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

Abstract

The invention relates to a control method and device of self-moving equipment and the self-moving equipment. The method comprises the steps that a working area map is acquired; acquiring position information; the position information comprises a current position and a target position of the self-moving equipment; when the current position and the target position meet a preset position relationship, at least based on a parallel path, planning an advancing path from the current position to the target position; the parallel path represents a path basically parallel to a preset cutting direction of the self-moving equipment in the working area; and controlling the self-moving equipment to move to a target position according to the advancing path. By means of the method, damage to yin-yang stripes pressed out of the wheels of the self-moving equipment can be reduced, and overall attractiveness is guaranteed.

Description

A control method and device for a self-propelled device and a self-propelled device Technical Field

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

[0002] With the continuous advancement of computer technology and artificial intelligence, the application of mobile devices (such as lawn mowers and sweepers) is becoming more and more widespread. For example, smart lawn mowers can automatically help people maintain their lawns, freeing people from the boring, time-consuming and laborious housework of lawn maintenance, and therefore have become extremely popular.

[0003] Currently, when using autonomous vehicles to complete a task, they often encounter scenarios where they need to move from their current location to a specific location, such as during a transition or return. In these scenarios, a path is typically generated based on the current location, the specific location, and a map of the work area. The autonomous vehicle is then controlled to move along this path. However, this approach can damage the yin-yang stripes created by the wheels of the autonomous vehicle during movement, affecting its aesthetics.

[0004] Summary of the Invention

[0005] In order to overcome the defects of the prior art, the present application provides a control method and device for a self-moving device and a self-moving device, which can reduce the damage to the yin and yang stripes pressed out by the wheels of the self-moving device and ensure the overall beauty.

[0006] According to a first aspect of an embodiment of the present application, a method for controlling a self-moving device is provided, wherein the self-moving device is configured to move and / or work in a work area, the method comprising:

[0007] Obtaining a work area map; the work area map is used to define the work area of ​​the mobile device;

[0008] Acquire location information; the location information includes the current location and target location of the mobile device;

[0009] When the current position and the target position satisfy a preset positional relationship, planning a travel path from the current position to the target position based on at least a parallel path; the parallel path being a path substantially parallel to a preset cutting direction of the self-moving device in the working area;

[0010] According to the travel path, the self-moving device is controlled to move toward the target position.

[0011] In one embodiment, the current position and the target position satisfying a preset position relationship includes that a straight-line distance between the current position and the target position is greater than a first threshold.

[0012] In one embodiment, when the current position and the target position satisfy a preset position relationship, planning a travel path from the current position to the target position based on at least a parallel path includes:

[0013] Determining the current operating mode of the mobile device;

[0014] When the working mode is the first preset mode, a travel path from the current position to the target position is planned based on the parallel path and the boundary of the working area.

[0015] In one embodiment, determining the current operating mode of the mobile device includes:

[0016] receiving a control instruction indicating an operating mode of the mobile device;

[0017] The control instruction is compared with a pre-stored instruction to determine the current working mode of the self-mobile device; the self-mobile device pre-stores a corresponding relationship between the working mode and the control instruction.

[0018] In one embodiment, planning a travel path from a current location to a target location based on the parallel paths and the boundaries of the work area includes:

[0019] Get the preset distance range for adjusting the boundary of the working area;

[0020] determining a first distance based on the preset distance range;

[0021] Relative to the working area, retracting a boundary of the working area according to the first distance to obtain a retracted area;

[0022] Based on the parallel path where the current position is located, the parallel path where the target position is located, and the boundary of the retracted area, a travel path from the current position to the target position is planned.

[0023] In one embodiment, it further includes:

[0024] When the working mode is the second preset mode, a travel path from the current position to the target position is planned based on a parallel path and a perpendicular path; wherein the perpendicular path represents a path substantially perpendicular to the preset cutting direction.

[0025] In one embodiment, planning a travel path from a current location to a target location based on the parallel path and the perpendicular path includes:

[0026] Acquire a parallel path between a current position and a target position; the parallel path includes at least a parallel path where the current position is located and a parallel path where the target position is located;

[0027] Randomly generate at least one vertical path between the current position and the target position;

[0028] A travel path from the current position to the target position is planned based on the perpendicular path and the parallel path between the current position and the target position.

[0029] In one embodiment, it further includes:

[0030] When the current position and the target position do not satisfy a preset position relationship, the shortest path between the current position and the target position is determined as the travel path from the current position to the target position.

[0031] In one embodiment, controlling the movement of the self-moving device toward the target location according to the travel path includes:

[0032] Obtaining positioning signals received from mobile devices;

[0033] When the positioning signal does not meet the preset quality condition, controlling the self-moving device to move to a recovery position, the recovery position being a position where the positioning signal quality meets the preset quality condition;

[0034] When it is confirmed that the vehicle has moved to the recovery position, the recovery position is recorded as the current position, and it is determined whether the current position and the target position meet a preset position relationship;

[0035] When a preset position relationship is satisfied, a travel path from the current position to the target position is planned based at least on the parallel paths.

[0036] In one embodiment, controlling the movement of the self-moving device toward the target location according to the travel path includes:

[0037] Obtaining positioning signals received from mobile devices;

[0038] When the positioning signal does not meet the preset quality condition, the self-mobile device is controlled to sleep, restart or return to the charging station.

[0039] In one embodiment, controlling the movement of the self-moving device toward the target location according to the travel path includes:

[0040] If a collision with an obstacle is detected, the first position is used as the current position, and the obstacle position is marked in the work area map to obtain a new work area map; the first position represents a position within a preset range of the collision position;

[0041] When the current position and the target position satisfy a preset position relationship, a travel path from the current position to the target position is planned based on at least a parallel path.

[0042] According to a second aspect of an embodiment of the present application, a method for controlling a self-moving device is provided, wherein the self-moving device is configured to move and / or work in a working area, the method comprising:

[0043] Obtaining a work area map; the work area map is used to define the work area of ​​the mobile device;

[0044] Acquire location information; the location information includes the current location and target location of the mobile device;

[0045] Planning a travel path from the current position to the target position based on the work area map and the position information; the travel path includes a boundary of the work area and / or a parallel path; the parallel path represents a path substantially parallel to a preset cutting direction of the self-moving device in the work area;

[0046] According to the travel path, the self-moving device is controlled to move toward the target position.

[0047] According to a third aspect of an embodiment of the present application, a method for controlling a self-moving device is provided, wherein the self-moving device is configured to move and / or work in a working area, the method comprising:

[0048] Obtaining a work area map; the work area map is used to define the work area of ​​the mobile device;

[0049] Acquire location information; the location information includes the current location and target location of the mobile device;

[0050] According to the current working mode of the mobile device, based on the working area map and the location information, planning a travel path from the current location to the target location;

[0051] According to the travel path, the self-moving device is controlled to move toward the target position.

[0052] According to a fourth aspect of the present application, there is further provided a control device for a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, the device comprising:

[0053] A first acquisition module is configured to acquire a work area map; the work area map is used to define a work area of ​​the mobile device;

[0054] A second acquisition module is used to acquire location information; the location information includes the current location and target location of the mobile device;

[0055] a planning module configured to plan a travel path from the current position to the target position based on at least a parallel path when the current position and the target position satisfy a preset positional relationship; the parallel path being a path substantially parallel to a preset cutting direction of the self-moving device in the working area;

[0056] The control module is used to control the self-moving device to move toward the target position according to the travel path.

[0057] According to a fifth aspect of the implementation of the present application, a computer-readable storage medium is further provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any embodiment of the present application.

[0058] According to a sixth aspect of the present application, a self-propelled device is provided, including:

[0059] processor;

[0060] a memory for storing instructions executable by the processor;

[0061] The processor is used to execute the control method described in any embodiment of the present application.

[0062] In the technical solution provided in the embodiments of the present application, a map of the work area, including location information of the current position of the self-moving device and the target position, is obtained. When the current position and the target position satisfy a preset positional relationship, a travel path from the current position to the target position is planned based on at least a parallel path. The self-moving device is then controlled to move toward the target position based on the travel path. Because the parallel path is substantially parallel to the preset cutting direction of the self-moving device in the work area, the planned travel path does not obliquely or randomly intersect with the yin-yang stripes impressed by the wheels of the self-moving device. This reduces damage to the yin-yang stripes impressed by the wheels of the self-moving device and ensures an overall aesthetically pleasing appearance.

[0063] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The objectives, technical solutions and beneficial effects of the present application described above can be clearly obtained through the following detailed description of specific embodiments that can implement the present application, combined with the description of the accompanying drawings.

[0065] The same reference numerals and symbols are used in the drawings and the description to designate the same or equivalent elements.

[0066] FIG1 is a schematic diagram of a working scenario provided by an embodiment of the present application;

[0067] FIG2 is a flow chart of a method for controlling a self-moving device according to an embodiment of the present application;

[0068] FIG3 is a schematic structural diagram of a self-moving device provided in one embodiment of the present application;

[0069] FIG4 is a schematic diagram of planning a travel path from A to B according to an embodiment of the present application;

[0070] FIG5 is a schematic diagram of another method for planning a travel path from A to B according to an embodiment of the present application;

[0071] FIG6 is a schematic diagram of another method for planning a travel path from A to B according to an embodiment of the present application;

[0072] FIG7 is a schematic diagram of another method for planning a travel path from A to B according to an embodiment of the present application;

[0073] FIG8 is a schematic diagram of another method for planning a travel path from A to B according to an embodiment of the present application;

[0074] FIG9 is a flow chart of another method for controlling a self-moving device provided by an embodiment of the present application;

[0075] FIG10 is a flow chart of another method for controlling a self-moving device provided by an embodiment of the present application;

[0076] FIG11 is a schematic diagram showing the composition of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0077] To facilitate understanding of this application, the following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. The purpose of providing these implementation methods is to understand the disclosure of this application more thoroughly and comprehensively. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0078] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of this application, as detailed in the appended claims. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device. In addition, unless otherwise expressly stated, the various technical features in the various embodiments of this application may be considered capable of being combined or coupled with each other, as long as such combination or coupling is not impracticable due to technical reasons.

[0079] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0080] With the rapid development of science and technology, the application of intelligent control technology in people's lives is becoming more and more extensive. As a smart product derived from intelligent control technology, self-moving devices with autonomous working capabilities can bring convenience and speed to people's lives. Therefore, self-moving devices are frequently used in people's lives.

[0081] Currently, when using autonomous mobile devices to complete a task, they often encounter scenarios where they need to move from their current location to a target location, such as during a transition or return. In such scenarios, the shortest path between the current and target locations is typically used as the travel path, and the autonomous mobile device is then controlled to move along this path toward the target location.

[0082] As shown in Figure 1, the self-moving device works in the working area according to the working path (such as the bow-shaped path). Since the traces of the area where the wheel has passed and the area where the wheel has not passed are different, the area after the self-moving device works will have relatively regular yin-yang stripes (the dotted lines in the figure represent the stripes left by the wheel after passing). When the battery of the self-moving device is low and it needs to return to the charging station from the current position to charge, the self-moving device will generate a shortest path from the current position to the charging station based on the current position, the location of the charging station and the working area map (such as L in Figure 1), and then control the self-moving device to return to the charging station along the path. Among them, the self-moving device refers to a device that can move autonomously according to the regional map of the working area (i.e., the working area map) without manual power supply. The charging station refers to a device for the self-moving device to dock and / or charge the self-moving device. In actual implementation, the charging station can also provide other functions, such as: docking the self-moving device, cleaning the self-moving device, etc. This embodiment does not list the functions of the charging station one by one.

[0083] As can be seen, in traditional methods, when determining point-to-point paths, to ensure that the mobile device can quickly reach the target location (e.g., back to the charging station), only the shortest path is considered. However, this approach can destroy the yin-yang stripes created by the wheels of the mobile device during movement toward the target location, thus affecting the aesthetics. As shown in Figure 1, as the mobile device moves toward the charging station based on L, the yin-yang stripes created by the wheels of the mobile device are destroyed, thus affecting the aesthetics.

[0084] Based on the above problems, an embodiment of the present application provides a method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area. The method can be applied to the self-moving device, specifically, to the control module in the self-moving device. Of course, in some cases, the method can also be applied to a server that is arranged on the network side and is capable of controlling the operation process of the self-moving device. As shown in Figure 2, the method for controlling the self-moving device provided in this embodiment may include the following steps.

[0085] S200, obtaining a work area map; the work area map is used to define the work area of ​​the mobile device;

[0086] S202, obtaining location information; the location information includes the current location and target location of the mobile device;

[0087] S204: When the current position and the target position satisfy a preset positional relationship, planning a travel path from the current position to the target position based at least on a parallel path; the parallel path being a path substantially parallel to a preset cutting direction of the self-moving device in the working area;

[0088] S206: Control the self-moving device to move toward the target location according to the travel path.

[0089] In some embodiments, the self-moving device can be an automated vacuum cleaner, automated spraying device, automated monitoring device, or automated lawn mower, suitable for unattended operation. It can automatically move across the ground or surface of a work area to complete its tasks. It should be noted that this embodiment uses a smart lawn mower as an example, and other implementation scenarios are not limiting.

[0090] As shown in FIG3 , the self-moving device 1 includes a control module 20 , a working module 21 , a walking module 22 , an energy module 23 , and a positioning module 24 .

[0091] The control module 20 is used to control the autonomous movement and operation of the self-propelled device 1. It is the core component of the self-propelled device 1. Its functions include controlling the start and stop of the working module 21, controlling the start and stop of the travel module 22, controlling the movement direction, determining the energy level of the energy module 23, and promptly instructing the self-propelled device 1 to return to the charging station for automatic docking and charging. The control module typically includes a single-chip microcomputer, memory, and other peripheral circuits.

[0092] The operating module 21 is used to perform the primary tasks of the self-moving device 1. If the self-moving device 1 is a smart lawn mower, the operating module includes components such as the mowing blades and cutting motor. It may also include components such as a mowing height adjustment mechanism to optimize or adjust the mowing effect. If the self-moving device 1 is an automatic vacuum cleaner, the operating module includes components such as the vacuum motor, vacuum port, vacuum hose, vacuum chamber, and dust collection device to perform the vacuuming task.

[0093] The travel module 22 is used to propel the self-propelled device 1 within the work area 7. It typically consists of a wheel assembly mounted on the self-propelled device 1 and a travel motor that drives the wheel assembly. The wheel assembly includes drive wheels connected to the travel motors and auxiliary wheels that primarily provide auxiliary support. In this embodiment, there are two drive wheels located at the rear of the self-propelled device 1, each connected to a travel motor. There are one or two auxiliary wheels located at the front of the self-propelled device 1.

[0094] The energy module 23 is used to provide energy for various operations of the self-mobile device 1, and includes a rechargeable battery and a charging connection structure, which is usually a charging electrode.

[0095] The positioning module 24 is used to obtain the location data of the self-mobile device 1. The positioning module 24 can be detachably mounted on the self-mobile device 1, or can be fixedly mounted on the self-mobile device 1.

[0096] In some embodiments, the positioning module 24 may include a satellite navigation module and at least one position sensor, wherein the satellite navigation module is used to receive positioning signals, and the position sensor is used to detect characteristics related to the position of the positioning module 24. The positioning signals may include Global Positioning System (GPS) signals, Galileo satellite navigation system signals, Beidou satellite navigation system signals, etc.

[0097] In some embodiments, the positioning module 24 is typically configured as a real-time kinematic (RTK) module, that is, positioning is achieved based on real-time kinematic measurement of RTK technology. It is understandable that, regardless of the specific positioning principle based on which the positioning module is implemented, the accuracy of its positioning result depends on the quality of the positioning signal. The higher the positioning signal quality, the more accurate the positioning result. On the contrary, the lower the positioning signal quality, the less accurate the positioning result, and even it is difficult to meet the basic positioning requirements. In actual applications, especially for positioning modules that rely on satellite navigation systems, the quality of the positioning signal is easily affected by environmental factors. For example, when the self-mobile device is in an open area without obstruction, the quality of the positioning signal of the positioning module is naturally higher. On the contrary, if the self-mobile device is blocked by trees or buildings, the signal strength of the positioning signal is very weak, and it may even be difficult for the positioning module to receive the positioning signal. In this case, the quality of the positioning signal provided is naturally not high, and it may be difficult to meet the use requirements.

[0098] In this embodiment, the positioning module 24 is an RTK module. Since the navigation mode of the RTK module is a dead reckoning navigation mode, when the positioning signal quality does not meet the preset quality requirements, the positioning signal is still reliable within a certain period of time. Of course, its positioning accuracy will decrease with time. That is to say, when the positioning signal quality does not meet the preset quality requirements, it is believed that the positioning module 24 can still provide an accurate position within a certain period of time.

[0099] In some embodiments, the position sensor includes a motion or state sensor that detects motion parameters or state parameters. In some examples, the motion or state sensor includes an inertial navigation sensor, which may include an inertial measurement unit (IMU), an accelerometer, an odometer, a gyroscope, an attitude detection sensor, etc., to detect the speed, acceleration, driving direction, etc. of the positioning module 24. The positioning module 24 also includes a fusion processing unit, which includes at least two inputs, one of which is a positioning signal and the other is the output of the position sensor. The fusion processing unit operates on the positioning signal and the output of the position sensor and outputs data representing the position information of the positioning module 24.

[0100] In addition to the above modules, the self-mobile device 1 also includes a shell for accommodating and installing each module, a control panel for user operation, etc. The self-mobile device 1 may also include various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, light sensors, ultrasonic sensors, cameras, lidars, etc. These sensors can help the self-mobile device judge the working environment and execute corresponding programs.

[0101] In this embodiment, the work area map is used to define the work area of ​​the self-moving device. The work area map may include a work area in which the self-moving device can move and a non-work area in which the self-moving device cannot move. The dividing line between the work area and the non-work area can be understood as a boundary. The boundary may include an inner boundary and an outer boundary. The outer boundary is used to define the edge of the work area, and the inner boundary is used to define the edge of the non-work area within the work area, such as the edge of an island or obstacle. In this embodiment, the self-moving device can move within the work area, but cannot move within the non-work area.

[0102] In this embodiment, the location information includes the current location and target location of the self-mobile device. The current location can be obtained by the positioning module on the self-mobile device. The target location can be a location point that the self-mobile device needs to reach, which can be pre-set according to the actual scenario. For example, in a regression scenario, the target location can be the location of the charging station. For another example, when transitioning, the target location can be the starting position of the working area, or it can be any position in the working area. Of course, the above is only an exemplary description, and this application does not limit this.

[0103] In some embodiments, the mobile device may pre-store a work area map, or obtain it from other devices when needed, for example, from a terminal or server that communicates with the mobile device, etc. This application does not limit this.

[0104] In some embodiments, the location coordinates of the mobile device may be recorded in real time or at intervals during movement.

[0105] In some embodiments, the mobile device may pre-store a target location. Of course, the target location may be temporarily determined based on the actual scenario, or may be set based on user needs. This application does not limit this.

[0106] In this embodiment, after obtaining the work area map and location information, it can be determined whether the current location and the target location meet a preset location relationship.

[0107] In some implementation scenarios, the current position and the target position satisfying the preset position relationship may include a straight-line distance between the current position and the target position being greater than a first threshold value. The first threshold value may be set according to actual scenarios and is not limited in this application.

[0108] In some implementation scenarios, the current position and the target position not satisfying a preset position relationship may include that a straight-line distance between the current position and the target position is less than or equal to a first threshold.

[0109] In some implementation scenarios, the straight-line distance between the current position and the target position can be calculated by the coordinate data of the current position and the coordinate data of the target position. Of course, the straight-line distance between the current position and the target position can also be calculated by other methods, and this application does not limit this.

[0110] In this embodiment, when the current position and the target position satisfy a preset position relationship, a travel path from the current position to the target position may be planned based at least on the parallel path.

[0111] The parallel path refers to a path that is substantially parallel to a preset cutting direction of the self-moving device in the working area.

[0112] The preset cutting direction can be understood as the preset direction in which the self-moving device moves when cutting in the working area. Specifically, for example, in some implementation scenarios, the self-moving device cuts along a bow-shaped path in the working area, and the preset cutting direction can be understood as the direction of the long side when the self-moving device cuts along the bow-shaped path. At this time, the parallel path can be understood as a path that is basically parallel to the long side of the bow-shaped path. Of course, the self-moving device can also cut along other directions in the working area, and this application does not limit this. A parallel path represents a passable path. In some implementation scenarios, the parallel path may include one or more. The parallel path may or may not overlap with the cutting path of the self-moving device cutting along the preset cutting direction in the working area. The spacing distances between multiple parallel paths may be equal or unequal. Preferably, the spacing distances between multiple parallel paths are equal.

[0113] In some embodiments, when the current position and the target position satisfy a preset position relationship, before planning a travel path from the current position to the target position based at least on the parallel path, it can be determined whether the current position is on the parallel path.

[0114] Specifically, in some implementation scenarios, upon confirming that the vehicle is on a parallel path, a path from the current location to the target location may be planned based at least on the parallel path. In some implementation scenarios, upon confirming that the vehicle is not on a parallel path, the current location or a preset range within the current location may be marked as a traversable area, and then a path from the current location to the target location may be planned based at least on the parallel path. The preset range of the current location may be set based on the actual scenario and is not limited thereto.

[0115] In an embodiment of the present application, when the current position is not on a parallel path, by marking the area around the current position as a passable area, the machine will not be trapped in place and unable to reach the target position.

[0116] In this embodiment, when the current position and the target position satisfy a preset position relationship and a travel path from the current position to the target position is planned at least based on a parallel path, the travel path from the current position to the target position can be determined based on the current working mode corresponding to the self-mobile device.

[0117] In some embodiments, when the current position and the target position satisfy a preset position relationship, a travel path from the current position to the target position is planned based at least on a parallel path, including: determining the current working mode of the self-moving device; when the working mode is a first preset mode, a travel path from the current position to the target position is planned based on the parallel path and the boundary of the working area.

[0118] In some implementation scenarios, determining the current operating mode of the mobile device includes: receiving a control instruction indicating the operating mode of the mobile device; comparing the control instruction with pre-stored instructions to determine the current operating mode of the mobile device; and the mobile device pre-stores a correspondence between the operating mode and the control instruction. The operating mode includes a first preset mode and a second preset mode. In some implementation scenarios, the first preset mode may be a perfect mode, and the second preset mode may be a fast mode. In the perfect mode, the planned travel path can avoid the destruction of the yin-yang stripes, ensuring the aesthetic appearance of the stripes. In the fast mode, the planned travel path can improve work efficiency while taking into account the aesthetic appearance of the stripes. It should be noted that, by default, the mobile device is in the fast mode. For example, in some implementation scenarios, if the current mode of the mobile device cannot be confirmed (for example, due to communication interruption between the user terminal and the mobile device, or an abnormality in the information setting module on the mobile device), it can be assumed that it is in the fast mode.

[0119] Specifically, in some implementation scenarios, the self-mobile device can communicate with the user terminal (such as an APP), so that the user can send a control instruction indicating the working mode to the self-mobile device through the user terminal. For example, a button corresponding to the working mode is provided on the user terminal, and the user triggers the corresponding button to cause the user terminal to send a control instruction indicating the working mode to the self-mobile device. Furthermore, after receiving the control instruction, the self-mobile device can compare it with the pre-stored instruction to determine the current working mode. Since the correspondence between the working mode and the control designation is pre-stored in the self-mobile device, after receiving the control instruction sent by the user terminal, the working mode can be determined according to the control instruction.

[0120] In other implementation scenarios, the mobile device is provided with an information setting module, through which the user can operate to set the operating information of the mobile device, such as operating hours, operating area, operating mode, etc. Specifically, the user can select the operating mode of the mobile device through the information setting module. After the user selects the operating mode and triggers the confirmation button, the control module of the mobile device can receive a control instruction indicating the operating mode. The control module can then compare the control instruction with pre-stored instructions to determine the current operating mode.

[0121] Of course, the above is only an exemplary description, and the present application can also determine the current working mode of the mobile device by other means, which is not limited to this.

[0122] In some embodiments, when the working mode is determined to be the first preset mode, a travel path from the current position to the target position can be planned based on the parallel path and the boundary of the working area. The first preset mode can be a perfect mode.

[0123] In some implementation scenarios, when the working mode is determined to be the first preset mode, a travel path from the current position to the target position can be planned based on the parallel path of the current position, the parallel path of the target position, and the boundary of the working area.

[0124] As shown in Figure 4, when the self-mobile device is performing bow-shaped cutting in the work area, it needs to move from the current position A to the target position B. When the straight-line distance between the current position A and the target position B is greater than the first threshold and the current working mode of the self-mobile device is perfect mode, the travel path from A to B can be planned based on the parallel path l1 where the current position A is located, the parallel path l2 where the target position B is located, and the boundary of the work area (the thick line in the figure). Among them, the parallel path is a path parallel to the long side of the bow-shaped cutting path (such as the straight line where l1 and l2 are located in the figure). The dotted line in the bow shape in the figure represents the stripes pressed out by the wheel after passing through.

[0125] In the embodiment of the present application, since the parallel path is basically parallel to the preset cutting direction of the self-moving device in the working area, in this way, in the first preset mode, based on the parallel path and the boundary of the working area, the planned travel path will only pass through the path parallel to the preset cutting direction and the boundary of the working area, and there will be no scene of intersection with the yin and yang stripes pressed by the wheel, thereby not destroying the yin and yang stripes pressed by the wheel, and the beauty of the stripes can be guaranteed.

[0126] Because the travel path planned each time may be the same based on the parallel path of the current position, the parallel path of the target position, and the boundary of the work area, the self-moving device may repeat the same path multiple times, resulting in excessive grass cutting.

[0127] To solve the above problem, in some implementation scenarios, based on parallel paths and the boundaries of the work area, the boundaries of the work area may be processed to varying degrees before planning a travel path from the current position to the target position.

[0128] In this embodiment, before planning the travel path, the boundary of the working area may be retracted first, and then based on the parallel path and the boundary of the retracted working area, the travel path from the current position to the target position may be planned.

[0129] Specifically, in some implementation scenarios, based on the parallel path and the boundary of the working area, the travel path from the current position to the target position is planned, including: obtaining a preset distance range for adjusting the boundary of the working area; determining a first distance based on the preset distance range; retracting the boundary of the working area relative to the working area according to the first distance to obtain a retracted area; planning the travel path from the current position to the target position based on the parallel path of the current position, the parallel path of the target position and the boundary of the retracted area. Among them, the preset distance range can be set according to the actual scenario, and this application does not limit this. The preset distance range can be understood as a pre-set distance range for retracting the boundary of the working area each time. For example, if the preset distance range is [0,10cm], then the distance for retracting the boundary of the working area each time needs to be within the range of [0,10cm].

[0130] In some specific implementation scenarios, determining the first distance based on the preset distance range includes: randomly selecting a value from the preset distance range as the first distance. That is, the first distance can be a value randomly determined from the preset distance range.

[0131] As shown in Figure 5, when the self-mobile device is performing bow-shaped cutting in the working area, it needs to move from the current position A to the target position B. When the straight-line distance between the current position A and the target position B is greater than the first threshold value and the current working mode of the self-mobile device is the perfect mode, a value can be randomly determined from the preset distance range [0, 10cm] (for example, the randomly determined value is 2cm), and then the boundary of the working area is retracted based on the value (2cm). The travel path from A to B is further planned based on the parallel path l1 where the current position A is located, the parallel path l2 where the target position B is located, and the boundary of the retracted working area (the thick line in the figure). Among them, the parallel path is a path parallel to the long side of the bow-shaped cutting path (such as the straight line where l1 and l2 are located in the figure). The dotted line in the bow shape in the figure represents the stripes pressed out after the wheel passes by.

[0132] In the embodiment of the present application, since the parallel path is substantially parallel to the preset cutting direction of the self-moving device within the working area, the planned travel path based on the parallel path and the boundary of the working area will not intersect with the yin-yang stripes impressed by the wheels, thereby preventing the stripes from being damaged and maintaining a beautiful appearance. Since the indentation distance for the boundary processing is randomly selected within the preset distance range each time, this prevents the planned travel path from being identical each time, causing the self-moving device to repeatedly follow the same path and excessive grass cutting.

[0133] Although randomly selecting the indentation distance of the boundary from the preset distance range each time can avoid repeating the same path many times and causing excessive grass compression, it may cause scenes with inconsistent widths between stripes, thus affecting the aesthetics.

[0134] In order to make the stripes more beautiful, in other specific implementation scenarios, the first distance is determined based on the preset distance range, including: obtaining a preset expansion width and the number of times the boundary of the working area is retracted; determining the first distance based on the preset expansion distance and the number of times the boundary of the working area is retracted; wherein the first distance is within the preset distance range. The preset expansion width can be understood as a pre-set distance for retracting the boundary of the working area, which can be set according to the actual scenario and is not limited in this application. For example, the preset expansion width can be 0.1cm, 0.2cm or others, and so on. The number of times the boundary of the working area is retracted can be counted after each retraction of the boundary.

[0135] In some implementations, the first distance is the product of a preset expansion distance and the number of times the border of the work area is retracted. Thus, by increasing the number of times the border is retracted, the border of the work area can be processed sequentially according to multiples of the preset expansion distance, making the widths of the stripes uniform and thus making the generated stripes more aesthetically pleasing.

[0136] It should be noted that the sum of the distances by which the boundaries of the work area are retracted must be kept within a preset range, or the number of times the boundaries of the work area are retracted must not exceed a preset threshold. The preset range and threshold can be set based on actual scenarios and are not limited thereto.

[0137] In some embodiments, when the current position and the target position satisfy a preset position relationship, a travel path from the current position to the target position is planned based on at least a parallel path, and further comprising: when the working mode is the second preset mode, a travel path from the current position to the target position is planned based on a parallel path and a vertical path. Wherein, the second preset mode can be a fast mode. The vertical path represents a path that is substantially perpendicular to a preset cutting direction of the self-moving device in the working area. For example, the preset cutting direction is the direction of the long side when the self-moving device cuts along a bow-shaped path. Accordingly, a parallel path can be understood as a path that is substantially perpendicular to the long side of the bow-shaped path. A vertical path also represents a passable path. In some implementation scenarios, the vertical path may include one or more paths. The spacing distances between the multiple vertical paths may be equal or unequal. Preferably, the spacing distances between the multiple vertical paths are equal.

[0138] In some implementation scenarios, planning a travel path from the current position to the target position based on a parallel path and a vertical path includes: planning a travel path from the current position to the target position based on the vertical path of the current position and the parallel path of the target position; or planning a travel path from the current position to the target position based on the parallel path of the current position and the vertical path of the target position.

[0139] As shown in Figure 6, when the self-mobile device is performing bow-shaped cutting in the working area, it needs to move from the current position A to the target position B. When the straight-line distance between the current position A and the target position B is greater than the first threshold value, and the current working mode of the self-mobile device is the fast mode, the travel path from A to B can be planned based on the parallel path l1 where the current position A is located and the vertical path l4 where the target position B is located (the thick line in the figure), or the travel path from A to B can be planned based on the vertical path l3 where the current position A is located and the parallel path l2 where the target position B is located (the thick line in the figure). Among them, the parallel path is a path parallel to the long side of the bow-shaped cutting path (such as the straight line where l1 and l2 are located in the figure), and the vertical path is a path perpendicular to the long side of the bow-shaped cutting path (such as the straight line where l3 and l4 are located in the figure). The dotted line in the bow shape in the figure represents the stripes pressed out after the wheel passes by.

[0140] In the embodiment of the present application, since the parallel path is basically parallel to the preset cutting direction of the self-moving device in the working area, and the vertical path is basically perpendicular to the preset cutting direction of the self-moving device in the working area, in the second preset mode, based on the parallel path and the vertical path, the planned travel path will only have horizontal and vertical paths, and there will be no scenes of oblique or chaotic intersections with the yin and yang stripes pressed out by the wheels. In this way, while taking into account the beauty of the stripes, the target position can be reached quickly, thereby improving work efficiency.

[0141] Because the travel paths planned each time may be the same based on the vertical path of the current position and the parallel path of the target position, or based on the parallel path of the current position and the vertical path of the target position, this may cause the self-moving device to repeat the same path multiple times, resulting in excessive grass pressing. In order to solve the above problem, in some implementation scenarios, before planning the travel path from the current position to the target position based on the parallel path and the vertical path, multiple vertical paths can be randomly generated between the current position and the target position, and then the travel path from the current position to the target position is planned based on the parallel path and the vertical path. Here, "multiple" means two or more.

[0142] Specifically, in some implementation scenarios, planning a travel path from the current position to the target position based on parallel paths and vertical paths includes: obtaining a parallel path between the current position and the target position; the parallel path includes at least the parallel path where the current position is located and the parallel path where the target position is located; randomly generating at least one vertical path between the current position and the target position; and planning a travel path from the current position to the target position based on the vertical path and the parallel path between the current position and the target position. Among them, in addition to the parallel path where the current position is located and the parallel path where the target position is located, other parallel paths may also be included between the current position and the target position, which is not limited in this application. The randomly generated vertical paths between the current position and the target position may include one or more. It should be noted that the parallel paths can be set after obtaining the work area map, or before planning the path. The vertical paths are randomly generated before planning the path.

[0143] As shown in Figure 7, between the current position and the target position, in addition to the parallel path where the current position is located and the parallel path where the target position is located, there are also multiple parallel paths (such as the thin dotted line in the figure). The randomly generated vertical path between the current position and the target position includes one (such as the thin dotted line in the figure). At this time, the self-moving device can plan the travel path from A to B based on the parallel path l1 where the current position A is located, the parallel path l2 where the target position B is located, and the generated vertical path l5 (the thick line in the figure). Among them, the parallel path is a path parallel to the long side of the bow-shaped cutting path (such as the straight line where l1 and l2 are located in the figure), and the generated vertical path is a path perpendicular to the long side of the bow-shaped cutting path (such as the straight line where l5 is located in the figure). The bow-shaped dotted line in the figure represents the stripes pressed out after the wheel passes by.

[0144] As shown in Figure 8, between the current position and the target position, in addition to the parallel path where the current position is located and the parallel path where the target position is located, multiple parallel paths are also included (such as the thin dotted line in the figure). The randomly generated vertical paths between the current position and the target position include multiple (such as the thin dotted line in the figure). At this time, the self-moving device can plan the travel path from A to B based on the parallel path l1 where the current position A is located, the parallel path l2 where the target position B is located, and the generated vertical path l5 (the thick line in the figure). It can also plan the travel path from A to B based on the vertical path l3 where the current position A is located, the parallel path l2 where the target position B is located, the generated vertical path l7, and the parallel path l6 between A and B (the thick line in the figure). Among them, the parallel path is a path parallel to the long side of the bow-shaped cutting path (such as the straight line where l1, l2, and l6 are located in the figure), and the generated vertical path is a path perpendicular to the long side of the bow-shaped cutting path (such as the straight line where l5 and l7 are located in the figure). The bow-shaped dotted line in the figure represents the stripes pressed out after the wheel passes by.

[0145] Of course, the above is only an exemplary description. The mobile device can also plan the travel path from A to B based on other parallel paths and vertical paths. This application does not limit this.

[0146] In the embodiment of the present application, since a vertical path is randomly generated between the current position and the target position before each path planning, the travel path planned each time may be different based on the vertical path and the parallel path between the current position and the target position. In this way, the problem of excessive grass crushing caused by the self-moving device repeatedly walking the same path can be avoided.

[0147] In an embodiment of the present application, when the straight-line distance between the current position and the target position is large, in order to prevent the Yin-Yang stripes formed by the wheels of the self-moving device from being destroyed during the movement toward the target position, a path planning method is determined based on the mode the self-moving device is in. Specifically, if the self-moving device is in perfect mode, the path from the current position to the target position is planned based on the parallel path and the boundary of the work area. In this way, the planned path can avoid destroying the Yin-Yang stripes and ensure the beauty of the stripes. If the self-moving device is in fast mode, the path from the current position to the target position is planned based on the parallel path and the perpendicular path. In this way, the planned path can improve work efficiency while taking into account the beauty of the stripes.

[0148] In this embodiment, when the current position and the target position do not satisfy the preset positional relationship, the shortest path between the current position and the target position is determined as the travel path from the current position to the target position. The fact that the current position and the target position do not satisfy the preset positional relationship can be understood as when the operating mode of the self-mobile device is the third preset mode. The shortest path between the current position and the target position can be determined using a preset path-searching algorithm. It should be noted that the preset path-searching algorithm is not limited in the embodiments of this specification.

[0149] Specifically, in some embodiments, when the straight-line distance between the current position and the target position is less than or equal to a first threshold, the shortest path from the current position to the target position can be determined by a preset path search algorithm, and then the shortest path can be used as the travel path from the current position to the target position.

[0150] In an embodiment of the present application, when the straight-line distance between the current position and the target position is large, the travel path from the current position to the target position is planned based on at least the parallel path; when the straight-line distance between the current position and the target position is small, the shortest path between the current position and the target position is directly used as the travel path from the current position to the target position, thereby improving work efficiency.

[0151] In this embodiment, after the travel path from the current position to the target position is planned, the mobile device can be controlled to move toward the target position according to the travel path.

[0152] In some embodiments, according to the travel path, controlling the movement of the self-moving device to the target position includes: obtaining a positioning signal received by the self-moving device; when the positioning signal does not meet a preset quality condition, controlling the self-moving device to move to a recovery position, where the recovery position is a position where the positioning signal quality meets the preset quality condition; when it is confirmed that the device has moved to the recovery position, recording the recovery position as the current position, and judging whether the current position and the target position meet a preset position relationship; when the preset position relationship is met, planning a travel path from the current position to the target position based at least on a parallel path.

[0153] In some implementation scenarios, after planning a travel path from a current location to a target location, a positioning signal received by the mobile device may be obtained while controlling the mobile device to move toward the target location.

[0154] In actual applications, especially for positioning modules that rely on satellite navigation systems, the quality of the positioning signal is easily affected by environmental factors. For example, when a self-mobile device is in an open area without obstructions, the quality of the positioning signal of the positioning module is naturally higher. On the contrary, if the self-mobile device is blocked by trees or buildings, the signal strength of the positioning signal is very weak, and it may even make it difficult for the positioning module to receive the positioning signal. In this case, the quality of the positioning signal provided is naturally not high and may be difficult to meet the usage requirements. Therefore, situations where the positioning signal does not meet the preset quality conditions may include situations where the self-mobile device enters a shadow area or stays in a shadow area for a period of time. Shadow areas are usually areas where trees, buildings, etc. will affect the transmission of positioning signals.

[0155] In some implementation scenarios, when the positioning signal does not meet the preset quality condition, a recovery position may be found based on the work area map, where the recovery position is a position where the positioning signal quality meets the preset quality condition.

[0156] Furthermore, after determining the recovery location, the mobile device can be controlled to move to the recovery location. There can be multiple recovery locations. To ensure that the positioning signal at the recovery location meets preset quality requirements, the recovery location can usually be located in an open area or away from a boundary.

[0157] In some implementations, upon confirming movement to the recovery position, the recovery position may be marked as the current position, and then a determination is made as to whether the current position satisfies a predetermined positional relationship with the target position. If the predetermined positional relationship is satisfied, a travel path from the current position to the target position is planned based on at least the parallel path.

[0158] In some implementation scenarios, when confirming the movement to the recovery position, it is also possible to determine whether the positioning signal of the current recovery position meets the preset quality conditions. If not, the recovery position can be changed and the self-moving device can be controlled to move to another recovery position; if it is satisfied, the current recovery position can be marked as the current position, and then it is determined whether the current position and the target position meet the preset position relationship. Repeat the above steps. If the positioning signal of the current recovery position still does not meet the threshold quality conditions until the preset conditions are met, the self-moving device can be controlled to shut down and / or alarm. Among them, the preset conditions may include the time of movement in the shadow area being greater than the time threshold, and may also include the number of times the recovery position is changed reaching a preset number, etc., which are not limited in this application.

[0159] It should be noted that the above-mentioned method of determining whether the current position and the target position satisfy the preset position relationship and planning the travel path is similar to the related process described above, and can be referenced to each other, so it will not be described in detail.

[0160] In an embodiment of the present application, during the process of moving to the target position, by detecting the positioning signal, the position of the self-moving device is adjusted when the quality of the positioning signal does not meet the preset quality conditions, so that the self-moving device can obtain the positioning signal that meets the preset quality conditions again, avoiding operational accidents caused by inaccurate positioning signals, thereby improving operational safety.

[0161] In other embodiments, according to the travel path, controlling the movement of the self-mobile device toward the target location includes: obtaining a positioning signal received by the self-mobile device; and controlling the self-mobile device to sleep, restart, or return to a charging station when the positioning signal does not meet a preset quality condition.

[0162] In this embodiment, based on the travel path, the positioning signal received by the self-mobile device can be obtained during movement toward the target location. If the positioning signal does not meet the preset quality conditions, the self-mobile device can be directly controlled to sleep, restart, or return to the charging station. In this way, when the signal is poor (for example, due to interference from the ionosphere, electromagnetic storms, etc.), the machine can be controlled to sleep, restart, or return to the charging station, which can avoid operational accidents caused by inaccurate positioning signals, thereby improving operational safety.

[0163] In this embodiment, obstacles may be detected during the process of moving toward the target location based on the travel path.

[0164] In some embodiments, according to the travel path, the process of controlling the movement of the mobile device to the target position includes: if a collision with an obstacle is detected, the first position is used as the current position, and the obstacle position is marked in the work area map to obtain a new work area map; the first position represents a position within a preset range of the collision position; when the current position and the target position meet a preset position relationship, the travel path from the current position to the target position is planned at least based on a parallel path.

[0165] Specifically, in some implementation scenarios, if a collision with an obstacle is detected, the first position is obtained, and the obstacle position is marked in the work area map to obtain a new work area map. Further, it can be determined whether the current position and the target position satisfy a preset position relationship. When the preset position relationship is satisfied, a travel path from the current position to the target position can be planned based on at least a parallel path. When the preset position relationship is not satisfied, the shortest path between the current position and the target position can be determined as the travel path from the current position to the target position. Among them, the first position can represent the position when the self-moving device collides with the obstacle, or it can represent the position when the self-moving device retreats a certain distance after the collision with the obstacle. It can be set according to the actual scenario.

[0166] In some implementation scenarios, if a path from the first location to the target location cannot be planned, the marked boundary of the obstacle in the new work area map can be expanded to obtain a first marked boundary. Next, the area enclosed by the marked boundary is removed from the area enclosed by the first marked boundary to obtain a first area, and the overlap between the first area and the non-parallel path is determined. Furthermore, the location of the overlapping area is marked as a traversable area, obtaining a new work area map. Furthermore, based at least on the parallel path, a path from the first location to the target location is planned.

[0167] Planning a path from a first position to a target position may include inputting the first position, the target position, and a new work area map into a preset path search algorithm to calculate a path from the first position to the target position. If the preset path search algorithm can output a path from the current position to the target position, the path search is successful. If the preset path search algorithm cannot output a path from the current position to the target position, the path search fails. The preset path search algorithm can be set according to the actual scenario, and this application does not limit this.

[0168] Specifically, while the mobile device is moving toward the target location, a collision sensor can detect whether a collision has occurred. If a collision is confirmed, the mobile device is controlled to retreat a certain distance to allow room for the device to turn and facilitate subsequent movement toward the target location. Obstacles can then be marked on the work area map to obtain a new work area map. Furthermore, upon confirming that the current location of the mobile device and the target location satisfy a predetermined positional relationship, a path from the current location to the target location is planned based on at least parallel paths.

[0169] If the path search is successful, move to the target location according to the path.

[0170] If the path search fails, the marked boundary of the obstacle in the new work area map can be expanded to obtain a first marked boundary. Then, the area surrounded by the marked boundary can be removed from the area surrounded by the first marked boundary to obtain the first area. Furthermore, the overlapping part of the first area and the non-parallel path in the new work area map is determined, and the position corresponding to the overlapping part is marked as a passable area in the new work area map to obtain a new work area map. After the new work area map is obtained, the current location, the target location and the new work area map can be input into the preset path search algorithm to calculate the path from the current location to the target location.

[0171] In this embodiment, if path search fails, the obstacle's boundaries are expanded, the overlap between the expanded area and the non-parallel path is determined, and the corresponding location of the overlap is marked as a traversable area on the work area map, ensuring subsequent path search success. Furthermore, by removing the overlap between the obstacle's expanded area (i.e., the expanded area) and the non-parallel path, the robot can navigate along the edge of the obstacle, eliminating the need to circle the entire work area boundary, thereby improving efficiency.

[0172] In the embodiment of the present application, during the movement toward the target position, by detecting obstacles, the position of the self-moving device can be adjusted in time when a collision occurs, thereby enabling the self-moving device to quickly reach the target position and improve work efficiency.

[0173] Based on the same inventive concept, embodiments of the present application also provide a method for controlling a self-moving device to reduce damage to the yin-yang stripes. The self-moving device is configured to move and / or operate within a work area. This method can be applied to the self-moving device, specifically, to a control module within the self-moving device. Of course, in some cases, this method can also be applied to a server deployed on the network side that is capable of controlling the operation of the self-moving device.

[0174] As shown in FIG9 , the control method of the self-moving device provided in this embodiment may include the following steps.

[0175] S300, obtaining a work area map; the work area map is used to define the work area of ​​the mobile device;

[0176] S302, obtaining location information; the location information includes the current location and target location of the mobile device;

[0177] S304: planning a travel path from the current position to the target position based on the work area map and the position information; the travel path includes a boundary of the work area and / or a parallel path; the parallel path represents a path substantially parallel to a preset cutting direction of the self-moving device in the work area;

[0178] S306: Control the self-moving device to move toward the target location according to the travel path.

[0179] It should be noted that the implementation of this embodiment is basically the same as that of the previous embodiment. For details, please refer to the description of the previous embodiment and will not be repeated here. The difference between this embodiment and the previous embodiment is that this embodiment can include a scenario where the planned travel path only includes the boundary of the work area.

[0180] Specifically, for example, in some implementation scenarios, the current position and the target position are both located on the boundary of the work area. In this case, when planning a travel path from the current position to the target position based on the work area map and location information, the work area boundary from the current position to the target position can be directly used as the travel path from the current position to the target position. Preferably, the shorter work area boundary from the current position to the target position is used as the travel path from the current position to the target position.

[0181] Of course, in some embodiments, the travel path may include not only a parallel path but also a vertical path, for which reference may be made to the description of the aforementioned embodiments.

[0182] In an embodiment of the present application, based on the parallel paths and / or the boundaries of the working area, the planned travel path will only pass through the paths and / or the boundaries of the working area parallel to the preset cutting direction, and there will be no scene of intersection with the yin and yang stripes pressed out by the wheels, thereby not destroying the yin and yang stripes pressed out by the wheels, and the beauty of the overall stripes can be guaranteed.

[0183] Based on the same inventive concept, embodiments of the present application also provide a method for controlling a self-moving device to reduce damage to the yin-yang stripes. The self-moving device is configured to move and / or operate within a work area. This method can be applied to the self-moving device, specifically, to a control module within the self-moving device. Of course, in some cases, this method can also be applied to a server deployed on the network side that is capable of controlling the operation of the self-moving device.

[0184] As shown in FIG10 , the control method of the self-moving device provided in this embodiment may include the following steps.

[0185] S400, obtaining a work area map; the work area map is used to define the work area of ​​the mobile device;

[0186] S402, obtaining location information; the location information includes the current location and target location of the mobile device;

[0187] S404, planning a travel path from the current location to the target location based on the current working mode of the mobile device, the working area map, and the location information;

[0188] S406: Control the self-moving device to move toward the target location according to the travel path.

[0189] It should be noted that the implementation of this embodiment is basically the same as that of the previous embodiment. For details, please refer to the description of the previous embodiment and will not be repeated here. The difference between this embodiment and the previous embodiment is that when planning the travel path, this embodiment is based on the current working mode of the mobile device.

[0190] In some embodiments, the working mode of the self-moving device may include a first preset mode, a second preset mode, a third preset mode, etc. Among them, the first preset mode may be a traceless mode (also known as Stripes-Safe). The second preset mode may be a trace-less mode (also known as OrthoPath). The third preset mode may be a shortest mode (also known as FastTrack). Of course, depending on the actual scenario, the working mode of the self-moving device may also include other modes, which are not limited in this application.

[0191] In some embodiments, according to the current working mode of the mobile device, based on the work area map and the location information, the current working mode of the mobile device can be determined before planning the travel path from the current location to the target location.

[0192] In some embodiments, determining the current working mode of the self-mobile device includes: receiving a control instruction indicating the working mode of the self-mobile device; comparing the control instruction with a pre-stored instruction to determine the current working mode of the self-mobile device; the self-mobile device pre-stores a correspondence between the working mode and the control instruction.

[0193] Specifically, for example, in some implementation scenarios, the self-mobile device can communicate with the user terminal (such as an APP), so that the user can send a control instruction indicating the working mode to the self-mobile device through the user terminal. For example, a button corresponding to the working mode is provided on the user terminal, and the user triggers the corresponding button to cause the user terminal to send a control instruction indicating the working mode to the self-mobile device. Furthermore, after receiving the control instruction, the self-mobile device can compare it with the pre-stored instruction to determine the current working mode. Since the correspondence between the working mode and the control designation is pre-stored in the self-mobile device, after receiving the control instruction sent by the user terminal, the working mode can be determined according to the control instruction.

[0194] For example, in some other implementation scenarios, the mobile device is provided with an information setting module, through which the user can operate to set the operating information of the mobile device, such as operating hours, operating area, operating mode, etc. Specifically, the user can select the operating mode of the mobile device through the information setting module. When the user selects the operating mode and triggers the confirmation button, the control module of the mobile device can receive a control instruction indicating the operating mode. The control module can then compare the control instruction with pre-stored instructions to determine the current operating mode.

[0195] In other embodiments, determining the current operating mode of the mobile device includes determining the current operating mode of the mobile device based on a positional relationship between the current location and the target location. Specifically, in some implementation scenarios, the current operating mode of the mobile device may be determined based on whether the current location and the target location satisfy a preset positional relationship.

[0196] Specifically, for example, in some implementation scenarios, the straight-line distance between the current position and the target position may be calculated. When the straight-line distance is less than or equal to a first threshold, it is determined that the mobile device is currently in the shortest mode.

[0197] In some implementation scenarios, when the straight-line distance between the current location and the target location is greater than a first threshold, the vertical distance along the parallel path from the current location to the target location can be calculated. When the vertical distance is greater than a second threshold, the self-mobile device is determined to be in traceless mode. When the vertical distance is less than or equal to the second threshold, the self-mobile device is determined to be in reduced trace mode. The first and second thresholds can be set based on actual scenarios and are not limited in this specification.

[0198] Of course, the above is only an example of an embodiment in which the working mode can be determined by the direction selected by the user or by automatic selection. The present application can also determine the current working mode of the mobile device by other means, and there is no limitation on this.

[0199] It should be noted that, by default, the mobile device is in the shortest mode. For example, in some implementation scenarios, if the current mode of the mobile device cannot be confirmed (for example, communication between the user terminal and the mobile device is interrupted, or the information setting module on the mobile device has an abnormality, or the user has not selected an operating mode, etc.), it can be assumed that it is in the shortest mode, and the travel path is planned based on the strategy corresponding to the shortest mode.

[0200] In this embodiment, after determining the current working mode of the mobile device, a travel path from the current location to the target location may be planned based on the working area map and the location information.

[0201] Specifically, in some embodiments, when it is determined that the current working mode of the mobile device is the incognito mode, the travel path from the current location to the target location can be planned based on the parallel path of the current location, the parallel path of the target location, and the boundary of the working area.

[0202] In some embodiments, when the current operating mode of the self-moving device is determined to be the low-mark mode, a path from the current position to the target position can be planned based on a parallel path and a perpendicular path. A parallel path refers to a path that is substantially parallel to a predetermined cutting direction of the self-moving device within the working area. A perpendicular path refers to a path that is substantially perpendicular to the predetermined cutting direction.

[0203] In some embodiments, when it is determined that the current working mode of the mobile device is the shortest mode, the shortest path between the current position and the target position can be determined based on a preset path search algorithm, and then the shortest path can be determined as the travel path from the current position to the target position.

[0204] In the above embodiment, in the traceless mode, the planned travel path can avoid the destruction of the yin-yang stripes, ensuring the overall aesthetics of the stripes. In the minimal trace mode, the planned travel path can improve work efficiency while ensuring the aesthetics of the stripes. In the shortest mode, the planned travel path can also improve work efficiency.

[0205] It should be noted that the above description only focuses on the differences between this embodiment and the aforementioned embodiments. For the same implementation methods between this embodiment and the aforementioned embodiments, specific reference may be made to the description of the aforementioned embodiments, and no further details will be given.

[0206] The technical solution provided in the embodiments of the present application can be applied not only to scenes such as transition and return, but also to scenes from one location point to another.

[0207] In addition, the technical solution provided in the embodiments of the present application can be applied on flat ground or on slopes.

[0208] In some embodiments, when the self-moving device is moving, if it is detected that it is approaching the boundary of the working area, the distance between the self-moving device and the boundary can be determined. When it is a certain distance away from the boundary, the self-moving device is controlled to rotate slightly into the boundary so that the walking direction is consistent with the extension direction of the boundary. Then, the self-moving device is controlled to walk a certain distance along the extension direction of the boundary, and finally, the self-moving device is controlled to turn into the boundary again. The distance between the self-moving device and the boundary can be determined by data collected by a sensor (such as an ultrasonic sensor, an image sensor, etc.), or the distance between the signal point and the receiving point can be determined by the signal strength received by RSSI (Received Signal Strength Indication). Of course, the distance to the boundary can also be determined by other methods, which are not limited in this application.

[0209] It should be noted that if the above method is applied on flat ground, after encountering a boundary, walking along the boundary for a distance can achieve a quick exit from a narrow area. If applied on a slope, walking along the boundary for a distance after encountering a boundary can help enhance the power and traction of the self-moving device when turning, so that the self-moving device can gain speed (or accelerate) to return to the slope, thereby reducing slipping. Among them, when the self-moving device is on a slope, on the one hand, due to gravity, the traction force of the self-moving device's drive wheels will be less than the downward component of gravity along the slope, causing the self-moving device to slip or overturn; on the other hand, due to the low deck design (and long) of some self-moving devices, the traction torque / force is the worst in slope conditions (especially when climbing), which can cause the self-moving device to fall or break away from the surrounding area.

[0210] In some implementations, the automatic lawn mower has boundary sensing elements located on both sides of the housing. After traveling a certain distance, the automatic lawn mower will hit the boundary line. If the collision is not perpendicular to the boundary line, the boundary sensing element on one side will hit the line first and send a collision signal to the control module. The control module determines the angular relationship between the central axis of the lawn mower and the boundary line. Then, the control module controls the travel module to turn in a direction that reduces the acute angle or right angle between the central axis and the boundary line. During or after turning, if the boundary sensing element that originally crossed the boundary line returns to the boundary line, and the other boundary sensing element is still outside the boundary line, the turning process is stopped and the travel begins along the boundary line.

[0211] When walking along the boundary line, the control module corrects the driving direction at any time to ensure that one of the aforementioned boundary sensing elements is located inside the boundary and the other aforementioned boundary sensing element is located outside the boundary, that is, to ensure that the magnetic fields sensed by the two inductors are in opposite directions. In this way, the automatic lawn mower always has one side inside the boundary and the other side outside the boundary, thereby achieving walking along the boundary line.

[0212] After walking a preset distance along the boundary line, the control module of the automatic lawn mower controls the walking module to turn again, leaving the boundary line and returning to the boundary. The turning direction continues the direction of the first turning, and the turning angle is less than or equal to 90 degrees.

[0213] The above-described turning method generally involves three steps: the first turning step, the line-traveling movement, and the second turning step. However, it is also feasible to omit the first step, that is, the automatic lawn mower directly enters the line-traveling state after hitting the line, and the first turning step is achieved by correcting the line-traveling direction. In this embodiment, it is necessary to maintain that the above-mentioned specific turning and reversing processes are merely exemplary and can be modified in many ways, which are not limited by this application.

[0214] For example, the method of walking along the borderline can be walking across the borderline as in this embodiment, but it can also be walking a predetermined distance along the borderline. The preset distance of walking along the borderline can be 20 cm to 100 cm, or 2 m to 3 m. It can be changed according to the working nature of the self-moving device, the size and shape of the map, and can also be freely set by the operator.

[0215] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the accompanying drawings may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or at least a portion of steps or stages in other steps.

[0216] Based on the same inventive concept, an embodiment of the present application also provides a control device for a self-moving device. The implementation solution for solving the problem provided by the control device is similar to the implementation solution recorded in the above-mentioned control method. Therefore, the specific limitations in the control device embodiment provided below can be found in the above-mentioned limitations on the method and will not be repeated here.

[0217] An embodiment of the present application provides a control device for a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, the device comprising:

[0218] A first acquisition module is configured to acquire a work area map; the work area map is used to define a work area of ​​the mobile device;

[0219] A second acquisition module is used to acquire location information; the location information includes the current location and target location of the mobile device;

[0220] a planning module configured to plan a travel path from the current position to the target position based on at least a parallel path when the current position and the target position satisfy a preset positional relationship; the parallel path being a path substantially parallel to a preset cutting direction of the self-moving device in the working area;

[0221] The control module is used to control the self-moving device to move toward the target position according to the travel path.

[0222] Based on the same inventive concept, the present application also provides a self-propelled device. The solution provided by the device is similar to the solution described in the control method above. Therefore, the specific limitations in the device embodiment provided below can be found in the above-mentioned limitations on the method and will not be repeated here.

[0223] An embodiment of the present application provides a self-propelled device, comprising:

[0224] processor;

[0225] a memory for storing instructions executable by the processor;

[0226] The processor is used to execute any of the above-mentioned control methods for a mobile device.

[0227] It should be noted that each module in the above-mentioned device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0228] In another embodiment, the present application also provides a computer device, which can be a terminal or a system, such as a software control system of a mobile device, and its internal structure diagram can be shown in Figure 11. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, the method of any method embodiment of the present application is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or it can be a button, trackball or touchpad provided on the computer device housing, or it can be an external keyboard, touchpad or mouse.

[0229] Those skilled in the art will understand that the structure shown in FIG11 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0230] In one embodiment, the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0231] In one embodiment, the present application further provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0232] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0233] It should be noted that, in this application, when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intervening element. When an element is considered to be "connected" to another element or "connected to" another element, it may be directly connected to the other element or there may be an intervening element, and this should be understood broadly. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0234] The terms "vertical", "horizontal", "left", "right", "up", "down", "front", "rear", "circumferential", "direction of travel" and similar expressions used in this document are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0235] Unless otherwise defined, the technical and scientific terms used herein may have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The terms "and / or," "and / or," and "at least one of" as used herein include any and all combinations of one or more of the relevant listed items.

[0236] The technical features of the above embodiments can also be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above 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.

[0237] The above-described embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, characterized in that: The method comprises: Obtaining a work area map; the work area map is used to define the work area of ​​the mobile device; Acquire location information; the location information includes the current location and target location of the mobile device; When the current position and the target position satisfy a preset position relationship, a travel path from the current position to the target position is planned based at least on a parallel path; the parallel path represents a path substantially parallel to a preset cutting direction of the self-moving device in the working area; According to the travel path, the self-moving device is controlled to move toward the target position.

2. The method according to claim 1, characterized in that The current position and the target position satisfying a preset position relationship includes that a straight-line distance between the current position and the target position is greater than a first threshold.

3. The method according to claim 2, characterized in that When the current position and the target position satisfy a preset position relationship, planning a travel path from the current position to the target position based at least on a parallel path includes: Determining the current working mode of the mobile device; When the working mode is the first preset mode, a travel path from the current position to the target position is planned based on the parallel path and the boundary of the working area.

4. The method according to claim 3, characterized in that Determining the current working mode of the mobile device includes: Receiving a control instruction indicating an operating mode of the self-mobile device; The control instruction is compared with the pre-stored instruction to determine the current working mode of the self-equipped device; the self-equipped device pre-stores the corresponding relationship between the working mode and the control instruction.

5. The method according to claim 3, characterized in that Based on parallel paths and the boundaries of the work area, plan a path from the current location to the target location, including: Get the preset distance range for adjusting the boundary of the working area; Determining a first distance based on the preset distance range; Relative to the working area, a boundary of the working area is retracted according to the first distance to obtain a retracted area; Based on the parallel path where the current position is located, the parallel path where the target position is located, and the boundary of the retracted area, a travel path from the current position to the target position is planned.

6. The method according to claim 3, characterized in that Also includes: When the working mode is the second preset mode, a travel path from the current position to the target position is planned based on a parallel path and a vertical path; wherein the vertical path represents a path substantially perpendicular to the preset cutting direction.

7. The method according to claim 6, characterized in that Based on the parallel path and the perpendicular path, plan the path from the current position to the target position, including: Acquire a parallel path between a current position and a target position; the parallel path at least includes a parallel path where the current position is located and a parallel path where the target position is located; Randomly generate at least one vertical path between the current position and the target position; A travel path from the current position to the target position is planned based on the perpendicular path and the parallel path between the current position and the target position.

8. The method according to claim 2, characterized in that Also includes: When the current position and the target position do not satisfy a preset position relationship, the shortest path between the current position and the target position is determined as a travel path from the current position to the target position.

9. The method according to claim 1, characterized in that According to the travel path, controlling the self-moving device to move toward the target position includes: Obtaining positioning signals received from mobile devices; When the positioning signal does not meet the preset quality condition, control the self-moving device to move to a recovery position, where the recovery position is a position where the positioning signal quality meets the preset quality condition; When it is confirmed that the device has moved to the recovery position, the recovery position is recorded as the current position, and it is determined whether the current position and the target position satisfy a preset position relationship; When the preset position relationship is satisfied, a travel path from the current position to the target position is planned based at least on the parallel paths.

10. The method according to claim 1, characterized in that According to the travel path, controlling the self-moving device to move toward the target position includes: Obtaining positioning signals received from mobile devices; When the positioning signal does not meet the preset quality condition, the self-mobile device is controlled to sleep, restart or return to the charging station.

11. The method according to claim 1, characterized in that According to the travel path, controlling the self-moving device to move toward the target position includes: If a collision with an obstacle is detected, the first position is used as the current position, and the obstacle position is marked in the work area map to obtain a new work area map; the first position represents a position within a preset range of the collision position; When the current position and the target position satisfy a preset position relationship, a travel path from the current position to the target position is planned based at least on parallel paths.

12. A method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, characterized in that: The method comprises: Obtaining a work area map; the work area map is used to define the work area of ​​the mobile device; Acquire location information; the location information includes the current location and target location of the mobile device; According to the work area map and the location information, a travel path from the current location to the target location is planned; the travel path includes the boundary of the work area and / or a parallel path; the parallel path represents the boundary of the self-moving area. A path of the device in the working area substantially parallel to the preset cutting direction; According to the travel path, the self-moving device is controlled to move toward the target position.

13. A method for controlling a self-moving device, wherein the self-moving device is configured to move and / or work in a working area, characterized in that: The method comprises: Obtaining a work area map; the work area map is used to define the work area of ​​the mobile device; Acquire location information; the location information includes the current location and target location of the mobile device; According to the current working mode of the mobile device, based on the working area map and the location information, planning a travel path from the current location to the target location; According to the travel path, the self-moving device is controlled to move toward the target position.

14. A control device for a self-moving device, the self-moving device being configured to move and / or work in a working area, characterized in that: The device comprises: A first acquisition module is used to acquire a work area map; the work area map is used to define the work area of ​​the mobile device; A second acquisition module is used to acquire location information; the location information includes the current location and target location of the mobile device; A planning module, configured to plan a travel path from the current position to the target position based on at least a parallel path when the current position and the target position satisfy a preset position relationship; the parallel path represents a path substantially parallel to a preset cutting direction of the self-moving device in a working area; The control module is used to control the self-moving device to move toward the target position according to the travel path.

15. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 13.

16. A self-propelled device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method according to any one of claims 1 to 13.

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