Work method of self-moving robot, computer program product and storage medium

Abstract

Embodiments of the present application provide a working method, a computer program product and a storage medium of a self-moving robot, wherein the self-moving robot comprises a main body, a moving mechanism arranged on the main body and comprising a first moving unit and a second moving unit arranged at intervals along the width direction of the main body, and an executing mechanism arranged on the main body and used for executing a cutting task; the method comprises: when there is an uncut grass-keeping area outside a virtual boundary and a cross-riding physical boundary, the self-moving robot moves towards the outside of the virtual boundary, and when the moving mechanism moves to the cross-riding physical boundary and is in a cross-riding state, the moving mechanism drives the main body to move, so that the executing mechanism executes the cutting task on the uncut grass-keeping area when the moving mechanism is in the cross-riding state; the driving speed of the self-moving robot when executing the cutting task on the uncut grass-keeping area is less than or equal to the driving speed of the self-moving robot when executing the cutting task in the virtual boundary.

Description

Technical Field

[0001] This application relates to the field of smart devices, and more specifically, to a method for operating a self-moving robot, a computer program product, and a storage medium. Background Technology

[0002] In related technologies, when defining the boundary of the work area, due to reasons such as unevenness of the area boundary and limited accuracy of the boundary definition, the defined boundary cannot completely fit the boundary of the work area. Since the self-moving robot performs its work based on the defined area boundary, when the self-moving robot works along the boundary, because the working parts of the self-moving robot cannot completely cover the outside of the defined boundary, it is easy to leave grass in the area outside the defined boundary, which requires secondary manual processing. This results in low work efficiency and high labor intensity for the self-moving robot.

[0003] It is evident that the self-moving robot operation method in the relevant technology has the problem of the self-moving robot missing grass outside the defined boundary, resulting in the need for manual cutting. Summary of the Invention

[0004] This application provides a method for operating a self-moving robot, a computer program product, and a storage medium to at least solve the problem in related art where self-moving robot operations result in missed grass outside defined boundaries, necessitating manual cutting.

[0005] According to one aspect of the embodiments of this application, a method for operating a self-moving robot is provided. The self-moving robot includes: a main body; a moving mechanism disposed on the main body, including a first moving unit and a second moving unit spaced apart along the width direction of the main body; and an execution mechanism disposed on the main body for performing a cutting task. The method includes: when there is an uncut grass area and a straddleable physical boundary outside a virtual boundary, the self-moving robot moves towards the outside of the virtual boundary until the moving mechanism moves to the straddleable physical boundary and is in a straddled state. Then, the moving mechanism drives the main body to move, so that the execution mechanism performs a cutting task on the uncut grass area when the moving mechanism is in the straddled state. The straddled state is defined as: the first moving unit and the second moving unit are respectively located inside and outside the straddleable physical boundary. The uncut grass area refers to the uncut grass area between the virtual boundary and the straddleable physical boundary. The travel speed of the self-moving robot when performing the cutting task on the uncut grass area in the straddled state is less than or equal to the travel speed of the self-moving robot when performing the cutting task within the virtual boundary.

[0006] According to another aspect of the embodiments of this application, another method for operating a self-moving robot is also provided. The self-moving robot includes: a main body; a moving mechanism disposed on the main body, including a first moving unit and a second moving unit spaced apart along the width direction of the main body; and an execution mechanism disposed on the main body for performing a work task. The method includes: when there is an unworked area and a straddleable physical boundary outside a virtual boundary, the self-moving robot moves towards the outside of the virtual boundary until the moving mechanism moves to the straddleable physical boundary and is in a straddled state. Then, the moving mechanism drives the main body to move, so that the execution mechanism performs a work task on the unworked area when the moving mechanism is in the straddled state. The straddled state is defined as: the state in which the first moving unit and the second moving unit are respectively located inside and outside the straddleable physical boundary. The unworked area is defined as: the unworked area between the virtual boundary and the straddleable physical boundary. The speed of the self-moving robot when performing a work task on the unworked area is less than or equal to the speed of the self-moving robot when performing a work task within the virtual boundary.

[0007] According to another aspect of the embodiments of this application, a method for operating a self-moving robot is also provided, comprising: the self-moving robot performing a movement operation based on a virtual boundary; when the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a straddleable area, the self-moving robot moves to outside the virtual boundary and straddles the straddleable physical boundary to perform a movement operation in the area between the virtual boundary and the straddleable physical boundary, wherein the straddleable physical boundary is located outside the working area enclosed by the virtual boundary.

[0008] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0009] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0010] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to perform the steps of any of the above method embodiments through the computer program.

[0011] The following effects can be achieved through this application:

[0012] 1. This application employs a straddle-and-ride method to cut uncut grass areas on straddle-and-ride physical boundaries. When there are uncut grass areas and straddle-and-ride physical boundaries outside the virtual boundary, the self-moving robot moves towards the outside of the virtual boundary until the moving mechanism moves to the straddle-and-ride physical boundary and is in a straddle state. The moving mechanism then drives the main body to move, so that the execution mechanism can perform the cutting task on the uncut grass areas while the moving mechanism is in a straddle state. Here, the straddle state refers to the state in which the first moving unit and the second moving unit of the self-moving robot's moving mechanism are located inside and outside the straddle-and-ride physical boundary, respectively. The uncut grass area refers to the grass area between the virtual boundary and the straddle-and-ride physical boundary that has not been cut. By straddle-and-ride cutting the uncut grass areas, the grass area near the physical boundary can be automatically cut without secondary manual processing, which can improve the working efficiency of the self-moving robot. This solves the problem in the related art of self-moving robot operation methods where the self-moving robot misses grass outside the defined boundary, resulting in the need for manual cutting.

[0013] 2. Within the virtual boundary, the self-moving robot can refer to an existing area map to perform cutting tasks. However, when cutting uncut grassy areas, it needs to rely on its own detected straddleable physical boundaries. The area map records environmental information within the virtual boundary, not outside. Therefore, when the self-moving robot moves outside the virtual boundary, it loses the guidance of the area map and is prone to encountering unpredictable situations, leading to danger. For example, the self-moving robot may have difficulty timely understanding obstacle and road conditions outside the virtual boundary. Therefore, this application addresses this by ensuring that the self-moving robot's speed when performing cutting tasks in uncut grassy areas while straddling is less than or equal to its speed when performing cutting tasks within the virtual boundary. This not only ensures that the grass in uncut grassy areas is cut but also guarantees that the self-moving robot can avoid obstacles promptly and ensures safe movement even when road conditions outside the virtual boundary are poor. Attached Figure Description

[0014] Figure 1 This is a schematic diagram illustrating an application scenario of a self-moving robot's operation method according to an embodiment of this application;

[0015] Figure 2 This is a flowchart illustrating an optional self-moving robot operation method according to an embodiment of this application;

[0016] Figure 3 This is a structural block diagram of an optional self-moving robot according to an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of an optional self-moving robot operation method according to an embodiment of this application;

[0018] Figure 5 This is a schematic diagram of another optional self-moving robot operation method according to an embodiment of this application;

[0019] Figure 6 This is a schematic diagram of another optional self-moving robot operation method according to an embodiment of this application;

[0020] Figure 7 This is a schematic diagram of another optional self-moving robot operation method according to an embodiment of this application;

[0021] Figure 8 This is a schematic diagram of another optional self-moving robot operation method according to an embodiment of this application;

[0022] Figure 9 This is a schematic diagram of another optional self-moving robot operation method according to an embodiment of this application;

[0023] Figure 10 This is a schematic diagram of another optional self-moving robot operation method according to an embodiment of this application;

[0024] Figure 11 This is a flowchart illustrating another optional operating method of a self-moving robot according to an embodiment of this application;

[0025] Figure 12 This is a flowchart illustrating another optional operating method of a self-moving robot according to an embodiment of this application;

[0026] Figure 13 This is a flowchart illustrating another optional operating method of a self-moving robot according to an embodiment of this application;

[0027] Figure 14 This is a structural block diagram of another optional self-moving robot according to an embodiment of this application;

[0028] Figure 15 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] According to one aspect of the embodiments of this application, a method for operating a self-moving robot is provided. Optionally, in this embodiment, the above-described method for operating a self-moving robot may be applied, but is not limited to, to applications such as... Figure 1 The hardware environment shown includes a self-moving robot 102 and a server 104. For example... Figure 1 As shown, the self-moving robot 102 can be a smart lawnmower with network connectivity or other devices that can move without human intervention. The server 104 can connect to the self-moving robot 102 via a network and can provide services to the self-moving robot 102 (e.g., remote control services). A database can be set up on or independently of the server 104 to provide data storage services to the server 104.

[0032] The aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth. Server 104 may be, but is not limited to, a cloud server, a server cluster, or other server types.

[0033] The operation method of the self-moving robot in this application embodiment can be executed by the self-moving robot 102.

[0034] Figure 2 This is a flowchart illustrating an optional self-moving robot operation method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0035] Step S202: When there is an uncut grass area and a straddleable physical boundary outside the virtual boundary, the mobile robot moves towards the outside of the virtual boundary until the mobile mechanism moves to the straddleable physical boundary and is in a straddled state. The mobile mechanism drives the main body to move so that the execution mechanism can perform the cutting task on the uncut grass area while the mobile mechanism is in a straddled state.

[0036] The self-moving robot operation method in this embodiment can be applied to the field of intelligent devices, specifically to scenarios where the self-moving robot operates on lawns. The aforementioned self-moving robot can be an intelligent lawnmower, which refers to a device capable of autonomously completing lawn mowing without direct human control or operation. Taking an intelligent lawnmower as an example, the actuator located on the main body of the intelligent lawnmower can be a cutting device (i.e., a cutting mechanism for cutting). This cutting device can cut the lawn to complete the mowing task. The cutting device can include, but is not limited to, at least one of the following: rotary blade cutting device, roller blade cutting device, reciprocating toothed blade cutting device, swivel blade cutting device, and rope cutting device, etc., and can also be other cutting mechanisms capable of completing the mowing task. This embodiment does not limit the type of cutting device.

[0037] Figure 3 This is a structural block diagram of an optional self-moving robot according to an embodiment of this application, such as... Figure 3 As shown, the self-moving robot includes a main body 302, on which a moving mechanism 304 and an execution mechanism 306 are disposed. The moving mechanism 304, disposed on the main body 302, includes a first moving unit and a second moving unit spaced apart along the width direction of the main body. The execution mechanism 306, disposed on the main body 302, is used to perform cutting tasks.

[0038] Here, the moving mechanism can be tires or tracks, used to propel the intelligent lawnmower. The moving mechanism further includes a first moving unit and a second moving unit, which are spaced apart along the width of the main body. For example... Figure 6 As shown, the width direction of the main body is left to right. The first moving unit and the second moving unit are respectively arranged at intervals along the left and right directions of the main body. Furthermore, for example... Figure 6As shown, the first moving unit includes two wheels arranged along the length of the main body. The second moving unit includes two wheels arranged along the length of the main body. The first and second moving units are located on the left and right sides of the intelligent lawnmower's forward direction (i.e., on both sides with the forward direction as the axis). The first and second moving units can operate simultaneously to control the intelligent lawnmower to move forward or backward, or they can operate independently to control the intelligent lawnmower's steering.

[0039] In related technologies, intelligent lawnmowers require a pre-established mowing area map to perform lawn mowing operations. This map is enclosed by a virtual boundary (i.e., the map boundary of the mowing area). To ensure safety during mowing and prevent the intelligent lawnmower from touching the physical boundary, a distance is left between the virtual boundary and the physical boundary of the mowing area map; the virtual boundary does not completely fit the lawn boundary. Furthermore, when the intelligent lawnmower mows along the virtual boundary, because the cutting disc cannot fully extend from the mower's casing, it can easily cause missed areas at the lawn boundary, requiring manual re-mowing, resulting in low efficiency and high labor intensity.

[0040] To at least partially solve the aforementioned technical problems, in this embodiment, when there is an uncut grass area and a straddleable physical boundary outside the virtual boundary, the mobile robot moves to the outside of the virtual boundary and straddles the straddleable physical boundary. The moving mechanism drives the main body to move, so that the execution mechanism performs the cutting task on the uncut grass area while the moving mechanism is in the straddled state. The aforementioned uncut grass area refers to the grass area between the virtual boundary and the straddleable physical boundary that has not been cut, for example... Figure 5 As shown. The straddle state is defined as: the state in which the first moving unit and the second moving unit are respectively located inside and outside the boundary of the straddleable entity, for example, as shown. Figure 6 , Figure 8 , Figure 9 and Figure 10 As shown.

[0041] Here, the term "rideable physical boundary" refers to the boundary where a surface that allows movement of a mobile mechanism, such as a gravel road, cement road, or dirt road, intersects with the physical boundary of the lawn. For example... Figure 5 As shown in Figure D, this is the boundary where the solid boundary of the lawn intersects with the surface of a movable structure, such as a concrete road or a dirt road. Figure 5 As shown in D, the area enclosed by the virtual boundary is the work area. Within the work area, the self-moving robot can perform tasks such as mowing lawns or other similar tasks based on the area map. The traversable physical boundary is the physical boundary located outside the work area enclosed by the virtual boundary. For example, as... Figure 4As shown, the dashed line represents the virtual boundary, the shaded area enclosed by the virtual boundary is the working area, the solid line represents the boundary that can be straddled, and the boundary that can be straddled is located outside the working area enclosed by the virtual boundary.

[0042] Taking a self-moving robot as an intelligent lawnmower and a moving mechanism as tires as an example, when the intelligent lawnmower detects that the intersection outside the physical boundary of the lawn is a gravel road, it means that the intelligent lawnmower has detected a physical boundary that can be straddled outside the virtual boundary. In the case that there is an area of ​​uncut grass left between the gravel road and the virtual boundary, the intelligent lawnmower can be straddled on the physical boundary. At this time, the tires on both sides of the intelligent lawnmower are located inside and outside the physical boundary that can be straddled, respectively. The cutting device located between the two tires cuts the grass in the uncut grass left area inside the lawn boundary.

[0043] It should be noted that the physical boundary of a lawn may be partly a straddleable physical boundary and partly a non-straddleable physical boundary. When the smart lawnmower is in straddle mode and detects that the physical boundary in front is a non-straddleable physical boundary, in order to ensure the safety of the lawnmower operation, the smart lawnmower can exit straddle mode, return to the virtual boundary and continue mowing along the virtual boundary until a straddleable physical boundary appears in front, and then re-enter straddle mode.

[0044] Through the embodiments provided in this application, when there is an uncut grass-retaining area and a straddleable physical boundary outside the virtual boundary, the self-moving robot moves towards the outside of the virtual boundary until the moving mechanism moves to the straddleable physical boundary and is in a straddled state. The moving mechanism drives the main body to move so that the execution mechanism can perform the cutting task on the uncut grass-retaining area while the moving mechanism is in a straddled state. This solves the problem in the operation method of self-moving robots in related technologies that there is grass leakage outside the defined boundary, which requires manual cutting. This improves the working efficiency of self-moving robots and enhances the user experience.

[0045] In an exemplary embodiment, in order to improve the convenience and efficiency of mowing lawns in uncut grass areas, the operation method described in the foregoing embodiment can be executed when the self-moving robot moves along the virtual boundary and there are uncut grass areas and physical boundaries that can be straddled outside the virtual boundary; or, the operation method described in the foregoing embodiment can be executed when the self-moving robot moves within the virtual boundary and there are uncut grass areas and physical boundaries that can be straddled outside the virtual boundary.

[0046] Here, since the self-moving device performs the cutting task based on the area map, it cannot know the environmental information outside the virtual boundary in advance. However, when the self-moving robot moves along the virtual boundary or moves within the virtual boundary, it can obtain the environmental information outside the virtual boundary. In this case, when there is an uncut grass area and a crossable physical boundary outside the virtual boundary, the uncut grass area is cut in the aforementioned way without the need to perform additional detection of the uncut grass area and the crossable physical boundary. This makes it more convenient and faster to mow the lawn in the uncut grass area.

[0047] For example, such as Figure 5 As shown, Figure 5 In the scene shown, the lawn boundary is the physical boundary of the lawn, and the self-moving robot is a lawnmower. As the lawnmower moves along the virtual boundary, it detects that there is an area of ​​uncut grass outside the virtual boundary A corresponding to its current position, and there is a gravel road outside the lawn boundary. At this time, the physical boundary that can be straddled is the boundary D where the physical boundary of the lawn and the gravel road intersect. The lawnmower can move to the outside of the virtual boundary A and straddle the lawn boundary D to mow the area of ​​uncut grass.

[0048] In this embodiment, when the self-moving robot moves along the virtual boundary and there is an uncut grass area and a straddleable physical boundary outside the virtual boundary, it can straddle the straddleable physical boundary to mow the lawn, which can improve the convenience and efficiency of mowing the lawn in the uncut grass area.

[0049] In an exemplary embodiment, before the self-moving robot moves towards the outside of the virtual boundary, the method further includes: when the width of the undisturbed grass area within the extension range of the straddleable physical boundary is greater than a first threshold, the moving mechanism drives the main body to move along the boundary of the undisturbed grass area within the extension range of the straddleable physical boundary, so that the actuator performs a cutting task on the inner side of the undisturbed grass area until the width of the undisturbed grass area within the extension range of the straddleable physical boundary is less than or equal to the first threshold. Specifically, in one embodiment, the extension range of the straddleable physical boundary can be the range along the lawn boundary of the straddleable physical boundary. For example, Figure 5 As shown, the boundary of the straddleable entity extends along the boundary between lawns B and C. Therefore, the extension range of the straddleable entity boundary is the range of the straddleable entity boundary between B and C. Figure 5As shown, the uncut grass-retaining area is roughly ring-shaped. This ring-shaped uncut grass-retaining area has a width direction. Specifically, the width direction of this ring-shaped uncut grass-retaining area is the normal direction of any point on the outer boundary of the uncut grass-retaining area. Further, the uncut grass-retaining area has a width value in its width direction. Further, the uncut grass-retaining area has a width greater than a first threshold, that is, the uncut grass-retaining area has a width value greater than the first threshold in its width direction.

[0050] When a self-moving robot mows grass along a virtual boundary, the width of the uncut grass area varies because the distance between the virtual and physical boundaries is not fixed. If the width of this uncut grass area exceeds twice the robot's cutting width, the robot, straddling the physical boundary, will be unable to cut all the grass within the uncut area, resulting in missed cuts. To avoid this, when the width of the uncut grass area within the straddling boundary exceeds a first threshold, the self-moving robot can first use its actuator to cut the inner side of the uncut grass area. The moving mechanism propels the robot along the boundary of the uncut grass area within the straddling boundary. During this movement, the actuator cuts the inner side of the uncut grass area, reducing its width. In one embodiment, when the width of the uncut grass-retaining area in its width direction is greater than 1 times the cutting width of the self-moving robot but not greater than 2 times the cutting width of the self-moving robot, the moving mechanism drives the main body to move once along the inner boundary of the uncut grass-retaining area within the extension range of the straddleable entity boundary, so that the width of the uncut grass-retaining area within the extension range of the straddleable entity boundary is less than or equal to the first threshold.

[0051] In this embodiment, the first threshold can be greater than 1 times the cutting width of the actuator and less than 2 times the cutting width of the actuator. For example, the first threshold is 1.5 times the cutting width of the actuator of the self-moving robot. This not only ensures the integrity of the grass-retaining area cutting but also ensures the convenience of grass-retaining area cutting.

[0052] Optionally, to facilitate the segmentation of the grass-retaining area, the unsegmented grass-retaining area can be updated based on the already segmented portion of the unsegmented grass-retaining area. The virtual boundary is the map boundary of the region map used by the self-moving robot for region segmentation. If the width of the unsegmented grass-retaining area exceeds a first threshold, it indicates that the virtual boundary setting is unreasonable, resulting in low region segmentation efficiency. Therefore, the virtual boundary can be updated based on the already segmented portion of the unsegmented grass-retaining area, so that the same region can be segmented based on the updated virtual boundary.

[0053] Here, the updated virtual boundary is the inner boundary of the uncut grass-retaining area.

[0054] In this embodiment, when the width of the uncut grass-retaining area within the extended range of the straddling entity boundary is greater than a first threshold, the cutting task is performed on the inner side of the uncut grass-retaining area, which can ensure the integrity of the area cutting. The set first threshold is greater than 1 times the cutting width of the actuator and less than 2 times the cutting width of the actuator, which can ensure the integrity and convenience of grass-retaining area cutting. The uncut grass-retaining area and the virtual boundary are updated based on the already cut part of the uncut grass-retaining area, which can improve the efficiency of area cutting.

[0055] In an exemplary embodiment, if the width of the uncut grass-retained area within the extended range of the straddleable entity boundary is greater than a second threshold, then after one cutting pass, a width greater than the first threshold will still exist. Therefore, for the case where the width of the uncut grass-retained area within the extended range of the straddleable entity boundary is greater than the first threshold, after the moving mechanism moves the main body along the virtual boundary, the method further includes: the moving mechanism reciprocating along the boundary of the uncut grass-retained area within the extended range of the straddleable entity boundary, so that the executing mechanism performs a cutting task on the inner side of the uncut grass-retained area until the width of the uncut grass-retained area is less than or equal to the first threshold. For example, as... Figure 5 As shown, when the width of the uncut grass-retained area within the extended range of the straddleable entity boundary exceeds the second threshold, the moving mechanism drives the main body to reciprocate along the boundary of the uncut grass-retained area within the extended range of the straddleable entity boundary, for example... Figure 5 As shown, the moving mechanism drives the main body to pass through path 1, path 2 and path 3 in sequence within the extension range of the straddleable entity boundary. During the process of moving along path 1, path 2 and path 3 in sequence, the execution mechanism performs a cutting task on the inner side of the uncut grass area, thereby reducing the width of the uncut grass area until the width of the uncut grass area within the extension range of the straddleable entity boundary is less than or equal to the first threshold.

[0056] During the movement of the main body driven by the mobile mechanism, the self-moving robot can use its onboard sensors to detect in real time the width of the uncut grass-covered area within its detection range. This allows it to determine whether the width of the uncut grass-covered area within the extended range that can straddle the entity's boundary is less than or equal to a first threshold, and thus determine whether this area needs to be cut again. As the robot moves back and forth along the boundary of the uncut grass-covered area, it determines which grass-covered area requires the execution mechanism to perform the cutting task again. The detection sensors can be lidar, cameras, etc.; this embodiment does not limit the type of detection sensor.

[0057] Optionally, the moving mechanism can drive the main body to move in the following way: first, it moves along one direction and measures the width of the uncut grass area within the detection range of the detection sensor on it in real time until the detected area width is less than or equal to a first threshold; if there is an extra-wide area with a width greater than the first width in the uncut grass area that has been cut on the inner side, the moving mechanism can drive the main body to move back and forth until the width of the uncut grass area within the extension range that can straddle the boundary of the entity is less than or equal to the first threshold.

[0058] In this embodiment, by moving the moving mechanism back and forth along the boundary of the uncut grass-retaining area within the extended range of the straddling entity boundary, the actuator can perform the cutting task on the inner side of the uncut grass-retaining area, thus ensuring the comprehensiveness of the area cutting.

[0059] In an exemplary embodiment, in order for the self-mobile robot to straddle the boundary of the straddleable entity and move and work normally, the height difference between the boundary of the straddleable entity and the uncut grass area is no more than 4 cm.

[0060] Excessive height difference between the straddleable boundary and the uncut grass area may prevent the self-moving robot from straddling the straddleable boundary, or cause the straddleable boundary to touch the ground after straddling, resulting in the inability to move and operate normally. To avoid the above problems, the straddleable boundary is considered a straddleable boundary only when the height difference between the straddleable boundary and the uncut grass area is no more than 4 cm.

[0061] In this embodiment, the height difference between the straddleable physical boundary and the uncut grass area is no more than 4 centimeters, which allows the self-moving robot to smoothly straddle the straddleable physical boundary and improves the safety of the self-moving device's movement.

[0062] In an exemplary embodiment, in order to enable the first and second mobile units of the self-moving robot to be located inside the virtual boundary and outside the straddleable physical boundary respectively in the straddled state, when the self-moving robot straddles the straddleable physical boundary, the distance between the outermost edge of the self-moving robot and the virtual boundary is no greater than 1 meter.

[0063] Due to the specifications of the self-moving robot, when the self-moving robot straddles the boundary of the physical entity, if the distance between the outermost edge of the self-moving robot and the virtual boundary is too large, the moving unit on the other side of the self-moving robot cannot be located within the virtual boundary. That is, the self-moving robot is completely outside the virtual boundary, which may lead to missed mowing of the lawn in the uncut grass area. Therefore, when the self-moving robot straddles the boundary of the physical entity, the distance between the outermost edge of the self-moving robot and the virtual boundary should not be greater than 1 meter.

[0064] Furthermore, since the area map that the self-moving robot can obtain does not include environmental information outside the virtual boundary, if the distance between the outermost edge of the self-moving robot and the virtual boundary is too large, the device may fail to locate itself (i.e., it cannot refer to the area map to confirm its current location). The distance between the outermost edge of the self-moving robot and the virtual boundary should not exceed 1 meter to ensure the success rate of device location.

[0065] In this embodiment, when the self-moving robot straddles the boundary of the physical boundary, the distance between the outermost edge of the self-moving robot and the virtual boundary is no more than 1 meter. This can avoid missing the cutting of uncut grass areas, improve work efficiency, and ensure the success rate of equipment positioning.

[0066] In one exemplary embodiment, the actuator is eccentrically positioned on the body, and when the self-moving robot straddles the boundary of the straddleable entity, the centerline of the body is located on the side of the actuator away from the boundary of the straddleable entity.

[0067] Because there are many uncontrollable environmental factors outside the boundary of the straddleable entity, in order to reduce the distance the mobile mechanism straddles outside the boundary, the actuator of the self-mobilizing robot can be eccentrically mounted on the main body, and when the self-mobilizing robot straddles the boundary of the straddleable entity, the centerline of the main body is located on the side of the actuator away from the boundary of the straddleable entity. For example, as... Figure 6 As shown, the cutting device is eccentrically mounted on the lawnmower. This eccentric mounting allows the lawnmower's moving mechanism to extend only a short distance to cover the uncut grass area.

[0068] Correspondingly, when the moving mechanism is in a straddle state, the projection of the actuator in the vertical direction includes a first projection area and a second projection area located on both sides of the boundary line between the straddleable entity boundary and the uncut grass area. The first projection area is closer to the uncut grass area, and the second projection area is farther away from the uncut grass area. The ratio between the first projection area and the second projection area is greater than 1 / 2.

[0069] Here, the boundary between the straddleable entity boundary and the uncut grassed area is the side of the straddleable entity boundary closer to the uncut grassed area, for example, as... Figure 7 As shown, the boundary of the straddleable entity has its own width, and the dividing line between the boundary of the straddleable entity and the uncut grass area is the inner side of the boundary of the straddleable entity.

[0070] In this embodiment, when the moving mechanism is in a straddle state, the projection of the actuator along the vertical direction may be partially located outside the uncut grass area, including a first projection area and a second projection area located on both sides of the boundary line between the straddleable entity boundary and the uncut grass area. The first projection area is close to the uncut grass area, and the second projection area is far away from the uncut grass area. That is, the first projection area is located inside the uncut grass area, and the second projection area is located outside the uncut grass area outside the boundary of the straddleable entity.

[0071] Furthermore, to ensure the effective range of cutting operations on the undisturbed grass-covered area, the ratio between the first and second projection areas is greater than 1 / 2; that is, at least one-third of the vertical projection of the actuator lies within the undisturbed grass-covered area. For example, as... Figure 8 As shown, the first projection area is located within the uncut grass area, and the second projection area is located outside the uncut grass area that can be straddled by the entity boundary, and the ratio between the first projection area and the second projection area is greater than 1 / 2.

[0072] In this embodiment, the actuator is eccentrically positioned on the main body, which can improve the safety of the self-moving robot operation; at least one-third of the vertical projection of the actuator is located in the uncut grass area, which can improve work efficiency.

[0073] In an exemplary embodiment, to ensure the stability of the self-moving robot's movement, the actuator can be positioned on the robot's centerline, meaning the actuator's centerline coincides with the body's centerline, thus positioning the robot's center of gravity on the centerline. For example, as... Figure 9 As shown, the centerline of the actuator is aligned with the centerline of the main body, and the cutting device is positioned on the centerline of the lawnmower, with the centerline of the cutting device aligned with the centerline of the lawnmower main body.

[0074] It should be noted that the actuator setup in this embodiment and the eccentric setup of the actuator in the previous embodiments are two alternative options, and can be selected according to requirements in practical applications. For self-moving robots with adjustable actuator positions, one of the setup methods can be selected according to different cutting scenarios, thereby improving the flexibility of cutting method configuration while ensuring cutting efficiency.

[0075] Correspondingly, when the moving mechanism is in a straddle state, the projection of the actuator in the vertical direction includes a first projection area and a second projection area located on both sides of the boundary line between the straddleable entity boundary and the uncut grass area. The first projection area is closer to the uncut grass area, and the second projection area is farther away from the uncut grass area. The ratio between the first projection area and the second projection area is greater than 1 / 2.

[0076] The first and second projection areas described above are the same as those in the previous embodiments and have been explained before, so they will not be repeated here. In this embodiment, the position of the actuator on the main body is different from that in the previous embodiments. For example, as shown... Figure 10 As shown, the centerline of the actuator is consistent with the centerline of the main body. The first projection area is located within the uncut grass area, and the second projection area is located outside the uncut grass area that can straddle the boundary of the entity. The ratio between the first projection area and the second projection area is greater than 1 / 2.

[0077] In this embodiment, the actuator can also be positioned on the center line of the self-moving robot body, so that the center of gravity of the self-moving robot is located on the center line, thereby improving the stability of the self-moving robot's movement.

[0078] In an exemplary embodiment, to improve the safety of the self-moving robot's operation, the self-moving robot moves towards the outside of the virtual boundary until the moving mechanism moves to a straddleable physical boundary and is in a straddled state. Then, the moving mechanism drives the main body to move so that the execution mechanism can perform a cutting task on the uncut grass area while the moving mechanism is in a straddled state. This includes: when the self-moving robot detects a straddleable physical boundary and the uncut grass area between the virtual boundary and the straddleable physical boundary is a straddleable area, the self-moving robot moves towards the outside of the virtual boundary until the moving mechanism moves outside the virtual boundary and straddles the straddleable physical boundary. Then, the moving mechanism drives the main body to move so that the execution mechanism can perform a cutting task on the uncut grass area while the moving mechanism is in a straddled state.

[0079] When the autonomous mobile robot detects a straddleable physical boundary, and the uncut grass area between the virtual boundary and the straddleable physical boundary is a straddleable area, the autonomous mobile robot can straddle the straddleable physical boundary to perform cutting tasks. Here, the autonomous mobile robot can detect the straddleable physical boundary through sensors. The type and number of sensors can be set based on experience and may include, but are not limited to, at least one of the following: ultrasonic sensors, binocular vision modules, LiDAR, cameras, infrared sensors, etc., but this embodiment does not limit this.

[0080] It should be noted that when the self-moving robot detects a straddleable physical boundary, and the uncut grass area between the virtual boundary and the straddleable physical boundary is a straddleable area, it is also necessary to determine that there is no overly wide area with a width greater than the first width threshold in the cut portion of the uncut grass area. Only then can the self-moving robot move towards the outside of the virtual boundary until the moving mechanism moves to the straddleable physical boundary and is in a straddled state. At this point, the moving mechanism drives the execution mechanism to move, so that the execution mechanism can perform the cutting task on the uncut grass area while the moving mechanism is in a straddled state.

[0081] In this embodiment, the self-moving robot can detect the boundary of a physical entity that it can straddle using sensors, which can prevent the self-moving robot from straddling the boundary of a physical entity that it cannot straddle, thus improving the safety of the self-moving robot's operation.

[0082] In one exemplary embodiment, when the actuator performs a cutting task on the uncut grass area while the mobile mechanism is in a straddle state, the self-mobilizing robot moves along the boundary line between the physical boundary and the uncut grass area.

[0083] To cut the lawn within the uncut grass area, when the mobile mechanism is in a straddle state, the self-moving robot can move along the boundary line between the physical boundary and the uncut grass area until the physical boundary ahead is no longer a straddleable boundary, or until the entire uncut grass area has been cut, at which point the mobile mechanism can exit the straddle state. Here, the self-moving robot can continuously acquire the boundary line between the physical boundary and the uncut grass area through sensors, and continuously confirm whether the path ahead is a straddleable boundary. The sensors have been described in the previous embodiments and will not be repeated here.

[0084] In this embodiment, the self-moving robot can continuously obtain the boundary line between the physical boundary and the uncut grass area through sensors, and move along the boundary line to carry out operations, which can improve the safety of the self-moving robot during operation.

[0085] According to another aspect of the embodiments of this application, a method for operating a self-moving robot is also provided. Optionally, in this embodiment, the above-described method for operating a self-moving robot can be applied to, for example... Figure 1 The hardware environment shown has already been explained and will not be repeated here.

[0086] The self-moving robot operation method of this application embodiment can be executed by the self-moving robot 102, or it can be jointly executed by the server 104 and the self-moving robot 102. Alternatively, the self-moving robot 102 can execute the self-moving robot operation method of this application embodiment by a client installed on it.

[0087] Taking the self-moving robot 102 as an example to perform the operation method of the self-moving robot in this embodiment, Figure 11 This is a flowchart illustrating another optional self-moving robot operation method according to an embodiment of this application, such as... Figure 11 As shown, the process of this method may include the following steps:

[0088] Step S1102: When there is an unworked area and a straddleable physical boundary outside the virtual boundary, the mobile robot moves towards the outside of the virtual boundary until the mobile mechanism moves to the straddleable physical boundary and is in a straddled state. The mobile mechanism drives the execution mechanism to move so that the execution mechanism can perform work tasks on the unworked area while the mobile mechanism is in a straddled state.

[0089] The self-moving robot operation method in this embodiment can be applied to the field of smart devices, specifically to scenarios where the self-moving robot performs operations on a lawn area. The self-moving robot includes: a main body; a moving mechanism disposed on the main body, comprising a first moving unit and a second moving unit spaced apart along the width direction of the main body; and an execution mechanism disposed on the main body for performing the operation task. The self-moving robot, main body, moving mechanism, and straddle state described above are similar to those in the previous embodiments and have already been explained, so they will not be repeated here.

[0090] In this embodiment, the aforementioned unworked area is defined as the unworked area between the virtual boundary and the boundary of the straddleable entity. The travel speed of the self-mobilizing robot when performing a work task in the unworked area is less than or equal to the travel speed of the self-mobilizing robot when performing a work task within the virtual boundary. An execution mechanism is used to perform the work task, which includes, but is not limited to, at least one of the following: cutting, snow sweeping, leaf sweeping, spraying pesticides, etc. The main body of the self-mobilizing robot may be equipped with an execution mechanism corresponding to the type of work task to perform the corresponding work task. The self-mobilizing robot straddling the straddleable entity and performing the work task in the straddled state is the same as or similar to the method of performing the cutting task in the previous embodiment, and has been described before, so it will not be repeated here.

[0091] Through the embodiments provided in this application, when there are unworked areas and straddleable physical boundaries outside the virtual boundary, the self-moving robot moves towards the outside of the virtual boundary until the moving mechanism moves to the straddleable physical boundary and is in a straddled state. The moving mechanism drives the execution mechanism to move, so that the execution mechanism performs work tasks on the unworked areas while the moving mechanism is in a straddled state. This solves the problem in the related art of self-moving robot operation methods where the self-moving robot misses grass outside the defined boundary, resulting in the need for manual cutting. This improves the working efficiency of the self-moving robot and enhances the user experience.

[0092] According to another aspect of the embodiments of this application, a method for operating a self-moving robot is also provided. Optionally, in this embodiment, the above-described method for operating a self-moving robot can be applied to, for example... Figure 1 The hardware environment shown has already been explained and will not be repeated here.

[0093] The self-moving robot operation method of this application embodiment can be executed by the self-moving robot 102, or it can be jointly executed by the server 104 and the self-moving robot 102. Alternatively, the self-moving robot 102 can execute the self-moving robot operation method of this application embodiment by a client installed on it.

[0094] Taking the self-moving robot 102 as an example to perform the operation method of the self-moving robot in this embodiment, Figure 12 This is a flowchart illustrating another optional operating method of a self-moving robot according to an embodiment of this application, such as... Figure 12 As shown, the process of this method may include the following steps:

[0095] Step S1202: The self-moving robot performs movement operations based on the virtual boundary;

[0096] In step S1204, when the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a straddleable area, the self-moving robot moves to the outside of the virtual boundary and straddles the straddleable physical boundary to perform a moving operation on the area between the virtual boundary and the straddleable physical boundary, wherein the straddleable physical boundary is located outside the working area enclosed by the virtual boundary.

[0097] The self-moving robot operation method in this embodiment can be applied to the field of smart devices, specifically to scenarios where the self-moving robot operates on a lawn area. The self-moving robot, virtual boundary, straddleable physical boundary, work area, and the way the self-moving robot moves and operates in this embodiment are similar to those in the previous embodiments and have already been described, so they will not be repeated here.

[0098] The embodiments provided in this application enable a self-moving robot to perform mobile operations based on virtual boundaries. When the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a straddleable area, the self-moving robot moves outside the virtual boundary and straddles the straddleable physical boundary to perform mobile operations in the area between the virtual boundary and the straddleable physical boundary. The straddleable physical boundary is located outside the work area enclosed by the virtual boundary. This solves the problem in related technologies where the self-moving robot misses grass outside the defined boundary, requiring manual cutting, thus improving the working efficiency of the self-moving robot and enhancing the user experience.

[0099] In one exemplary embodiment, the method further includes: when the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a non-straddleable area, the self-moving robot moves along the virtual boundary.

[0100] In straddle mode, the mobile units on either side of the self-moving robot are located outside the straddleable physical boundary and inside the virtual boundary, respectively. If the height difference between the area between the virtual boundary and the straddleable physical boundary and the area inside the virtual boundary or outside the straddleable physical boundary is too large, the self-moving robot cannot enter straddle mode. In order to move outside the virtual boundary and straddle the straddleable physical boundary, the area between the virtual boundary and the straddleable physical boundary needs to be a straddleable area.

[0101] In this embodiment, if the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a straddleable area, the self-moving robot can move outside the virtual boundary and straddle the straddleable physical boundary to perform movement operations in the area between the virtual boundary and the straddleable physical boundary. Conversely, if the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a non-straddleable area, the self-moving robot moves along the virtual boundary and does not straddle the straddleable physical boundary.

[0102] Here, the self-moving robot can detect whether the area between the virtual boundary and the boundary of the rideable physical entity is an area that cannot be ridden by the detection sensor on it. The detection sensor has been described in the previous embodiment and will not be repeated here.

[0103] This embodiment improves the safety of self-moving robot operations by allowing the robot to enter a straddle state only when the area between the virtual boundary and the straddleable physical boundary is a straddleable area.

[0104] The following explanation, using optional examples, illustrates the operation method of the self-moving robot in this application embodiment. In this optional example, the self-moving robot is an intelligent lawnmower.

[0105] Figure 13 This is a flowchart illustrating the operation method of the self-moving robot in this optional example, such as... Figure 13 As shown, the operation method of this self-moving robot may include the following steps:

[0106] Step S1302: The intelligent lawnmower mows the grass within the work area enclosed by the virtual boundary.

[0107] Step S1304: The smart lawnmower moves along the virtual boundary.

[0108] Step S1306: Determine whether the cut portion has an ultra-wide area. If it does, proceed to step S1308; otherwise, proceed to step S1310.

[0109] Step S1308: The intelligent lawnmower straddles the virtual boundary to mow the ultra-wide area.

[0110] Step S1310: Determine whether the boundary outside the virtual boundary is a straddleable entity boundary. If it is, proceed to step S1312; otherwise, return to step S1304.

[0111] Step S1312: The intelligent lawnmower straddles the boundary of the straddleable entity and mows the uncut area.

[0112] This optional example demonstrates that when there is no excessively wide area in the cut section and the virtual boundary is outside the straddleable physical boundary, straddling the straddleable physical boundary to mow the lawn can reduce the problem of missed grass at the lawn boundary, making the lawn boundary cleaner and more thorough.

[0113] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0115] According to another aspect of the embodiments of this application, a self-moving robot is also provided, which can be used to implement the operation method of the self-moving robot provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0116] Figure 14 This is a structural block diagram of another optional self-moving robot according to an embodiment of this application, such as... Figure 14 As shown, the self-moving robot includes: a main body 1402, a moving mechanism 1404, an actuator 1406, and a control component 1408.

[0117] Optionally, in this embodiment, the moving mechanism 1404 is disposed on the main body 1402, including a first moving unit and a second moving unit spaced apart along the width direction of the main body 1402; the execution mechanism 1406 is disposed on the main body 1402 and is used to perform cutting tasks or work tasks, wherein the control component 1408 can be used to control the moving mechanism 1404 and the execution mechanism 1406 to perform the work method of the self-moving robot in any of the foregoing embodiments.

[0118] As an optional implementation, the control unit 1408 is used to control the moving mechanism 1404 to move the main body 1402 toward the outside of the virtual boundary when there is an uncut grass area and a straddleable physical boundary outside the virtual boundary, until the moving mechanism 1404 moves to the straddleable physical boundary and is in a straddled state, and then controls the moving mechanism 1404 to move the main body 1402, so that the execution mechanism 1406 performs the cutting task on the uncut grass area when the moving mechanism 1404 is in the straddled state.

[0119] Here, the straddle state is defined as: the state in which the first moving unit and the second moving unit are located inside and outside the straddleable entity boundary, respectively; the speed of the self-moving robot when performing the cutting task on the uncut grass area is less than or equal to the speed of the self-moving robot when performing the cutting task within the virtual boundary.

[0120] In an exemplary embodiment, the control unit 1408 is further configured to perform any of the operation methods in the preceding embodiments when the self-moving robot moves along the virtual boundary and there is an uncut grass area and a straddleable physical boundary outside the virtual boundary; or when the self-moving robot moves within the virtual boundary and there is an uncut grass area and a straddleable physical boundary outside the virtual boundary.

[0121] In one exemplary embodiment, the control component 1408 is further configured to, before the self-moving robot moves toward the outside of the virtual boundary, when the width of the uncut grass area within the extension range of the straddleable physical boundary is greater than a first threshold, control the movement mechanism 1404 to drive the main body 1402 to move along the boundary of the uncut grass area within the extension range of the straddleable physical boundary, so that the execution mechanism 1406 performs a cutting task on the inside of the uncut grass area until the width of the uncut grass area within the extension range of the straddleable physical boundary is less than or equal to the first threshold, wherein the uncut grass area and the virtual boundary are updated based on the portion of the uncut grass area that has been cut, the first threshold is greater than 1 times the cutting width of the execution mechanism 1406, and the first threshold is less than 2 times the cutting width of the execution mechanism 1406.

[0122] In an exemplary embodiment, the control component 1408 is further configured to, after the moving mechanism 1404 moves the main body 1402 along the virtual boundary, when the width of the uncut grass area within the extension range of the straddleable physical boundary is greater than a second threshold, control the moving mechanism 1404 to reciprocate along the boundary of the uncut grass area within the extension range of the straddleable physical boundary, so that the execution mechanism 1406 performs a cutting task on the inside of the uncut grass area until the width of the uncut grass area is less than or equal to a first threshold, wherein the second threshold is greater than twice the cutting width of the execution mechanism 1406.

[0123] In an exemplary embodiment, the updated virtual boundary is the inner boundary of the uncut grass-retaining area. In the straddle state, the first moving unit and the second moving unit are located inside the virtual boundary and outside the straddleable physical boundary, respectively.

[0124] In one exemplary embodiment, the height difference between the straddleable entity boundary and the uncut grass-covered area is no greater than 4 centimeters.

[0125] In an exemplary embodiment, when the self-moving robot straddles the boundary of the straddleable physical entity, the distance between the outermost edge of the self-moving robot and the virtual boundary is no greater than 1 meter.

[0126] In one exemplary embodiment, the actuator is eccentrically positioned on the body, and when the self-moving robot straddles the boundary of the straddleable entity, the centerline of the body is located on the side of the actuator away from the boundary of the straddleable entity.

[0127] In an exemplary embodiment, when the moving mechanism is in a straddle state, the projection of the actuator along the vertical direction includes a first projection area and a second projection area located on both sides of the boundary line between the straddleable entity boundary and the uncut grass area. The first projection area is closer to the uncut grass area, and the second projection area is farther away from the uncut grass area. The ratio between the first projection area and the second projection area is greater than 1 / 2.

[0128] In an exemplary embodiment, the centerline of the actuator is aligned with the centerline of the main body. When the moving mechanism is in a straddle state, the projection of the actuator in the vertical direction includes a first projection area and a second projection area located on both sides of the boundary line between the straddleable entity boundary and the uncut grass area. The first projection area is closer to the uncut grass area, and the second projection area is farther away from the uncut grass area. The ratio between the first projection area and the second projection area is greater than 1 / 2.

[0129] In an exemplary embodiment, the control unit 1408 is configured to, when the self-moving robot detects a straddleable physical boundary and the uncut grass area between the virtual boundary and the straddleable physical boundary is a straddleable area, control the moving mechanism 1404 to move the main body 1402 toward the outside of the virtual boundary until the moving mechanism 1404 moves outside the virtual boundary and straddles the straddleable physical boundary, and control the moving mechanism 1404 to move the main body 1402 so that the execution mechanism 1406 performs a cutting task on the uncut grass area when the moving mechanism 1404 is in the straddled state.

[0130] In one exemplary embodiment, when the actuator performs a cutting task on the uncut grass area while the mobile mechanism is in a straddle state, the self-mobilizing robot moves along the boundary line between the physical boundary and the uncut grass area.

[0131] In one exemplary embodiment, the straddleable physical boundary is located outside the work area enclosed by the virtual boundary.

[0132] As another optional implementation, the control unit 1408 is used to control the moving mechanism 1404 to move the main body 1402 toward the outside of the virtual boundary when there is an unworked area and a straddleable physical boundary outside the virtual boundary, until the moving mechanism 1404 moves to the straddleable physical boundary and is in a straddled state, and then controls the moving mechanism 1404 to move the main body 1402, so that the execution mechanism 1406 performs the work task on the unworked area when the moving mechanism 1404 is in the straddled state.

[0133] Here, straddle state is defined as: the state in which the first moving unit and the second moving unit are located inside and outside the straddleable entity boundary, respectively; unworked area is defined as: the unworked area between the virtual boundary and the straddleable entity boundary; the speed of the self-moving robot when performing work tasks in the unworked area is less than or equal to the speed of the self-moving robot when performing work tasks within the virtual boundary.

[0134] As another optional implementation, the control unit 1408 is used to control the movement mechanism 1404 to perform movement operations according to the virtual boundary; when the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a straddleable area, the movement mechanism 1404 controls the self-moving robot to move outside the virtual boundary and straddle the straddleable physical boundary to perform movement operations in the area between the virtual boundary and the straddleable physical boundary, wherein the straddleable physical boundary is located outside the work area enclosed by the virtual boundary.

[0135] In one exemplary embodiment, the control component 1408 is further configured to control the movement mechanism 1404 to move along the virtual boundary when the self-moving robot detects a straddleable physical boundary and the area between the virtual boundary and the straddleable physical boundary is a non-straddleable area.

[0136] The embodiments provided in this application solve the problem in the operation methods of self-moving robots in related technologies where the self-moving robot misses grass outside the defined boundary, resulting in the need for manual cutting. This improves the working efficiency of the self-moving robot and enhances the user experience.

[0137] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0138] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0139] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0140] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0141] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0142] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 1509, and / or installed from removable medium 1511. When the computer program is executed by central processing unit 1501, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0143] Figure 15 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. For example... Figure 15 As shown, the computer system 1500 includes a CPU (Central Processing Unit) 1501, which can perform various appropriate actions and processes according to programs stored in ROM 1502 or programs loaded into RAM 1503 from storage section 1508. Random access memory 1503 also stores various programs and data required for system operation. The CPU 1501, ROM 1502, and RAM 1503 are interconnected via bus 1504. An I / O (Input / Output) interface 1505 is also connected to bus 1504.

[0144] The following components are connected to I / O interface 1505: input section 1506 including keyboard, mouse, etc.; output section 1507 including CRT (Cathode Ray Tube), LCD (Liquid Crystal Display), etc., and speakers, etc.; storage section 1508 including hard disk, etc.; and communication section 1509 including network interface card, modem, etc. Communication section 1509 performs communication processing via a network such as the Internet. Drive 1510 is also connected to I / O interface 1505 as needed. Removable media 1511, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1510 as needed so that computer programs read from them can be installed into storage section 1508 as needed.

[0145] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1509, and / or installed from removable medium 1511. When the computer program is executed by central processing unit 1501, it performs various functions defined in the system of this application.

[0146] It should be noted that, Figure 15 The computer system 1500 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0147] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0148] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for operating a self-moving robot, characterized in that, The self-moving robot includes: main body, A moving mechanism is disposed on the main body, including a first moving unit and a second moving unit spaced apart along the width direction of the main body; An actuator, located in the main body, is used to perform the cutting task; The method includes: When there are uncut grassy areas outside the virtual boundary and areas that can be straddled by physical boundaries. The self-moving robot moves toward the outside of the virtual boundary until the moving mechanism moves to the straddleable physical boundary and is in a straddled state. The moving mechanism drives the main body to move so that the execution mechanism performs a cutting task on the uncut grass area when the moving mechanism is in the straddled state. The straddle state is defined as: the state in which the first moving unit and the second moving unit are respectively located inside the boundary of the straddleable entity and outside the boundary of the straddleable entity; The uncut grass area refers to the uncut lawn area between the virtual boundary and the straddleable physical boundary. The self-moving robot's speed when performing a cutting task on the uncut grass area in the straddle state is less than or equal to the self-moving robot's speed when performing a cutting task within the virtual boundary.

2. The operating method according to claim 1, characterized in that, The self-moving robot moves along the virtual boundary and executes the operation method when there is an uncut grass-retained area and a straddleable physical boundary outside the virtual boundary. Alternatively, the self-moving robot may perform the operation method if it moves within the virtual boundary and if there is an uncut grass-covered area and a straddleable physical boundary outside the virtual boundary.

3. The operating method according to claim 1, characterized in that, Before the self-moving robot moves toward the outside of the virtual boundary, the method further includes: When the width of the uncut grass-retaining area within the extended range of the straddleable entity boundary is greater than a first threshold, the moving mechanism drives the main body to move along the boundary of the uncut grass-retaining area within the extended range of the straddleable entity boundary, so that the execution mechanism performs a cutting task on the inner side of the uncut grass-retaining area until the width of the uncut grass-retaining area within the extended range of the straddleable entity boundary is less than or equal to the first threshold. The uncut grass-retaining area and the virtual boundary are updated based on the cut portion of the uncut grass-retaining area. The first threshold is greater than 1 times the cutting width of the execution mechanism and less than 2 times the cutting width of the execution mechanism.

4. The operating method according to claim 3, characterized in that, After the moving mechanism moves the main body along the virtual boundary, the method further includes: When the uncut grass-retaining area within the extended range of the straddleable entity boundary has a width greater than the second threshold, the moving mechanism reciprocates along the boundary of the uncut grass-retaining area within the extended range of the straddleable entity boundary, so that the actuator performs a cutting task on the inner side of the uncut grass-retaining area until the width of the uncut grass-retaining area is less than or equal to the first threshold, wherein the second threshold is greater than twice the cutting width of the actuator.

5. The operating method according to claim 3, characterized in that, The updated virtual boundary is the inner boundary of the uncut grass-retaining area. In the straddle state, the first moving unit and the second moving unit are located inside the virtual boundary and outside the straddleable physical boundary, respectively.

6. The operating method according to claim 1, characterized in that, The height difference between the boundary of the straddleable entity and the uncut grass-retained area is no greater than 4 centimeters.

7. The operating method according to claim 1, characterized in that, When the self-moving robot straddles the boundary of the straddleable entity, the distance between the outermost edge of the self-moving robot and the virtual boundary is no greater than 1 meter.

8. The operating method according to claim 1, characterized in that, The actuator is eccentrically positioned on the main body, and when the self-moving robot straddles the boundary of the straddleable entity, the centerline of the main body is located on the side of the actuator away from the boundary of the straddleable entity.

9. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 8.

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