Operation control method, self-moving device and storage medium

Abstract

The invention discloses an operation control method, self-moving equipment and a storage medium, and relates to the technical field of robot control. The work control method comprises: acquiring a map of a work area (S110); determining a restricted area in the map based at least on geometric features of the map, the geometric features of the restricted area generating restrictions on the way of passage of the self-moving device (S120); a working strategy corresponding to the geometric features of the restricted area is generated and executed (S130). By firstly determining the restricted area in the map and then generating the working strategy of the self-moving device in the working area, a narrow channel or a narrow area in the working area can be checked in advance, the self-moving device is controlled not to go to or the advancing path is re-planned, and the situation that the self-moving device is difficult to escape is avoided.

Description

A job control method, self-moving device and storage medium Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to an operation control method, a self-moving device and a storage medium. Background Art

[0002] With the improvement of living standards and technological advancements, robots are being used in a growing number of fields and jobs. To meet these needs, research on various types of robots is gaining increasing attention. Intelligent robots like sweepers and lawn mowers can free users from tedious and repetitive tasks, significantly improving their work efficiency and quality of life.

[0003] In traditional technologies, users often manually input or mark sub-areas or channels within the work area to guide the intelligent robot's movement in different sub-areas.

[0004] Summary of the Invention

[0005] In conventional technologies, the user manually inputs or marks sub-areas or channels within a work area to guide the movement of mobile equipment in different sub-areas.

[0006] However, the above method not only increases the workload of users, but also when the mobile device operates according to the operation route formulated by the existing path planning method, the mobile device often gets into a position where it cannot escape. At this time, manual help is required to help the operating robot escape, which greatly affects the operating efficiency.

[0007] In order to solve the above technical problems, the present application provides an operation control method, a self-moving device and a storage medium that can identify restricted areas and control a self-moving device from entering areas prone to difficulties.

[0008] In a first aspect, the present application provides a method for controlling a job, which is applied to a mobile device, and the method comprises:

[0009] Get a map of the work area;

[0010] Determining a restricted area in the map based at least on geometric features of the map, wherein the geometric features of the restricted area restrict the movement of the self-moving device;

[0011] Generate and execute work strategies corresponding to the geometric characteristics of the restricted area.

[0012] The above-mentioned operation control method, by first determining the restricted area in the map, and then generating and executing the work strategy corresponding to the geometric characteristics of the restricted area, can check the narrow passages or narrow areas in the work area in advance and control the self-moving equipment not to go there, so as to avoid the situation where the self-moving equipment is difficult to escape.

[0013] In some embodiments, determining a restricted area in a map based at least on geometric features of the map includes:

[0014] Determining a path width required for one-way passage and / or turning of the mobile device, wherein the path width required for one-way passage of the mobile device is determined based on the body size of the mobile device, and the path width required for turning of the mobile device is determined based on the turning radius of the mobile device;

[0015] The area with a width smaller than the path width is treated as a restricted area in the map.

[0016] In some embodiments, the working area includes at least two sub-areas; and determining the restricted area in the map based at least on geometric features of the map includes:

[0017] Determine the connectivity relationship between any two sub-areas in the working area; connectivity relationships include: connected and disconnected;

[0018] Based on the connectivity relationship, an area that the mobile device can reach without a path is determined as a restricted area. The area that the mobile device can reach without a path is indicated as: at least one sub-area that has no channel connection to the sub-area where the mobile device is located.

[0019] In some embodiments, determining the connectivity relationship between any two sub-areas in the working area includes:

[0020] Obtaining map data of a map; the map data includes: a channel identifier, and a sub-region set corresponding to each channel identifier; the sub-region set includes at least two sub-regions connected by the channel;

[0021] Based on the channel identifiers and the set of subregions corresponding to each channel identifier, at least one connected region is determined; wherein, any two subregions in a connected region are connected through at least one channel; when there is a subregion that does not belong to the connected region, the connectivity relationship between the subregion and any subregion in the connected region is disconnected.

[0022] In some embodiments, determining the connectivity relationship between any two sub-areas in the working area includes:

[0023] Image recognition is performed on the map to determine connected areas and independent sub-areas in the map; wherein the connected area includes: at least two sub-areas and a channel connecting at least two sub-areas; the independent sub-area is not connected to any sub-area through a channel.

[0024] In some embodiments, when there are at least two connected areas in the working area, there is no channel connecting any two connected areas.

[0025] In some embodiments, generating and executing a work strategy corresponding to the geometric characteristics of the restricted area includes:

[0026] Determine a connected area or sub-area where the mobile device is located, and use the connected area or sub-area where the mobile device is located as a target working area;

[0027] Based on the geometric features of the restricted area in the target working area, the restricted area is not entered into, or is entered into in a specific direction, or at least one working strategy in the image retouching program is initiated.

[0028] In some embodiments, the above method further comprises:

[0029] After the self-moving device completes movement and / or operation in the target work area, the self-moving device is controlled to return to the charging station.

[0030] In some embodiments, controlling the mobile device to return to the charging station includes:

[0031] When there is a charging station in the non-restricted area of ​​the target working area, control the mobile device to return to the charging station;

[0032] When there is no charging station in the non-restricted area of ​​the target working area, the mobile device is controlled to move to a first target position; the first target position is pre-set.

[0033] In some embodiments, initiating a photo editing process includes:

[0034] Sending prompt information to the user terminal based on the geometric features of the restricted area;

[0035] Acquiring feedback information in response to the prompt information; the feedback information includes: a map modification instruction or a non-modification instruction;

[0036] When the feedback information is a map modification instruction, modifying the map based on the map modification instruction to obtain a modified map;

[0037] Determining a restricted area in the modified map based at least on geometric features of the modified map, the geometric features of the restricted area restricting a travel mode of the self-moving device;

[0038] Generate and execute work strategies corresponding to the geometric characteristics of the restricted area.

[0039] In some embodiments, obtaining feedback information in response to a prompt includes:

[0040] Obtaining feedback information in response to the prompt information;

[0041] When the feedback information fails to be obtained or the feedback information is a non-modification instruction, determining the target working area;

[0042] Determining a restricted area within the target working area based at least on geometric characteristics of the target working area, wherein the geometric characteristics of the restricted area restrict a passage mode of the self-moving device;

[0043] Generate and execute work strategies corresponding to the geometric characteristics of the restricted area.

[0044] In some embodiments, performing entry into a restricted area in a specific direction includes:

[0045] Determine a first moving direction; the first moving direction is the moving direction of the self-moving device in the non-restricted area;

[0046] When the width of the restricted area is greater than or equal to the width of the mobile device, a second moving direction different from the first moving direction is acquired, and the mobile device is controlled to enter the restricted area according to the second moving direction.

[0047] In some embodiments, performing no-entry work on a restricted area includes:

[0048] When the width of the restricted area is smaller than the width of the mobile device, the mobile device is controlled not to enter the restricted area.

[0049] In some embodiments, after controlling the mobile device to move and / or operate in the work area, the method further includes:

[0050] When a collision occurs while the self-mobile device is moving and / or operating in the work area, the number of collisions within the preset work area is recorded;

[0051] When the number of collisions within the preset working area is greater than or equal to a preset threshold, obtaining location data of at least one second target location according to the map, wherein the second target location is used to indicate at least a location of an open area or a location of an unoperated area in the working area;

[0052] Planning a target path for the mobile device to move to a second target location, and controlling the mobile device to move to the second target location based on the target path;

[0053] Based on the second target position, the walking path of the mobile device in the working area is replanned.

[0054] In a second aspect, the present application provides a self-moving device suitable for performing at least one work task in a work area. The self-moving device includes a body and a mobile component, a working component, and a positioning component arranged on the body. It also includes: a control circuit coupled to the mobile component, the working component, and the positioning component. The control circuit stores a computer program, and the control circuit implements the steps of the method described in any of the above embodiments when executing the computer program.

[0055] In some embodiments, the self-mobile device is suitable for performing at least one of the following work tasks: mowing tasks, snow removal tasks, watering tasks, leaf blowing tasks, and sweeping tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0057] FIG1 is a schematic diagram showing a flow chart of a job control method provided by an embodiment of the present application;

[0058] FIG2 shows a schematic diagram of a map in which a working area includes at least one restricted area in one embodiment of the present application;

[0059] FIG3 shows a schematic diagram of a map in which a working area includes at least one isolated connected area in one embodiment of the present application;

[0060] FIG4 shows a schematic diagram of a map in which a working area includes at least one isolated sub-area in one embodiment of the present application;

[0061] FIG5a is a schematic diagram showing preset conditions corresponding to an arc-shaped route in one embodiment of the present application;

[0062] FIG5 b is a schematic diagram showing preset conditions corresponding to a U-shaped route in one embodiment of the present application;

[0063] FIG6 shows a schematic structural diagram of a self-propelled lawn mowing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0065] A self-propelled device is suitable for performing at least one work task within a work area and typically includes a body, a drive assembly connected to the body, a working assembly, and a control module. The control module is coupled to the drive assembly and the working assembly to control their movements. The drive assembly typically includes a drive motor and a drive wheel connected to the drive motor, and may optionally include a driven wheel that, together with the drive wheel, drives the self-propelled device. The working assembly may include at least one of a bladed disc for mowing grass, a blower head for blowing away fallen leaves, and a snowplow head for clearing snow.

[0066] In conventional technologies, the user manually inputs or marks sub-areas or channels within a work area to guide the movement of mobile equipment in different sub-areas.

[0067] However, the above method not only increases the workload of users, but also when the mobile device operates according to the operation route formulated by the existing path planning method, the mobile device often gets into a position where it cannot escape. At this time, manual help is required to help the operating robot escape, which greatly affects the operating efficiency.

[0068] Figure 1 is a schematic flow chart of a work control method provided by an exemplary embodiment of the present application. For example, the control method in this embodiment of the present application is applied to a self-propelled device configured to travel and / or operate within a work area. As shown in Figure 1, the control method in this embodiment of the present application includes steps S110 to S130.

[0069] Step S110: Obtain a map of the work area.

[0070] In this embodiment, the map of the working area may be a grid map including a plurality of identical grids.

[0071] In this embodiment, the map of the working area is pre-built based on an actual map.

[0072] In this embodiment, the control module of the mobile device can be used to obtain a map of the work area.

[0073] Step S120, determining a restricted area in the map based at least on geometric features of the map, wherein the geometric features of the restricted area restrict the passage of the mobile device;

[0074] In this embodiment, the restricted area is an area where the self-moving device cannot pass through in one direction and / or cannot perform a turning operation.

[0075] Step 130 : Generate and execute a working strategy corresponding to the geometric features of the restricted area.

[0076] In this embodiment, the control module can plan a path for the unrestricted area on the map and control the mobile device to move and / or perform operations in the unrestricted area according to the planned path. The operation tasks may include, but are not limited to, at least one of the following: mowing, snow removal, watering, leaf blowing, and sweeping.

[0077] In another embodiment, the control module may plan a path for the work area, control the self-mobile device to move and / or perform operations in the work area according to the planned path, and not respond to or enter paths in restricted areas.

[0078] In another embodiment, the control module may send restricted area prompt information to the terminal, which may be used to prompt the user that a restricted area exists in the current working area and / or remind the user to modify the map.

[0079] In another embodiment, the restricted area prompt information may also be used to prompt the user of the location of the restricted area in the map and the scope of the restricted area, so that the user can process the restricted area.

[0080] The above-mentioned operation control method, by first determining the restricted area in the map, and then generating and executing the work strategy corresponding to the geometric characteristics of the restricted area, can check the narrow passages or narrow areas in the work area in advance and control the self-moving equipment not to go there, so as to avoid the situation where the self-moving equipment is difficult to escape.

[0081] In some embodiments, determining the restricted area in the map based at least on the geometric features of the map may include: determining the path width required for one-way passage and / or turning of the self-moving device, wherein the path width required for one-way passage of the self-moving device is determined based on the body size of the self-moving device, and the path width required for turning of the self-moving device is determined based on the turning radius of the self-moving device; and treating the area with a width smaller than the path width as the restricted area in the map.

[0082] In this embodiment, the condition for one-way passage of the self-moving device at least includes: the width of the area is greater than or equal to the width of the self-moving device body.

[0083] In some embodiments, as shown in Figure 2, the autonomous device includes a positioning device, and the autonomous device can be a lawn mower. Due to positioning errors during map creation, the control module can determine the required path width for the autonomous device to pass in one direction based on the width of the autonomous device and the positioning error value. Areas with a width less than the path width are designated as restricted areas in the map.

[0084] In this embodiment, the control module can determine the required path width on the map for one-way passage of the self-moving device based on the positioning error and the width of the self-moving device. For example, if the width of the area on the map caused by the positioning error is 0.03m smaller than the actual area width, and the width of the self-moving device is 0.35m, the required path width on the map for one-way passage of the self-moving device is 0.32m.

[0085] In this embodiment, the error between the width of the area on the map and the actual area width caused by positioning error can be within the range of [0 cm, 10 cm]. For example, when the actual area width is 1 meter, the area width of the same area on the map can be within the range of [0.9 m, 1 m] or [1 m, 1.1 m] due to positioning error.

[0086] In some embodiments, the working area includes at least two sub-areas; determining the restricted area in the map based at least on the geometric features of the map may include: determining the connectivity relationship between any two sub-areas in the working area; the connectivity relationship includes: connected and disconnected; based on the connectivity relationship, determining the area that can be reached by the mobile device without path movement as the restricted area; wherein the area that can be reached by the mobile device without path movement is indicated as: at least one sub-area that has no channel connection with the sub-area where the mobile device is located.

[0087] In this embodiment, the working area may include isolated sub-areas and / or connected areas. An isolated sub-area is a sub-area that has no channel connection to any sub-area in the working area. A connected area includes at least two sub-areas connected by a channel. It is understood that any sub-area can be an isolated sub-area or belong to a connected area.

[0088] In this embodiment, when there are at least two connected areas in the working area, there is no channel connecting any two connected areas. When there are at least two connected areas in the working area, any connected area is an isolated area.

[0089] In one embodiment, as shown in Figure 3, when two connected areas cannot be connected by a channel, an isolated area exists in the working area. For example, subareas 1 and 2 are connected by a channel to form connected area 1, and subareas 3 and 4 are connected by a channel to form connected area 2. If there is no channel connecting connected area 1 and connected area 2, then connected area 1 and connected area 2 are isolated from each other, that is, connected area 1 and connected area 2 are both isolated areas in the working area. An isolated area includes at least two subareas.

[0090] In another embodiment, when a subregion is not connected to any other subregion or connected region, the subregion is an isolated subregion. The connected region includes at least two subregions. As shown in Figure 4, the working area includes: subregion 1, subregion 2 and subregion 3. When subregion 1 and subregion 2 are connected through channel 1 to form connected region 1, and subregion 3 is not connected to the connected region (that is, it is not connected to any subregion in the connected region), subregion 3 is an isolated subregion, and connected region 1 is an isolated region. For another example (not shown), the working area includes: subregion 1, subregion 2, subregion 3 and subregion 4. When subregion 1 and subregion 2 are connected through channel 1 to form connected region 1, subregion 3 and subregion 4 are not connected to the connected region, and subregion 3 is not connected to subregion 4, subregion 3 is not connected to any subregion in the working area, and subregion 4 is not connected to any subregion in the working area, then subregion 3 and subregion 4 are both isolated subregions, and connected region 1 is an isolated region.

[0091] In some embodiments, determining the connectivity relationship between any two sub-areas in the working area may include: obtaining map data of a map; the map data includes: a channel identifier, and a set of sub-areas corresponding to each channel identifier; the sub-area set includes at least two sub-areas connected by a channel; based on the channel identifier and the set of sub-areas corresponding to each channel identifier, determining at least one connected area; wherein any two sub-areas in a connected area are connected through at least one channel; when there is a sub-area that does not belong to a connected area, the connectivity relationship between the sub-area and any sub-area in the connected area is disconnected.

[0092] In some embodiments, determining a connected area based on a channel identifier and a sub-area set corresponding to each channel identifier may include: when any two sub-area sets have a non-empty intersection, the above two sub-area sets belong to the same connected area. It is understandable that there is no non-empty intersection between any two connected areas. For example, when there is a sub-area set A: {1, 2}, a sub-area set B: {1, 3}, and a sub-area set C: {4, 5, 7}, A and B have a non-empty intersection {1}, then A and B can be merged into a connected area A', and the sub-area set corresponding to the connected area A' is: {1, 2, 3}, C does not have a non-empty intersection with A or B, then a connected area C' is determined based on C, and the sub-area set corresponding to the connected area C' is: {4, 5, 7}. Among them, the sub-area set corresponding to A' and the sub-area set corresponding to C' do not have a non-empty intersection, and there is no channel connection between A' and C', that is, A' and C' are isolated areas.

[0093] In some embodiments, determining the connectivity relationship between any two sub-areas in the working area may include: performing image recognition on a map to determine connected areas and independent sub-areas in the map; wherein the connected area includes: at least two sub-areas, and a channel connecting at least two sub-areas; and the independent sub-area is not connected to any sub-area through a channel.

[0094] In this embodiment, the control module can input the acquired map of the working area into the image recognition model to obtain the image recognition results output by the image recognition model, which are used to determine the connected areas and independent sub-areas in the map.

[0095] In some embodiments, determining the restricted area in the map based at least on geometric features of the map may further include: processing the map according to a morphological processing algorithm to obtain the restricted area and the unrestricted area.

[0096] In some embodiments, processing the map according to a morphological processing algorithm to obtain a restricted area and a non-restricted area may include: performing an erosion and dilation algorithm on the map according to a preset width to obtain a processed map; the preset width is greater than or equal to half the body width of the self-mobile device; the area corresponding to the processed map is used as a non-restricted area; and determining the restricted area based on the working area and the non-restricted area.

[0097] In this embodiment, the control module first performs image processing on the map using an erosion algorithm based on a preset width to obtain a first map, and then performs image processing on the first map using a dilation algorithm based on the preset width to obtain a second map. The widths of the erosion and dilation algorithms are the same (equal to the preset width). When the preset width is greater than or equal to half the width of the self-moving device, the difference between the working area map and the second map is that the second map does not contain any area with a width less than the width of the self-moving device, that is, the second map does not contain any restricted area.

[0098] In this embodiment, the control module determines the non-restricted area in the map based on the second map. Further, based on the non-restricted area, the control module can determine the restricted area in the map.

[0099] In some embodiments, generating and executing a working strategy corresponding to the geometric features of a restricted area may include: determining a connected area or sub-area where the self-mobile device is located, and taking the connected area or sub-area where the self-mobile device is located as a target working area; based on the geometric features of the restricted area in the target working area, executing a non-entry work on the restricted area, or entering the work in a specific direction, or initiating at least one working strategy in a photo editing program.

[0100] In this embodiment, when the control module controls the self-moving device to perform non-entry work in the restricted area, the control module can control the self-moving device to plan a walking path of the self-moving device for the non-restricted area in the target work area; and control the self-moving device to perform movement and / or work in the target work area according to the walking path.

[0101] In this embodiment, the walking path of the self-moving device may include but is not limited to: a bow-shaped cutting path.

[0102] In some other embodiments, the self-moving device may also be in an isolated sub-area. When the self-moving device is in the isolated sub-area, the control module uses the isolated sub-area as the target working area.

[0103] In some embodiments, the above method may further include: controlling the self-moving device to return to the charging station after completing the movement and / or operation in the target work area.

[0104] In some embodiments, controlling the self-mobile device to return to a charging station after completing movement and / or operation in a target working area may include: when there is a charging station in a non-restricted area of ​​the target working area, controlling the self-mobile device to return to the charging station; when there is no charging station in the non-restricted area of ​​the target working area, controlling the self-mobile device to move to a first target position; the first target position is pre-set.

[0105] In some embodiments, the fact that there is no charging station in the non-restricted area of ​​the target working area includes at least one of the following situations: there is a charging station in the restricted area of ​​the target working area, and there is no charging station in the target working area.

[0106] It is understood that when there is no charging station in the unrestricted area of ​​the target working area, the first target position may be any position in the unrestricted area of ​​the target working area. Preferably, the first target position may be the position in the unrestricted area of ​​the target working area that is closest to the charging station.

[0107] In some embodiments, initiating a map editing program may include: sending a prompt message to a user terminal based on the geometric features of a restricted area; obtaining feedback information in response to the prompt message; the feedback information includes: a map modification instruction or a non-modification instruction; when the feedback information is a map modification instruction, modifying the map based on the map modification instruction to obtain a modified map; determining a restricted area in the modified map based on at least the geometric features of the modified map, the geometric features of the restricted area restricting the way of travel of a self-moving device; generating and executing a work strategy corresponding to the geometric features of the restricted area.

[0108] In this embodiment, when at least one of an isolated area, an isolated sub-area, or a restricted area exists within the work area, the control module may send a prompt to the terminal, prompting the user that the map needs to be modified. The user may modify the map of the work area based on the prompt or ignore the prompt.

[0109] In another embodiment, when the user ignores the above prompt information (i.e., the user does not respond to the prompt information, or chooses not to modify the map), the control module uses the connected area or sub-area where the mobile device is currently located as the current working area, plans the walking path of the mobile device for the current working area, and controls the mobile device to move and / or operate in the current working area according to the above walking path.

[0110] In other embodiments, when the user modifies the map of the work area based on the above prompt information, the control module plans the walking path of the mobile device based on the modified map, and controls the mobile device to move and / or operate in the work area according to the above walking path.

[0111] In other embodiments, after the user modifies the work area map based on the above prompt information, the control module may further determine the presence of isolated areas, isolated sub-areas, and restricted areas in the work area based on the geometric features of the modified map. If the modified map does not contain isolated areas, isolated sub-areas, or restricted areas, the control module plans a path for the mobile device based on the modified map and controls the mobile device to move and / or operate within the work area according to the path.

[0112] In this embodiment, if there is at least one isolated area, or at least one isolated sub-area, or at least one restricted area in the modified map, the control module will use the connected area or sub-area where the self-mobile device is currently located as the target working area, plan a walking path for the self-mobile device for the target working area or the non-restricted area of ​​the target working area, and control the self-mobile device to move and / or operate in the target working area according to the above walking path.

[0113] In this embodiment, the control module may obtain feedback information in response to the prompt information within a preset time period.

[0114] In this embodiment, the feedback information corresponds to a modification made by the user to the map, which may include but is not limited to: adding, modifying, or deleting a channel, adding, modifying, or deleting a sub-area, and the like.

[0115] In some embodiments, obtaining feedback information in response to a prompt may include: obtaining feedback information in response to the prompt information; determining the target working area when the feedback information acquisition fails or the feedback information is a non-modification instruction; determining a restricted area in the target working area based at least on the geometric characteristics of the target working area, the geometric characteristics of the restricted area restricting the passage mode of the self-moving device; generating and executing a working strategy corresponding to the geometric characteristics of the restricted area.

[0116] In some embodiments, obtaining feedback information in response to the prompt information may include: determining a target work area of ​​the mobile device when obtaining the feedback information fails; and planning a movement path of the mobile device within the target work area or an unrestricted area within the target work area. The target work area refers to a connected area or sub-area within which the mobile device is located.

[0117] In this embodiment, situations in which the control module fails to obtain feedback information may include but are not limited to: when the user does not modify the map based on the prompt information within the preset time length, or the control module is interrupted in obtaining feedback information within the preset time length (signal impact, device shutdown, etc.), or the control module does not obtain feedback information within the preset time length, etc.

[0118] In some embodiments, executing the operation of entering a restricted area in a specific direction may include: determining a first moving direction; the first moving direction is the moving direction of the self-moving device in a non-restricted area; when the area width of the restricted area is greater than or equal to the body width of the self-moving device, obtaining a second moving direction different from the first moving direction, and controlling the self-moving device to enter the restricted area according to the second moving direction.

[0119] In some embodiments, as shown in Figures 5a and 5b, the working area may be a lawn, a golf course, a shopping mall, etc., which usually has a basically flat shape but irregular contours, and may contain obstacles that affect the normal passage of the self-moving device or the above-mentioned restricted areas, isolated sub-areas or isolated connected areas, etc.

[0120] In this embodiment, as shown in FIG5a , a restricted area exists within the target working area R, and the control module can obtain a travel path T of the mobile device within the target working area R. It will be appreciated that the travel path of the mobile device can be pre-planned or determined in real time based on the specific working environment in which the mobile device is currently located. The specific method for planning the travel path can refer to existing technologies, and of course, the travel path can also be planned according to the improved planning method proposed in the specific embodiments of this embodiment.

[0121] In this embodiment, as shown in FIG5a , the self-moving device has only a first moving direction Y. The autonomous driving rule of the self-moving device is set to a U-shaped driving rule along the first moving direction Y. Specifically, the U-shaped driving rule is as follows: the self-moving device moves along multiple paths T parallel to the first moving direction Y, with the directions of travel on two adjacent paths T being opposite. When the self-moving device is in operation, it can follow Mode A when moving in a direction parallel to the short side of the U-shaped path, and can follow Mode B when moving along the long side of the U-shaped path.

[0122] Alternatively, as shown in Figure 5b, the self-moving device has two first moving directions Y1 and Y2 with two different directions, and the autonomous driving rule of the self-moving device is set to a U-shaped driving rule with Y1 and Y2, and the U-shaped driving rule is specifically: Y1 and Y2 are perpendicular to each other, and the self-moving device moves along multiple first travel paths T1 parallel to YI, and along multiple second travel paths T2 parallel to Y2, and the self-moving device alternately moves along the first travel path T1 and the second travel path T2, and moves from the edge of the working plane R to the middle of the working plane R, and can also move from the middle of the working plane R to the edge of the working plane R.

[0123] In this embodiment, the first movement direction can be determined based on the long side of the area to be worked. In different path types, the first movement direction can be one or more. For example, while also being determined based on the long side of the area to be worked, the aforementioned bow-shaped path has only one first movement direction Y, while the U-shaped path can have two different first movement directions, Y1 and Y2.

[0124] In some embodiments, performing the non-entry operation on the restricted area may include: when the width of the restricted area is smaller than the width of the self-moving device, controlling the self-moving device not to enter the restricted area.

[0125] In some embodiments, within a reference plane parallel to the first movement direction of the self-moving device and perpendicular to the surface of the work area, the length of the projection of the self-moving device's path perpendicular to the reference plane is greater than a preset length threshold. For example, as shown in Figure 5a, a reference plane parallel to the first movement direction Y of the self-moving device and perpendicular to the surface of the work area R is A. In reference plane A, the projection of the self-moving device's path T perpendicular to reference plane A is P. If the length of projection P is greater than or equal to the preset length threshold, the control module controls the self-moving device to move and / or perform operations within the work area according to the first movement direction Y. If the length of projection P of at least one path T is less than the preset length threshold, the control module controls the self-moving device to not enter that path T.

[0126] It is understood that the surface of the working area is defined as the working plane, and the plane perpendicular to the working plane and parallel to the first direction of movement is the reference plane. The path is projected perpendicular to the reference plane to form a projection that falls on the reference plane. The length of this projection reflects the macroscopic length of the path parallel to the first direction of movement. In other words, the path can actually be curved, uneven, or a collection of multiple paths. A length threshold is preset, and the self-moving device can travel along the path below this length threshold. The projected length is compared with the length threshold to determine whether the path allows the self-moving device to pass smoothly. When the projected length is greater than the length threshold, it indicates that the self-moving device can pass through the path, and the self-moving device continues to move along the originally planned path. When the projected length is less than or equal to the length threshold, it indicates that the macroscopic length of the path in the first direction of movement is less than the length that the self-moving device can pass, which may easily cause the self-moving device to be trapped, and the path needs to be replanned.

[0127] In this embodiment, the preset length threshold may be determined based on the size of the mobile device and / or the turning radius of the mobile device. In one embodiment, the preset length threshold may be greater than or equal to the width of the mobile device. In another embodiment, the preset length threshold may be greater than or equal to the sum of the width of the mobile device and the turning radius of the mobile device.

[0128] In some embodiments, when the mobile device starts to move and / or perform an operation from any position in the work area, the control module first determines a travel path according to the first moving direction.

[0129] In some embodiments, if the length of at least one projection P of the travel path T is less than a preset length threshold, the control module may adjust the planned travel path. Specifically, the control module may change the first movement direction to prevent the autonomous device from becoming trapped around obstacles or in confined areas, thereby improving efficiency.

[0130] In some embodiments, as shown in FIG5a, the self-moving device moves along a bow-shaped route. At this time, the first moving direction Y is the long side of the bow-shaped route. The longest travel path among all travel paths parallel to Y in the working area is T3. If the length of the projection P3 of T3 is less than the preset length threshold, it means that the self-moving device cannot enter the working area, and the travel path needs to be replanned.

[0131] In some embodiments, as shown in FIG5b , the self-moving device moves along a U-shaped route. At this time, the self-moving device has two first moving directions Y1 and Y2 with two different directions, which are parallel to two sets of opposite sides of the U-shaped route respectively. If the longest travel path T1 among the travel paths parallel to Y1 in the working area and the longest travel path T2 among the travel paths parallel to Y2 do not meet the preset conditions, the travel path needs to be replanned.

[0132] The present application also provides an operation control method, most of the steps of which are the same as those in the aforementioned embodiment, except that the path planning method of the method is pre-planning, that is, before the self-moving device performs movement and / or operation, the global travel path of the work area is obtained. The steps may specifically include: obtaining a map of the work area and a first moving direction of the self-moving device; pre-planning the global travel path of the self-moving device according to the map and the first moving direction, wherein the global travel path includes multiple travel sub-paths parallel to the first moving direction. Accordingly, when the work area is pre-planned according to the first moving direction, the projection of the global travel path as a whole on the reference plane can be determined, or the projection of a single travel sub-path in the global travel path on the reference plane can be determined one by one. Accordingly, when judging the global travel path in the pre-planning of the work area, if the projections of each travel sub-path in the global travel path are less than the preset length threshold, re-planning is required; if there is at least one travel sub-path in the global travel path that is greater than or equal to the preset length threshold, the control module can control the mobile device to move and / or operate in at least a part of the work area according to the first moving direction.

[0133] Specifically, before the self-moving device performs movement and / or operation, a global travel path pre-planned based on a map and a first movement direction is first obtained, and all travel sub-paths parallel to the first movement direction are obtained. The projections of all travel sub-paths as a whole on a reference plane are compared with a length threshold, or all travel sub-paths are individually determined to be greater than or equal to a preset length threshold. If the projections of all travel sub-paths are less than the preset length threshold, re-planning is required; if there is at least one travel sub-path among all travel sub-paths that is greater than or equal to the preset length threshold, the control module can control the self-moving device to perform movement and / or operation in at least a portion of the work area according to the first movement direction.

[0134] In this embodiment, adjusting the planning of the global travel path includes: obtaining a second moving direction different from the first moving direction; and replanning the global travel path of the mobile device according to the map and the second moving direction.

[0135] In some embodiments, if the projections of all the travel sub-paths are less than a preset length threshold, the control module replans the global travel path of the mobile device according to the map and the second moving direction.

[0136] In some embodiments, if the projections of some travel sub-paths are less than a preset length threshold, the control module prioritizes movement and / or operations in areas where the travel sub-paths with projections greater than or equal to the preset length threshold are located, while movement and / or operations are performed along the second movement direction for travel sub-paths with projections less than the preset length threshold. In other embodiments, if the projections of some travel sub-paths are less than the preset length threshold, the control module may replan the global travel path of the mobile device based on the map and the second movement direction.

[0137] In some embodiments, if the projections of all the travel sub-paths are greater than or equal to a preset length threshold, the control module controls the self-moving device to move and / or perform operations in the working area according to the first moving direction.

[0138] The advantage of this method is that the global path of the work area is pre-determined before work begins. All sub-paths are then determined before proceeding, allowing the global route to be known in advance. For areas that the self-moving device cannot pass through using the first movement direction, a new global path or partial path is planned using a second movement direction different from the first, allowing the self-moving device to attempt to enter the narrow area from more angles.

[0139] In some embodiments, the present application also provides an operation control method, most of the steps of which are the same as those in the aforementioned embodiment, except that in this method, adjusting the planning of the global travel path may also include: abandoning the travel sub-path in the global travel path whose projection is less than a preset length threshold.

[0140] Specifically, if the projection of a portion of a travel sub-path is less than a preset length threshold, the system prioritizes moving and / or working in areas where the projection of a travel sub-path is greater than or equal to the preset length threshold. The self-mobile device will no longer move to areas where the projection of a travel sub-path is less than the preset length threshold, and tasks in those areas can be completed manually or through other means. This allows the system to prioritize work within a limited area, avoiding wasting time in a narrow area and delaying tasks in other areas.

[0141] In some embodiments, the present application also provides a work control method. Most of the steps in this method are the same as those in the aforementioned embodiments, but the difference lies in the real-time path planning method, that is, obtaining the current travel path while the self-moving device is moving and / or working. The steps may include: obtaining a map of the work area and a third movement direction of the self-moving device; and planning the current travel path of the self-moving device in real time based on the map and the third movement direction.

[0142] In this embodiment, the mobile device's path is planned in real time using a map of the work area and the device's third direction of movement. Referring to Figure 5a, the specific method for real-time planning includes: the mobile device travels along multiple paths T parallel to the third direction of movement Y, with two adjacent paths T traveling in opposite directions. After obtaining the first current path, a determination is made as to whether the projection of the current path is greater than or equal to a preset length threshold. If the projection of the current path is greater than or equal to the preset length threshold, the control module controls the mobile device to continue along the current path and obtain the next path, repeating the above steps. If the projection of the current path is less than the preset length threshold, the control module adjusts the path planning.

[0143] In the above embodiment, the pre-planning method can know the global travel path in advance, and the self-moving device can go directly to the open area that meets the preset conditions without staying in a narrow area for too long; the real-time planning method can judge the current travel path while performing movement and / or operation, improve work efficiency, and adjust blocked routes in time to avoid the self-moving device from getting trapped, making the self-moving device more intelligent.

[0144] In this embodiment, adjusting the path planning of the current travel path includes: obtaining location data of at least one candidate location based on a map, wherein the candidate location is at least used to indicate the location of an open area or a non-working area in the working area; and replanning the current travel path from the mobile device to the at least one candidate location.

[0145] Specifically, at least one candidate location in an open area or an unused area is selected from a pre-stored map. When the projection of the current path is less than a preset length threshold, the self-mobile device is moved to the current path of the candidate location. This allows the self-mobile device to temporarily abandon areas where the path cannot pass (paths whose projection is less than a preset length threshold), giving priority to open areas or unused areas. In other embodiments, the control module can re-plan a path for the area where the self-mobile device cannot pass or control the self-mobile device to abandon the area.

[0146] In some embodiments, the present application also provides an operation control method, most of the steps of which are the same as those in the aforementioned embodiment, except that in this method, adjusting the current travel path includes: obtaining sub-maps of at least two sub-work areas of the work area, wherein at least one sub-work area includes an area corresponding to a travel path that the self-mobile device cannot pass through (a travel path whose projection is less than a preset length threshold); obtaining a fourth moving direction of the self-mobile device in the at least one sub-work area, the fourth moving direction being different from the third moving direction; and replanning the current travel path of the self-mobile device based on the sub-map of the at least one sub-work area and the fourth moving direction.

[0147] Specifically, within the travel path planned according to the third movement direction, candidate restricted areas where the mobile device cannot pass through (a travel path whose projection is less than a preset length threshold) are temporarily abandoned, and travel is prioritized to open areas or unused areas where the mobile device can pass through (a travel path whose projection is greater than or equal to the preset length threshold), thereby improving work efficiency. The work area is divided into multiple sub-work areas, of which the abandoned candidate restricted areas are divided into at least one of the sub-work areas. This allows the candidate restricted areas to be planned and their paths re-determined according to the fourth movement direction, allowing the mobile device to attempt to enter the candidate restricted areas from the new direction and path. If, after planning the travel path of the candidate restricted area according to the fourth movement direction, the candidate restricted area's travel path still cannot be passed through by the mobile device, the control module determines the candidate restricted area as a restricted area and may send a prompt message to the user. It is understood that the fourth movement direction can be obtained based on the third movement direction acquisition rule. For example, the third movement direction acquisition rule may be: determining the third movement direction of the mobile device based on the long side direction of the area to be worked.

[0148] In some embodiments, the present application also provides an operation control method, most of the steps of which are the same as those in the aforementioned embodiments, except that in this method, adjusting the current travel path includes: obtaining a fifth moving direction different from the third moving direction; and replanning the current travel path of the mobile device based on the map and the fifth moving direction.

[0149] In this embodiment, the current travel path planned according to the third movement direction is judged and advanced in sequence. When it is determined that the projection to the current travel path is less than a preset length threshold, the control module can obtain a fifth movement direction different from the third movement direction, and form a new current travel path according to the fifth movement direction. In this way, the current travel path that the self-moving device cannot pass through in the first planning can be re-planned at the moment to enter the corresponding area for work, thereby ensuring work efficiency.

[0150] In some embodiments, the present application also provides an operation control method, most of the steps of which are the same as those of the aforementioned embodiments, except that, in this method, adjusting the current travel path includes: planning a next travel path adjacent to the current travel path based on a map and a third moving direction; determining whether the next travel path is greater than or equal to a preset length threshold; if the projection of the next travel path is greater than or equal to the preset length threshold, replanning the current travel path from the mobile device to the next travel path; if the next travel path is less than the preset length threshold, continuing to plan the next travel path adjacent to the next travel path, and continuing to determine whether the next travel path is greater than or equal to the preset length threshold, until planning is completed or a travel path that the mobile device can pass through is obtained (a travel path whose projection is greater than or equal to the preset length threshold). For example, in one embodiment, the control module plans a path based on the map and the third moving direction, and includes a first travel path, a second travel path, a third travel path, etc. in sequence. When the projection of the first travel path is less than the preset length threshold, the control module obtains a second travel path and determines whether the projection of the second travel path is greater than or equal to the preset length threshold. If the projections of the first and second paths are both less than a preset length threshold, the control module acquires a third path and determines whether the projection of the third path is greater than or equal to the preset length threshold. If the projection of the third path is greater than or equal to the preset length threshold, the mobile device proceeds along the third path. If the projection of the third path is also less than the preset length threshold, the control module continues to sequentially acquire and determine paths following the third path until a path with a projection greater than or equal to the preset length threshold is obtained, or until the last path in the path planning is acquired and determined to be complete. Temporarily abandoning paths that the mobile device cannot pass through allows the mobile device to leave the trapped area or avoid heading to a potentially trapped area, and instead head to an area with paths that the mobile device can pass through, thereby maintaining the mobile device's operational continuity and completing tasks within at least a portion of the work area first, thereby improving efficiency.

[0151] In some embodiments, after controlling the self-moving device to move and / or operate in the work area, it may also include: when a collision occurs when the self-moving device moves and / or operates in the work area, recording the number of collisions within a preset work interval; when the number of collisions within the preset work interval is greater than or equal to a preset threshold, obtaining location data of at least one second target position according to the map, wherein the second target position is at least used to indicate the location of an open area or an unworked area in the work area; planning a target path for the self-moving device to move to the second target position, and controlling the self-moving device to move to the second target position based on the target path; and replanning the walking path of the self-moving device in the work area based on the second target position.

[0152] The present application also provides a self-moving device, as shown in Figure 6 , which is adapted to perform at least one work task within a work area, or at least one sub-area within the work area, and includes: one or more processors; and a memory associated with the one or more processors. The memory is configured to store program instructions, which, when read and executed by the one or more processors, execute the methods described above. The work tasks may include, but are not limited to, mowing, snow removal, watering, leaf blowing, and sweeping.

[0153] Among them, the self-moving device includes a body and a moving component, a working component, and a positioning component arranged on the body, and also includes a control circuit coupled to the moving component, the working component, and the positioning component. The control circuit stores a computer program, and the control circuit implements the steps of the method described in any one of the aforementioned embodiments when executing the computer program.

[0154] In this embodiment, the self-moving device is suitable for performing at least one of the following work tasks: mowing task, snow removal task, watering task, leaf blowing task, and sweeping task.

[0155] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described above in this specification, which will not be repeated here.

[0156] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0157] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described above in this specification, which will not be repeated here.

[0158] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0159] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0160] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0161] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0162] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0163] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for controlling a job, applied to a self-moving device, characterized in that: The method comprises: Get a map of the work area; Determining a restricted area in the map based at least on geometric features of the map, wherein the geometric features of the restricted area restrict the passage of the self-moving device; A working strategy corresponding to the geometric characteristics of the restricted area is generated and executed.

2. The operation control method according to claim 1, characterized in that: The step of determining a restricted area in a map based at least on a geometric feature of the map comprises: Determine the path width required for one-way passage and / or turning of the self-moving device, wherein the path width required for one-way passage of the self-moving device is determined according to the body size of the self-moving device, and the path width required for turning of the self-moving device is determined according to the turning radius of the self-moving device; An area whose area width is smaller than the path width is used as a restricted area in the map.

3. The operation control method according to claim 1, characterized in that: The working area includes at least two sub-areas; and determining the restricted area in the map based at least on the geometric features of the map includes: Determine a connectivity relationship between any two sub-areas in the working area; the connectivity relationship includes: connectivity and non-connectivity; Based on the connectivity relationship, an area that the self-mobile device can reach without path movement is determined as a restricted area; wherein the area that the self-mobile device can reach without path movement is indicated as: at least one sub-area that has no channel connection with the sub-area where the self-mobile device is located.

4. The operation control method according to claim 3, characterized in that: The determining the connectivity relationship between any two sub-areas in the working area includes: Acquire map data of the map; the map data includes: a channel identifier, and a sub-region set corresponding to each channel identifier; the sub-region set includes at least two sub-regions connected by the channel; At least one connected area is determined based on the channel identifier and the set of sub-areas corresponding to each channel identifier; wherein any two sub-areas in the one connected area are connected through at least one channel; when there is a sub-area that does not belong to the connected area, the connectivity relationship between the sub-area and any sub-area in the connected area is disconnected.

5. The operation control method according to claim 3, characterized in that: The determining the connectivity relationship between any two sub-areas in the working area includes: Image recognition is performed on the map to determine connected areas and independent sub-areas in the map; wherein the connected area includes: at least two sub-areas, and a channel connecting the at least two sub-areas; and the independent sub-area is not connected to any of the sub-areas through the channel.

6. The operation control method according to any one of claims 4-5, characterized in that: When there are at least two connected areas in the working area, there is no channel connection between any two of the connected areas.

7. The operation control method according to any one of claims 4-5, characterized in that: The generating and executing a working strategy corresponding to the geometric features of the restricted area comprises: Determine a connected area or a sub-area where the self-moving device is located, and use the connected area or the sub-area where the self-moving device is located as a target working area; Based on the geometric features of the restricted area in the target working area, the restricted area is not operated, or is operated in a specific direction, or at least one working strategy in a photo editing program is initiated.

8. The operation control method according to claim 7, characterized in that: The method further comprises: After the self-moving device is controlled to complete the movement and / or operation in the target working area, the self-moving device is controlled to return to the charging station.

9. The operation control method according to claim 8, characterized in that: The controlling the mobile device to return to the charging station comprises: When there is a charging station in the non-restricted area of ​​the target working area, controlling the mobile device to return to the charging station; When there is no charging station in the non-restricted area of ​​the target working area, the self-mobile device is controlled to move to a first target position; the first target position is preset.

10. The operation control method according to claim 7, characterized in that: The initiating the image editing procedure includes: Sending prompt information to the user terminal based on the geometric features of the restricted area; Acquire feedback information in response to the prompt information; the feedback information includes: a map modification instruction or a non-modification instruction; When the feedback information is a map modification instruction, modifying the map based on the map modification instruction to obtain a modified map; Determining a restricted area in the modified map based at least on the geometric features of the modified map, the geometric features of the restricted area restricting the passage of the self-moving device; A working strategy corresponding to the geometric characteristics of the restricted area is generated and executed.

11. The operation control method according to claim 10, characterized in that: The obtaining of feedback information in response to the prompt includes: Acquire feedback information in response to the prompt information; When the feedback information fails to be obtained or the feedback information is a non-modification instruction, determining a target working area; Determine a restricted area in the target working area based at least on the geometric features of the target working area, wherein the geometric features of the restricted area restrict the passage mode of the self-moving device; A working strategy corresponding to the geometric characteristics of the restricted area is generated and executed.

12. The operation control method according to claim 7, characterized in that: Perform entry work in the restricted area in a specific direction, including: Determine a first moving direction; the first moving direction is the moving direction of the self-moving device in the non-restricted area; When the area width of the restricted area is greater than or equal to the body width of the self-moving device, a second moving direction different from the first moving direction is acquired, and the self-moving device is controlled to enter the restricted area according to the second moving direction.

13. The operation control method according to claim 7, characterized in that: The performing of non-entry work in the restricted area includes: When the area width of the restricted area is smaller than the body width of the self-moving device, the self-moving device is controlled not to enter the restricted area.

14. The operation control method according to claim 1, characterized in that: After the controlling the mobile device moves and / or operates in the working area, the method further comprises: When the self-moving device collides while moving and / or operating in the working area, the number of collisions within the preset working area is recorded; When the number of collisions within the preset working area is greater than or equal to a preset threshold, obtaining location data of at least one second target location according to the map, wherein the second target location is at least used to indicate the location of an open area or a non-working area in the working area; Planning a target path for the self-mobile device to move to the second target location, and controlling the self-mobile device to move to the second target location based on the target path; Based on the second target position, a walking path of the self-moving device in the working area is replanned.

15. A self-moving device, suitable for performing at least one work task in a work area, the self-moving device comprising a body and a moving component, a working component, and a positioning component arranged on the body, It is characterized in that Also includes: A control circuit coupled to the moving component, the working component, and the positioning component, wherein the control circuit stores a computer program, and the control circuit implements the steps of the method according to any one of claims 1 to 14 when executing the computer program.

16. The self-moving device according to claim 15, characterized in that: The self-moving device is suitable for performing at least one of the following work tasks: mowing tasks, snow clearing tasks, watering tasks, leaf blowing tasks, and floor sweeping tasks.

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