous working robot along the planned path corresponds to a worked area that only contains complete grids. In particular, when the effective working width of the autonomous working robot is fixed, the grid size can be set first according to the effective working width of the autonomous working robot, and then a grid map of the target area can be established based on the set grid size, and then the spacing distances of adjacent planned paths can be planned based on the first integer multiple of the grid size, so as to ensure that each subsequent working process of the autonomous working robot along the planned path corresponds to a worked area that only contains complete grids.

[0142] It should be noted that when the target area includes an open area, the grid size can be set based solely on the autonomous robot's effective working width. However, when the target area includes shaded and / or sloped areas, the grid size can be set based on both the autonomous robot's effective working width and the width of the overlapped area. Furthermore, if multiple grid sizes are available based on the effective working width, the largest grid size is selected. Furthermore, if multiple grid sizes are available based on both the effective working width and the width of the overlapped area, the largest grid size is selected. It will be appreciated that when multiple grid sizes are available based on the above requirements, the larger the selected grid size, the less memory space the autonomous robot requires to store grid map data, thereby saving memory space, reducing memory costs, and improving data processing efficiency. The smaller the selected grid size, the more detailed the autonomous robot's marking of the areas it has worked on, reducing the likelihood of missed areas. In practical applications, the appropriate grid size can be selected by balancing various requirements, such as memory cost, data processing efficiency, and the likelihood of missed areas.

[0143] Based on the same inventive concept as the aforementioned embodiments, the aforementioned embodiments are described in detail below through a specific example. In this example, the autonomous working robot is an automatic lawn mower.

[0144] The following is a brief description of the structure of the automatic lawn mower and the mowing process, as follows:

[0145] The automatic lawn mower is equipped with a working part, namely a cutter disc. The cutter disc can be set on the central axis of the automatic lawn mower in the length direction, or on either side of the central axis in the length direction of the lawn mower. According to the positional relationship between the center point of the cutter disc and the central axis of the lawn mower, the center point of the cutter disc can be converted into the position of the automatic lawn mower on the grid map when planning the path, and then the mowing path planning can be carried out.

[0146] When an automatic lawn mower mows the lawn, it moves along the planned mowing path and marks the mowed areas on the grid map in real time. The marking method is to change the pixel value of the mowed grid. For example, the pixel value of the unmowed grid can be set to 0, and after mowing, the pixel value of the mowed grid can be set to 1.

[0147] The control method of the automatic lawn mower provided in this example mainly includes the following steps:

[0148] (1) Create a raster map

[0149] First, taking a square grid as an example, where the grid length equals the grid width, the grid map resolution can be set based on the effective cutting width. The effective cutting width can be determined based on the cutter disc diameter of the automatic lawn mower. For example, the effective cutting width can be equal to the cutter disc diameter. The cutter disc diameter can be the diameter of a single cutter disc or the sum of the widths of multiple cutter discs projected perpendicular to the direction of mowing of the automatic lawn mower. Here, grid length r = cutter disc diameter / n, where n is an integer greater than or equal to 1. If the effective cutting width of the automatic lawn mower is equal to the cutter disc diameter, then each time the automatic lawn mower cuts the area corresponding to m grids perpendicular to the direction of mowing, it marks those m grids.

[0150] Because grass is relatively soft, the blade disc bends the grass when an automatic lawn mower cuts, preventing the disc from cutting grass near the edge. Therefore, the actual cutting width (i.e., effective cutting width) may be smaller than the disc diameter. In other words, effective cutting width = disc diameter - mowing error (mowing error is one of the factors considered when adjusting the path width setting). For example, if the disc diameter is 30 cm and the uncut width at the disc edge (i.e., mowing deviation) is 5 cm, the effective cutting width is 25 cm.

[0151] It should be noted that to reduce the memory required to store the raster map, when multiple grid sizes are available, the largest size is preferred for creating the corresponding raster map. Furthermore, the above solution can be applied to a local portion of the map, without requiring the same layout for the entire map. For example, areas that are not currently being cut do not need to be laid out in the same layout.

[0152] (2) Planning the mowing path

[0153] In open areas, the mowing path can be planned according to the effective cutting width. The path passes through the midpoint of the effective cutting width. The distance between two adjacent mowing paths is the effective cutting width, and the effective cutting width is equal to the difference between the diameter of the cutter disc and the width that cannot be cut by the edge of the cutter disc.

[0154] In shaded or sloped areas, plan the mowing path based on the effective cutting width. The path passes through the midpoint of the effective cutting width. The distance between two adjacent mowing paths is the difference between the effective cutting width and the width of the overlapping area. The effective cutting width is equal to the difference between the cutter disc diameter and the width that cannot be cut by the cutter disc edge.

[0155] It is understandable that in shadow areas affected by the RTK positioning signal or slope areas where the RTK positioning signal deviates from the on-slope position, the RTK positioning accuracy decreases, and the positioning results of the automatic lawn mower may deviate randomly, resulting in the edge of the mowed area not actually being mowed when the automatic lawn mower cuts along the mowing path according to the positioning signal. To avoid missing cuts, the width of the overlapping area of ​​the cut areas corresponding to adjacent mowing paths when the automatic lawn mower cuts along adjacent mowing paths can be set according to the deviation of the positioning signal. At this time, taking the completion of mowing two adjacent mowing paths as an example, the areas that the automatic lawn mower needs to mark include: the first worked area, the overlapping area (actually, the set value for adjusting the path width), and the second worked area. The width of the first worked area is generally equal to the width of the second worked area.

[0156] In this case, the grid length r must satisfy the following conditions: r = width of the first worked area / v and r = width of the overlapping area / q, where v and q are integers greater than or equal to 1. For example, if the width of the worked area corresponding to the first mowing path is equal to the cutter disc diameter or the effective cutting width and is 25 cm, and the width of the overlapping area is 5 cm, then r must satisfy r = 25 / v = 5 / q, meaning that r is a maximum of 5.

[0157] If the mowing error is included in the effective cutting width, then: the width of the first worked area is 30 cm, the overlapping area (actually the working deviation mentioned above or the set value for adjusting the path width) is 5 cm + 5 cm = 10 cm, and the width of the second worked area is 30 cm.

[0158] (3) Mow the grass according to the mowing path and mark the grid corresponding to the worked area

[0159] Among them, when the automatic lawn mower mows along the first mowing path, each time it cuts an area corresponding to [v+q] grids perpendicular to the mowing direction, it marks the [v+q] grids; when the automatic lawn mower mows along the second mowing path, each time it cuts an area corresponding to [v+q] grids perpendicular to the mowing direction, it marks the [v+q] grids, and so on. The q columns of grids corresponding to the overlapping areas will be marked twice.

[0160] For example, assume that the effective cutting width of the automatic lawn mower is 5 grid widths, and the adjacent mowing paths include path A and path B. Path A passes through the midpoint of the effective cutting width and is located on a vertical line of the grid. If in an open area, the distance between path A and path B can be the effective cutting width, that is, 5 grid widths, as shown in Figure 6. At this time, when the automatic lawn mower works along path A and path B respectively, the overlapping area of ​​the cut areas corresponding to path A and path B can be ignored, and the effective working width covers 5 complete grids.

[0161] Alternatively, assume that the effective cutting width of the automatic lawn mower is 6 grid lengths, and the adjacent mowing paths include path C and path D. If in the shaded area, the distance between path C and path D can be the difference between the effective cutting width and the width of the overlapping area, that is, 5 grid lengths. As shown in Figure 7, when the automatic lawn mower works along path C and path D respectively, the overlapping area of ​​the cut areas corresponding to path C and path D only contains 1 complete grid, and the effective working width covers 6 complete grids.

[0162] In summary, in the method provided in the above embodiment, the grid size of the grid map is first determined according to the effective cutting width of the automatic lawn mower, and then the corresponding grid map is created according to the determined grid size. Then, the path is planned on the grid map according to the effective cutting width of the automatic lawn mower and the width of the overlapping area of ​​the cut area when working along the adjacent path. When the automatic lawn mower works in the working area along the planned path, it is ensured that the corresponding worked area only contains complete grids each time the automatic lawn mower works along the planned path, so that the automatic lawn mower can accurately mark the grids in the worked area, avoid the situation where the grids cannot be marked in the worked area, and avoid the situation of missed cutting and repeated cutting in the worked area to the greatest extent, thereby improving work quality and work efficiency.

[0163] In another embodiment, the preset width includes a difference between an effective working width of the autonomous working robot and a width of the overlapping area.

[0164] The grid map is set according to the grid size, and the grid size is determined according to the difference between the effective working width of the autonomous working robot and the width of the overlapping area. The difference between the effective working width of the autonomous working robot and the width of the overlapping area is the third integer multiple of the grid size.

[0165] In another embodiment, before obtaining the grid map of the target area, the method further includes: obtaining an overlap area width, wherein obtaining the overlap area width (i.e., a set value for adjusting the path width) includes at least one of the following: obtaining the overlap area width based on user input; or obtaining the overlap area width based on stored data of the autonomous robot; or determining the overlap area width based on the area type of the target area. The autonomous robot may autonomously determine the overlap area width based on the area type of the target area. For example, the area type of the target area may include at least an open area, a shaded area, a sloped area, or a user-selected area. The autonomous robot may autonomously determine the area type of the target area and determine the corresponding overlap area width based on the area type.

[0166] Among them, the autonomous working robot can also determine the overlap area width according to user input, for example, the overlap area width can be determined according to the user input or the numerical value confirmed by the user. The user can input according to actual needs. For example, if the overlap area width of the target area is first determined to be the first overlap area width according to the user input, then the grid map is set according to the first overlap area width, the path is planned, and the worked area is marked. Specifically, if the overlap area width of the target area obtained according to the user input is the first overlap area width, then the first preset width of the target area is determined to be equal to the difference between the effective working width and the first overlap area width; the first grid size of the first grid map of the target area is set according to the first preset width, specifically, the first preset width is the third integer multiple of the grid size, and the first grid map is set according to the first grid size; the first planned path of the autonomous working robot in the first grid map is obtained, specifically, the first planned path is planned according to the first preset width, and the interval distance between adjacent planned paths is equal to the first preset width; control The autonomous working robot is made to work along a first planned path, and in combination with the working position of the autonomous working robot, grids within a first preset width range where the autonomous working robot has worked are marked as worked areas on the first grid map. Specifically, in a row of grids that is perpendicular to the first planned path and passes through the position of the autonomous working robot on the grid map, several adjacent grids with a total width equal to the preset width are marked as worked areas. These several adjacent grids can be located on at least one of the left and right sides of the planned path, for example, on the left or right side of the planned path, or symmetrically or asymmetrically on the left and right sides of the planned path.

[0167] When the autonomous robot has at least partially completed work in the target area, the user can choose to re-enter the overlapped area width. At least partially completing work in the target area specifically includes when the autonomous robot has completed work in all of the target area, and when the autonomous robot has only completed work in a portion of the target area. If, based on user input, the overlapped area width of at least a portion of the target area is determined to have changed to a second overlapped area width, at least a portion of the grid map is reset and at least a portion of the path is replanned based on the second overlapped area width. The autonomous robot is controlled to operate along the replanned at least a portion of the planned path on the reset grid map, and the worked area is marked based on the second overlapped area width. Specifically, if, based on user input, the overlapped area width of at least a portion of the target area is changed to the second overlapped area width, a second preset width of at least a portion of the target area is determined to be equal to the difference between the effective working width and the second overlapped area width. A second grid size corresponding to the entire or partial target area is re-determined based on the second preset width, and a second grid map corresponding to the entire or partial target area is generated based on the second grid size. A second planned path for the autonomous robot is obtained within the second grid map, with the spacing between adjacent second planned paths being equal to the second preset width. Control the autonomous working robot to work in all or part of the target area along the second planned path, and combine the current working position of the autonomous working robot to mark the grids within the second preset width range where the autonomous working robot has worked as the worked area on the second grid map.

[0168] During the process of the autonomous robot completing a work on the target area, the user can choose to update the overlap area width at any time according to actual needs. For example, if the user feels that the current overlap area width is too large, resulting in low cutting efficiency, the user can choose to pause the autonomous robot's work, re-enter a smaller overlap area width, and then control the autonomous robot to complete the work and marking of the remaining target areas based on the updated grid map, planned path, and preset width from the point where the work was interrupted. If the user feels that the current overlap area width is too small, resulting in excessive areas being missed, the user can also choose to pause the autonomous robot's work, re-enter a larger overlap area width, and then control the autonomous robot to complete the work and marking of the remaining target areas based on the updated grid map, planned path, and preset width from the point where the work was interrupted.

[0169] After the autonomous robot completes its work on the target area, the user can also choose to update the overlap area width based on actual needs. The next time the autonomous robot works, it will complete the work and mark the target area based on the updated grid map, planned path, and preset width.

[0170] The autonomous robot may also determine the overlap area width based on data stored by the autonomous robot. Specifically, if the overlap area width of the target area obtained from the autonomous robot's stored data is a third overlap area width, then the third preset width of the target area is determined to be equal to the difference between the effective working width and the third overlap area width; a third grid size of a third grid map of the target area is set based on the third preset width; a third planned path of the autonomous robot within the third grid map is obtained; the autonomous robot is controlled to operate along the third planned path, and based on the autonomous robot's operating position, grid cells within the third preset width that have been operated by the autonomous robot are marked on the third grid map as operated areas. In another embodiment, the planned path passes through the midpoint of the preset width.

[0171] In summary, in the method provided in the above embodiment, the grid size of the grid map is first determined according to the difference between the effective cutting width of the automatic lawn mower and the width of the overlapping area, and then the corresponding grid map is created according to the determined grid size. Then, a path is planned on the grid map according to the difference between the effective cutting width of the automatic lawn mower and the width of the overlapping area, so that when the automatic lawn mower works in the working area along the planned path, it is ensured that each time the automatic lawn mower works along the planned path, the area within the difference between the effective cutting width and the width of the overlapping area corresponding to the work only contains complete grids, so that the automatic lawn mower can accurately mark the grids in the worked area, avoid the situation where the grids cannot be marked in the worked area, and avoid the situation of missed cutting and repeated cutting in the worked area to the greatest extent, thereby improving work quality and work efficiency.

[0172] Based on the same inventive concept as the aforementioned embodiment, an embodiment of the present invention provides an autonomous working robot, as shown in FIG8 , the autonomous working robot includes: a processor 310 and a memory 311 storing a computer program; wherein, the processor 310 illustrated in FIG8 is not used to indicate that the number of processors 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of processors 310 can be one or more; similarly, the memory 311 illustrated in FIG8 has the same meaning, that is, it is only used to indicate the positional relationship of the memory 311 relative to other devices. In actual applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the control method of the autonomous working robot described above is implemented.

[0173] The autonomous robot may also include at least one network interface 312. The various components within the autonomous robot are coupled together via a bus system 313. It will be appreciated that bus system 313 is used to enable connectivity and communication between these components. In addition to a data bus, bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in FIG8 , all of these buses are labeled as bus system 313.

[0174] Memory 311 may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory may include magnetic disk memory or magnetic tape memory. Volatile memory may include random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0175] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the autonomous working robot. Examples of these data include: any computer program used to operate on the autonomous working robot, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program can include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention can be included in the application program.

[0176] Based on the same inventive concept as the previous embodiment, this embodiment further provides a computer storage medium, wherein the computer storage medium stores a computer program. The computer storage medium can be a memory such as a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); or various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by a processor, the control method of the autonomous working robot described above is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to the description of the embodiment shown in Figure 5, which will not be repeated here.

[0177] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0178] As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0179] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A control method for an autonomous working robot, the autonomous working robot comprising: a working part configured to perform work under the control of the autonomous working robot; A moving part, wherein the moving part is configured to perform movement under the control of the autonomous working robot, wherein the method comprises: Obtaining a map of a target area where the autonomous working robot is to perform work; Generate a planned path according to the map, and control the autonomous working robot to move along multiple paths to traverse the target area, the multiple paths are parallel to each other, the directions of adjacent paths are opposite, and the number of paths N in at least part of the target area is less than or equal to Wherein, R1 represents the length of a line segment in the at least partial area that is substantially perpendicular to the path direction, W represents the working range of the working portion, and B represents a set value for adjusting the path width, 1.2 cm ≤ B ≤ 7 cm.

2. The method according to claim 1, characterized in that Generating a planned path according to the map includes: The map boundary is retracted by a preset distance S, and a planned path is generated according to the retracted map, wherein the number of generated planned paths N is less than or equal to 3. The method according to claim 1 or 2, characterized in that: B≤2cm.

4. The method according to any one of claims 1 to 3, characterized in that The moving part comprises: a front moving part and a rear moving part, and at least the projection overlap amount of the front moving part and the working part in the target area is less than or equal to W*5%.

5. The method according to claim 4, characterized in that The overlap amount between the projection of the front moving part on the target area and the projection of the working part on the target area is zero.

6. The method according to any one of claims 1 to 5, characterized in that The target area includes an area where the satellite signal strength is greater than or equal to a preset threshold.

7. The method according to any one of claims 1 to 6, characterized in that Controlling the autonomous working robot to travel along multiple paths to traverse the target area, including: Controlling the autonomous working robot to travel along a plurality of first paths in a first working cycle to traverse the target area; The autonomous working robot is controlled to travel along a plurality of second paths in a second working cycle to traverse the target area, wherein the second paths at least partially do not overlap with the first path.

8. The method according to claim 7, characterized in that The second path is substantially parallel to the first path, and a distance between adjacent second paths and the first path is greater than or equal to 5 cm and / or less than or equal to (WB-5) cm.

9. The method according to claim 7 or 8, characterized in that: A preset angle is formed between the second path and the first path.

10. The method according to any one of claims 7 to 9, characterized in that The working part is configured to perform a lawn mowing operation; accordingly, the method further includes: Acquire environmental parameters near the autonomous working robot, wherein the environmental parameters reflect the grass quality in the target area. Growth rate; The time interval between the first working cycle and the second working cycle is adjusted according to the environmental parameter.

11. The method according to any one of claims 7 to 10, characterized in that The time interval between the second working cycle and the first working cycle is less than or equal to 48 hours.

12. The method according to any one of claims 1 to 11, characterized in that The map includes: a grid map, the grid map includes multiple grids, multiple paths are generated according to the grid map, the autonomous working robot is controlled to move along the multiple paths, and the grids of preset width covered by it are marked as worked on the grid map, and the preset width is an integer multiple of the grid size.

13. The method according to claim 12, characterized in that When the working part is located on the central axis of the autonomous working robot, correspondingly, each of the multiple paths passes through the midpoint of the preset width.

14. The method according to claim 12 or 13, characterized in that The grid size includes: a grid width, and the grid width is equal to (WB) / n, wherein n represents the preset number of grids to be marked.

15. The method according to any one of claims 1 to 14, characterized in that The method further comprises: The set value is determined according to at least one of the following methods: determining the set value according to the area type of the target area, or determining the set value according to user input; or determining the set value according to storage data of the autonomous working robot.

16. An autonomous working robot, comprising: a working part configured to perform work under the control of the autonomous working robot; a moving part configured to perform movement under the control of the autonomous working robot, A controller, wherein the controller is connected to the working part and the moving part by signal, and wherein: The controller obtains a map of the target area where the autonomous working robot is to perform work; generates a planned path according to the map, and controls the autonomous working robot to travel along multiple paths to traverse the target area, wherein the multiple paths are parallel to each other, and adjacent paths of the multiple paths are in opposite directions; the number of paths N in at least part of the target area is less than or equal to R1 / (WB), wherein R1 represents the length of a line segment in a direction substantially perpendicular to the path direction in at least part of the area, W represents the width of the working range of the working part, and B represents a set value for adjusting the path width, 1.2cm≤B≤7cm.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the method according to any one of claims 1 to 15.

18. A control method for an autonomous working robot, the autonomous working robot comprising: a working part configured to perform work under the control of the autonomous working robot; a moving part configured to perform movement under the control of the autonomous working robot, Characterized in that the method comprises: Acquire a map of a target area where the autonomous working robot is to perform work, the map comprising: a grid map, wherein the grid map comprises a plurality of grids; generating a plurality of paths according to the grid map; The autonomous working robot is controlled to move along multiple paths, and grids of a preset width covered by the robot are marked as worked on the grid map, wherein the preset width is an integer multiple of the grid size.

19. A control method for an autonomous working robot, the autonomous working robot comprising: a working part configured to perform work under the control of the autonomous working robot; A moving part, wherein the moving part is configured to perform movement under the control of the autonomous working robot, wherein the method comprises: Obtaining a map of a target area where the autonomous working robot is to perform work; A planned path is generated according to the map, and the autonomous working robot is controlled to move along multiple paths to traverse the target area, the multiple paths are parallel to each other, adjacent paths of the multiple paths are in opposite directions, and the path width between the adjacent paths is greater than or equal to (WB), wherein W represents the working range of the working part, and B represents the position deviation of the autonomous working robot value during movement for adjusting the path width, 1.2cm≤B≤7cm.

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