Device control method, map determination method, and related devices

Abstract

The application provides a device control method, a map determination method and related devices. The device control method is applied to a self-moving device, the self-moving device is in communication connection with a terminal device, and the device control method comprises the following steps: in response to a selection instruction received from the terminal device, a target map is determined from a plurality of maps of a working area, wherein the plurality of maps correspond to different area ranges of the working area, and the area ranges corresponding to the plurality of maps overlap or do not overlap; according to the target map, a moving path of the self-moving device in a target area range corresponding to the target map is planned; and according to the moving path, a work task is performed in the target area range. By using the above method, not only can the changing climate environment be adapted, but also the efficiency loss caused by rebuilding the map when the working area changes can be reduced.

Description

Technical Field

[0001] This application relates to the field of self-moving equipment technology, and in particular to a device control method, a map determination method, and related equipment. Background Technology

[0002] With the continuous advancement of technology and the rapid development of artificial intelligence, using self-moving equipment (such as lawnmowers, cleaners, cruisers, etc.) can greatly improve work efficiency.

[0003] Before a mobile device can operate within a work area, a boundary map of that area often needs to be pre-built. In related technologies, once the map of a work area is built, if the work area changes, the old map often has to be deleted and a new map rebuilt. This approach is not only time-consuming but also cannot cope with changing work environments. Summary of the Invention

[0004] In view of the above, it is necessary to provide a device control method, a map determination method, and related equipment that can solve the technical problems of time-consuming map construction and inability to cope with changing working environments.

[0005] On one hand, this application provides a device control method applied to a self-moving device, wherein the self-moving device is communicatively connected to a terminal device. The method includes: responding to a selection instruction received from the terminal device; determining a target map from multiple maps of a work area, wherein the multiple maps correspond to different area ranges of the work area, and the area ranges corresponding to the multiple maps may overlap or not overlap; planning a movement path of the self-moving device within the target area range corresponding to the target map based on the target map; and performing a work task within the target area range based on the movement path.

[0006] In the device control scheme provided in this application embodiment, since the work area has multiple corresponding maps, the multiple maps correspond to different areas of the work area, and the areas corresponding to the multiple maps may overlap or not overlap. Therefore, by responding to the user's selection instruction, selecting the map of the corresponding area as the target map, and performing work tasks according to the target map, it can not only adapt to the changing climate environment, but also reduce the efficiency loss caused by rebuilding the map when the work area changes.

[0007] On the other hand, this application provides a map determination method applied to a terminal device, wherein the terminal device is communicatively connected to a self-moving device, and the self-moving device has a corresponding working area. The method includes: displaying multiple map options on the user interface of the terminal device, wherein the multiple maps correspond to different areas of the working area, and the areas corresponding to the multiple maps overlap or do not overlap; responding to a first operation of the user on the options; determining a target option from the options; generating a selection instruction based on the map corresponding to the target option; and sending the selection instruction to the self-moving device.

[0008] In the map determination scheme provided in this application embodiment, since the work area has multiple corresponding maps, the multiple maps correspond to different areas of the work area, and the areas corresponding to the multiple maps may overlap or not overlap. Therefore, by responding to the target option selected by the user, a selection instruction is generated according to the map corresponding to the target option and the selection instruction is sent to the self-mobile device, so that the self-mobile device can select the target map of the corresponding area according to the selection instruction to perform the work task. In this way, it can not only adapt to the changing climate environment, but also reduce the efficiency loss caused by rebuilding the map when the work area changes.

[0009] On the other hand, this application provides a self-moving device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the self-moving device implements the device control method described above. On the other hand, this application provides a terminal device, the terminal device including: a storage device, a processing device, and a computer program stored on the storage device and executable on the processing device, wherein when the processing device executes the computer program, the terminal device implements the map determination method described above.

[0010] On the other hand, this application provides a computer-readable storage medium storing a computer program, which implements the device control method when executed by a processor in a self-moving device, or implements the map determination method when executed by a processing device in a terminal device. Attached Figure Description

[0011] Figure 1 This is a flowchart of a device control method provided in an embodiment of this application.

[0012] Figure 2 This is a schematic diagram of multiple maps of a work area provided in one embodiment of this application.

[0013] Figure 3This is a flowchart of a method for constructing multiple maps according to an embodiment of this application.

[0014] Figure 4 This is a flowchart of a map determination method provided in an embodiment of this application.

[0015] Figure 5 This is a flowchart of a method for constructing multiple maps provided in another embodiment of this application.

[0016] Figure 6 This is a flowchart of a method for constructing multiple maps provided in another embodiment of this application.

[0017] Figure 7 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application.

[0018] Figure 8 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0021] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0022] With the continuous advancement of technology and the rapid development of artificial intelligence, using self-moving equipment (such as lawnmowers, cleaners, cruisers, etc.) can greatly improve work efficiency.

[0023] Before a mobile device can operate within a work area, a boundary map of that area often needs to be pre-built. In related technologies, once the map of a work area is built, if the work area changes, the old map often has to be deleted and a new map rebuilt. This approach is not only time-consuming but also cannot cope with changing work environments.

[0024] To address the aforementioned technical problems, this application provides an equipment control method and a map determination method, which can not only adapt to changing climate environments but also reduce efficiency losses caused by map reconstruction when the work area changes.

[0025] The device control method provided in this application can be applied to one or more self-moving devices, which can be lawn mowing robots, cleaning robots, de-icing robots, and cruise robots, etc. This application does not limit the specific type of self-moving device.

[0026] In some embodiments of this application, the map determination method provided in this application can be applied to one or more terminal devices, wherein the terminal devices can be mobile phones, computers, tablets, remote controls, servers, cloud servers, personal digital assistants (PDAs), game consoles, interactive network television (IPTV), smart wearable devices, etc. This application does not limit the type of terminal device.

[0027] To more clearly illustrate the device control method and map determination method provided in the embodiments of this application, a detailed description will be given below in conjunction with the accompanying drawings.

[0028] like Figure 1 The diagram shown is a flowchart of a device control method according to an embodiment of this application. The order of the steps in the flowchart can be adjusted according to different needs, and some steps can be omitted. The device control method is applied to a self-moving device, which is communicatively connected to a terminal device and has a corresponding working area.

[0029] S11, in response to the selection command received from the terminal device, determines the target map from multiple maps in the work area.

[0030] In some embodiments, the environment and climate of the work area are variable, and a single map often cannot adapt to these variations, thus affecting the safety and operational efficiency of mobile devices. For example, a lawnmower's winter work area may include areas without grass compared to the summer work area. Since these areas do not require mowing, using the summer map in winter to directly control the lawnmower within these areas may reduce its mowing efficiency. Similarly, the lawn in work areas near lakes or the sea changes with the tides. High tide may submerge parts of the lawn, so using a map created during low tide to control the lawnmower during high tide could lead to the mower accidentally entering the water and causing mechanical failure, as well as reducing operational efficiency. Likewise, low-lying areas within the work area may be flooded during rain compared to sunny days. Using a map created during sunny days to control the lawnmower during rain could also lead to the mower accidentally entering the water and causing mechanical failure, as well as reducing operational efficiency.

[0031] To address the aforementioned technical problems, embodiments of this application generate multiple maps of the work area and select a target map from the multiple maps to perform work tasks, in order to adapt to the variability of the environment and climate. The multiple maps, the method for generating the multiple maps, and the method for selecting the target map will be described in detail below.

[0032] In some embodiments of this application, multiple maps of the work area can correspond to different areas of the work area, and the areas corresponding to the multiple maps may or may not overlap. For example, Figure 2 The image shown is a schematic diagram of multiple maps of a work area provided in one embodiment of this application. Figure 2 In the diagram, black rectangles represent the work area, and orange rectangles represent the ground. Figure 1 The corresponding area is represented by a purple rectangle. Figure 2 The corresponding area is indicated by a blue rectangle. Figure 3 The corresponding area, land Figure 1 ,land Figure 2 and ground Figure 3 The corresponding regional ranges overlap.

[0033] In some embodiments of this application, the self-moving device may use various methods to obtain multiple maps of the working area, and this application does not limit the methods for obtaining the multiple maps.

[0034] For example, the self-moving device can be driven remotely by the user and a map can be built based on the driving trajectory. Through the driving trajectory obtained from multiple drives, the self-moving device can build multiple maps of the work area.

[0035] For example, the self-moving device can construct the multiple maps using algorithms such as Simultaneous Localization and Mapping (SLAM).

[0036] In some embodiments, the multiple maps may be stored in the local storage of the self-mobile device or in a server (e.g., a cloud server). For example, if the self-mobile device is communicatively connected to a server, upon receiving a selection instruction from a terminal device, the self-mobile device can send a request to the server to retrieve the multiple maps.

[0037] This application does not limit the specific type of map. For example, the multiple maps may be raster cost maps that use graticules to represent various objects (e.g., roads and charging piles) in the work area, with each grid corresponding to a cost value, which may represent the distance of the corresponding grid from obstacles, etc. Alternatively, the multiple maps may be vector maps that use geometric shapes such as lines, points, and polygons to represent various objects in the work area. The above examples of map types are merely illustrations, and are not limited to these in practical applications.

[0038] In some embodiments of this application, the self-mobile device can send the multiple maps to the terminal device, so that the terminal device can generate options corresponding to each map. The user can trigger the terminal device to generate selection instructions and send selection instructions to the self-mobile device by selecting map options on the terminal device. The selection instructions can carry information such as map identifiers, so that the self-mobile device can receive the selection instructions sent by the terminal device and select the target map from the multiple maps according to the map indicated by the map identifiers and other information.

[0039] In other embodiments of this application, the self-moving device may determine the target map from the plurality of maps using other methods.

[0040] For example, the mobile device can acquire current climate data (e.g., season and weather), and determine a target map from the plurality of maps based on the acquired climate data. For instance, if the climate data indicates that the current season is winter, the mobile device can select a winter map from the plurality of maps as the target map.

[0041] For example, a self-moving device can recommend maps that match climate data to a user via a terminal device. In response to the user's confirmation of the recommended map, the self-moving device can determine the confirmed map as the target map. For instance, if the climate data indicates that the current weather is rainy, the self-moving device can recommend a rainy day map to the user via a terminal device. In response to the user's confirmation of the rainy day map, the self-moving device can determine the rainy day map as the target map.

[0042] In this embodiment, since the work area has multiple maps corresponding to different areas of the work area, and the areas corresponding to the multiple maps may overlap or not overlap, by flexibly switching between maps of different areas in response to the user's selection, it can not only adapt to the changing climate environment, but also reduce the efficiency loss caused by rebuilding the map when the work area changes.

[0043] S12, Based on the target map, plan the movement path of the self-moving device within the target area corresponding to the target map.

[0044] In some embodiments of this application, the self-moving device can plan its movement path based on a target map using a path planning algorithm. For example, the path planning algorithm could be A... Dijkstra and D Lite, etc., are not limited in this application.

[0045] S13, based on the movement path, perform work tasks within the target area.

[0046] In some embodiments of this application, the work tasks include, but are not limited to: lawn mowing, cleaning, and de-icing.

[0047] In the device control scheme provided in this application embodiment, since the work area has multiple corresponding maps, the multiple maps correspond to different areas of the work area, and the areas corresponding to the multiple maps may overlap or not overlap. Therefore, by responding to the user's selection instruction, selecting the map of the corresponding area as the target map, and performing work tasks according to the target map, it can not only adapt to the changing climate environment, but also reduce the efficiency loss caused by rebuilding the map when the work area changes.

[0048] like Figure 3 The diagram shown is a flowchart of a method for constructing multiple maps according to an embodiment of this application, applied to a self-mobile device, and includes the following steps: S31, responding to a movement command received from the terminal device, moves within the work area.

[0049] In some embodiments, movement commands can be used to control the self-moving device to perform operations such as moving forward, backward, and turning, thereby enabling the self-moving device to move within the work area.

[0050] S32, based on the positioning data of the self-moving device during the driving process, fits the driving trajectory of the self-moving device in the preset map of the working area.

[0051] In some embodiments of this application, the location data may include information such as the coordinates of the self-moving device. During driving, the self-moving device may collect location data multiple times, thereby obtaining multiple location data sets, each of which may have a corresponding time point.

[0052] In some embodiments, the driving trajectory may include multiple trajectory points. The self-moving device fits the driving trajectory of the self-moving device in a preset map of the working area based on the positioning data of the self-moving device during the driving process. This includes: the self-moving device determining the map position of the positioning data at each time point in the preset map, generating the corresponding trajectory point at each position, thereby obtaining a movement trajectory composed of the arrangement of trajectory points at multiple time points.

[0053] The preset map can be customized, and this application does not impose any restrictions on it. For example, the preset map can be the default map used in the work area of ​​the self-moving device.

[0054] S33, based on the driving trajectory, determines the area to be cut in the preset map.

[0055] In some embodiments of this application, the area that needs to be cut out from the working area of ​​a preset map can be represented as the area to be cut. When the working area changes, considering that rebuilding a new map would take a lot of time and the range of the changed area within the working area is limited, adjusting the preset map based on the area to be cut can quickly generate an updated map of the working area.

[0056] The self-moving device determines the area to be cut in a preset map based on the driving trajectory, including: if the driving trajectory passes through the working area in the preset map and the working area in the preset map is divided into multiple areas, the area to be cut is determined from the multiple areas according to the area of ​​each area; if the driving trajectory forms a closed area in the working area of ​​the preset map, the closed area is determined as the area to be cut.

[0057] For example, the impact of climate factors on the environment within the work area is usually relatively limited, and the area of ​​environmental change caused by climate factors within the work area is often small. Therefore, the self-moving device can select the smallest area from the multiple areas as the area to be cut off. For instance, if the driving trajectory passes through the work area in the preset map and divides the work area in the preset map into two areas, the self-moving device can select the smaller area from the two areas as the area to be cut off.

[0058] S34, cut the area to be cut from the preset map to obtain an updated map of the working area.

[0059] In some embodiments, steps S31 to S34 may be executed once or multiple times, so that the self-moving device can obtain multiple maps of the work area.

[0060] The examples of multiple map generation methods described above are merely illustrative and are not limited to practical applications. For instance, in other embodiments of this application, the self-moving device can adjust a preset map based on configuration information sent from a terminal device to generate an updated map, thereby obtaining multiple maps of the work area.

[0061] For example, the configuration information can indicate the type of movement trajectory, such as whether the movement trajectory is closed or traverses the work area. The configuration information can be customized, and this application does not limit this. In some embodiments, the configuration information can also indicate selection rules for the region to be cut, which can define whether the region to be cut is a closed region formed by the movement trajectory within the work area or another region outside the closed region formed by the movement trajectory within the work area; alternatively, the selection rules can define whether the region to be cut is the larger or smaller region among multiple regions segmented by the movement trajectory.

[0062] In other embodiments of this application, the self-moving device can send location data to the terminal device, enabling the terminal device to generate an updated map based on the location data and a preset map. During the map generation process, the terminal device can detect the state of the movement trajectory. For example, if the movement trajectory is detected to be closed, the terminal device can generate a prompt indicating that the movement trajectory is closed and display the prompt on the user interface for user reference. Specifically, the terminal device can identify whether the start and end positions of the movement trajectory are the same. If the start and end positions are the same, the movement trajectory is determined to be closed; if the start and end positions are different, the movement trajectory is determined to be open.

[0063] like Figure 4The diagram shown is a flowchart of a map determination method provided in one embodiment of this application. Depending on different needs, the order of the steps in this flowchart can be adjusted according to actual requirements, and some steps can be omitted. The map determination method is applied to a terminal device, wherein the terminal device is communicatively connected to a self-moving device, and the self-moving device may have a corresponding working area.

[0064] S41, displays multiple map options on the user interface of the terminal device.

[0065] In some embodiments of this application, map options can be displayed as icons, with each option corresponding to a map, and each map option can be used to trigger a selection command for the corresponding map. The multiple maps correspond to different areas of the work area, and the areas corresponding to the multiple maps may or may not overlap.

[0066] This application does not limit the method of acquiring the multiple maps. For example, the terminal device can acquire the multiple maps by receiving map data sent from the mobile device, or by adjusting a preset map.

[0067] S42, responding to the user's first action on the options, determines the target option from the options.

[0068] In some embodiments, the first operation may be an operation such as clicking, touching, swiping, and long pressing. The embodiments of this application do not limit the type of the first operation.

[0069] S43 generates a selection instruction based on the map corresponding to the target option and sends the selection instruction to the self-moving device.

[0070] In some embodiments, since each option corresponds to a map, the map can be selected by choosing the target option.

[0071] The terminal device can generate a selection command based on information such as the map identifier corresponding to the target option, and send the selection command to the self-moving device, so that the self-moving device can determine the target map from multiple stored maps according to the selection command.

[0072] The above examples of methods for generating selection instructions are merely illustrative and are not limited to practical applications. For instance, in other embodiments, referring to the description of step S11, the terminal device can acquire current climate data, select a map that matches the climate data from multiple maps, and recommend a map to the user. In response to the user's confirmation of the selected map, a selection instruction can be generated based on the map confirmed by the user.

[0073] In the map determination scheme provided in this application embodiment, since the work area has multiple corresponding maps, the multiple maps correspond to different areas of the work area, and the areas corresponding to the multiple maps may overlap or not overlap. Therefore, by responding to the target option selected by the user, a selection instruction is generated according to the map corresponding to the target option and the selection instruction is sent to the self-mobile device, so that the self-mobile device can select the target map of the corresponding area according to the selection instruction to perform the work task. In this way, it can not only adapt to the changing climate environment, but also reduce the efficiency loss caused by rebuilding the map when the work area changes.

[0074] For example, such as Figure 5 The diagram shown is a flowchart of a method for constructing multiple maps according to another embodiment of this application, applied to a terminal device, and includes the following steps: S51, display at least one cover model on the user interface.

[0075] In some embodiments of this application, a shelter model can be used to identify areas that need to be cut out from the working area of ​​a preset map. When the working area changes, considering that rebuilding a new map would take a lot of time and the range of changes within the working area is limited, adjusting the preset map based on the shelter model can quickly generate an updated map of the working area.

[0076] Each bunker model has a shape, such as a rectangle, circle, or triangle. The shape and size of the bunker models can be flexibly adjusted.

[0077] S52, in response to a second operation by the user on the at least one shelter model, determine the target shelter model.

[0078] In some embodiments of this application, the second operation may be a click, touch, swipe, or long press, etc. This application does not limit the type of the second operation.

[0079] S53 responds to the user's dragging operation on the target bunker model, cuts out the area covered by the dragged target bunker model in the preset map of the work area, and obtains the updated map of the work area.

[0080] In other embodiments of this application, the terminal device may respond to a third operation by the user on the target shelter model and adjust the size and / or shape of the target shelter model.

[0081] The third operation can be scaling, rotation, translation, etc., and this application does not limit the type of the third operation.

[0082] In some embodiments, the area of ​​the region cut out from the working area of ​​the preset map can be flexibly controlled by adjusting the position of the target bunker model in the preset map. For example, by adjusting the position of the target bunker model in the preset map, a portion of the adjusted target bunker model may be located within the working area of ​​the preset map, while another portion may be located outside the working area, thereby enabling flexible control over the area of ​​the region cut out from the working area.

[0083] In this embodiment, by adjusting parameters such as the position, size, and shape of the bunker model, the area of ​​the region cut out from the working area of ​​the preset map can be flexibly controlled, thereby enabling control over the shape and size of the generated updated map.

[0084] For example, such as Figure 6 The diagram shown is a flowchart of a method for constructing multiple maps according to another embodiment of this application, applied to a terminal device, and includes the following steps: S61, display at least one map element in the user interface.

[0085] In some embodiments of this application, the at least one map element may include fences, obstacles, charging stations, restricted areas, and paths, wherein fences can be used to control the working range of the self-moving device.

[0086] S62, in response to the user's fourth operation on the at least one map element, determine the target map element.

[0087] In some embodiments of this application, the fourth operation may be a click, touch, swipe, or long press, etc. This application does not limit the type of the fourth operation.

[0088] S63, add a target map element to either of the at least one map.

[0089] In some embodiments of this application, the location where the target map element is added can be flexibly set. For example, the location where the target map element is added can be determined by clicking on the map, and the target map element is added to the map based on the location.

[0090] Each map can have one or more map elements added to it, and the map elements added to each map can be different, thus obtaining multiple maps of the work area.

[0091] In this embodiment, multiple maps of the work area can be quickly generated by flexibly adding map elements to the map.

[0092] For example, such as Figure 7 The diagram shown is a structural schematic of a self-moving device provided in an embodiment of this application. Figure 7In this embodiment, the self-moving device 1 includes a main body and a memory 11, a processor 12, a power supply 13, a sensor 14, a working mechanism 15, a communication module 16, a positioning module 17, a drive wheel 18, and a bus 19 disposed on the main body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the drive wheel 18 via the bus 19.

[0093] Memory 11 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 12 and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data. The RAM may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0094] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 12. Non-volatile memory can include disk storage devices and flash memory.

[0095] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include multiple instructions that, when executed by the processor 12, enable a device control method to be executed on the self-moving device 1.

[0096] In other embodiments, the self-moving device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-moving device 1.

[0097] Processor 12 may include one or more processing units, such as application processors (APs), modem processors, graphics processing units (GPUs), image signal processors (ISPs), controllers, video codecs, digital signal processors (DSPs), baseband processors, and / or neural network processing units (NPUs). These different processing units may be independent devices or integrated into one or more processors.

[0098] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute computer programs stored in the memory 11 to implement the device control method described above.

[0099] The power source 13 is used to power the self-moving device. In one embodiment of this application, the power source 13 may include any one or more power supply devices of the type such as a battery, a fuel generator, a solar power generation module, or a wind power generation module.

[0100] Sensor 14 is used to acquire information for the self-moving device 1, such as environmental information and movement information of the self-moving device 1. In one embodiment of this application, sensor 14 may include one or more sensors of the type such as lidar, camera, infrared sensor, encoder, etc.

[0101] The working mechanism 15 is used to perform corresponding work tasks, such as mowing, de-icing, patrolling, sweeping, and spraying pesticides. In some embodiments of this application, the working mechanism 15 may include a motor, a transmission mechanism, and a blade disc. When the self-moving device is a lawnmower, the motor can drive the blade disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blades to adjust the mowing height and the mowing area.

[0102] The communication module 16 is used to enable communication between the self-moving device and other devices. In one embodiment of this application, the communication module 16 can interact with other devices via wired and / or wireless communication. The aforementioned wireless communication may include one or more combinations of communication methods such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0103] The positioning module 17 is used to determine the location of the self-moving device. In some embodiments of this application, the positioning module 17 may include one or more of the following types of positioning modules: Global Positioning System (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0104] The drive wheel 18 is used to enable movement of the self-moving device. In some embodiments of this application, the drive wheel 18 can realize the movement function of the self-moving device according to the control of the processor 12. In some embodiments of this application, the drive wheel 18 may include a left drive wheel and a right drive wheel.

[0105] Bus 19 is used at least to provide a channel for communication between the memory 11, processor 12, power supply 13, sensor 14, working mechanism 15, communication module 16, positioning module 17, and drive wheel 18 in the self-moving device 1.

[0106] In other embodiments of this application, the self-moving device 1 may further include a collision avoidance section and a steering assembly. The collision avoidance section can be used to prevent the drive wheels 18 from colliding with obstacles or the like in front of the self-moving device. The steering assembly can be used to adjust the driving direction of the drive wheels 18.

[0107] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the self-moving device 1. In other embodiments of this application, the self-moving device 1 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0108] like Figure 7 The diagram shown is a structural schematic of a terminal device provided in an embodiment of this application. The terminal device 10 can be a mobile phone, tablet computer, laptop computer, remote control, or other devices. This application embodiment does not impose any restrictions on the specific type of the terminal device 10.

[0109] exist Figure 7 The terminal device 10 may include a communication module 101, a storage device 102, a processing device 103, an input / output (I / O) interface 104, and a bus 105. The processing device 103 is coupled to the communication module 101, the storage device 102, and the input / output interface 104 via the bus 105.

[0110] Communication module 101 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, frequency modulation (FM), near field communication (NFC), and infrared (IR).

[0111] Storage device 102 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by processing device 103, and can be used to store executable programs (e.g., machine instructions) of other running programs, as well as user and application data. The RAM may include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0112] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by processing device 103. Non-volatile memory can include disk storage devices and flash memory.

[0113] Storage device 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by processing device 103. The one or more computer programs include multiple instructions, which, when executed by processing device 103, can implement a map determination method executed on terminal device 10.

[0114] In other embodiments, such as Figure 8 The terminal device 10 shown also includes an external memory interface for connecting to an external memory to expand the storage capacity of the terminal device 10.

[0115] The processing device 103 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors.

[0116] The processing device 103 provides computing and control capabilities. For example, the processing device 103 is used to execute computer programs stored in the storage device 102 to implement the map determination method described above.

[0117] The input / output interface 104 is used to provide a channel for user input or output. For example, the input / output interface 104 can be used to connect various input / output devices, such as a mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.

[0118] Bus 105 is used at least to provide a channel for communication between the communication module 101, storage device 102, processing device 103, and input / output interface 104 in terminal device 10.

[0119] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the terminal device 10. In other embodiments of this application, the terminal device 10 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0120] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. When the program instructions are executed, the method implemented can refer to the methods in the above embodiments of this application.

[0121] The computer-readable storage medium can be the internal memory of the self-movable device or electronic device described in the above embodiments, such as a hard disk or memory of the self-movable device or electronic device. The computer-readable storage medium can also be an external storage device of the self-movable device or electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the self-movable device or electronic device.

[0122] In some embodiments, a computer-readable storage medium may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of a self-moving device or electronic device, etc.

[0123] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0124] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0125] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A device control method applied to a self-moving device, wherein the self-moving device is communicatively connected to a terminal device, characterized in that, The method includes: In response to a selection instruction received from the terminal device, a target map is determined from multiple maps of the work area, wherein the multiple maps correspond to different areas of the work area, and the areas corresponding to the multiple maps may overlap or not overlap. Based on the target map, plan the movement path of the self-moving device within the target area corresponding to the target map; Based on the movement path, perform work tasks within the target area.

2. The equipment control method as described in claim 1, characterized in that, Before determining the target map from multiple maps of the work area, the method further includes: Responding to a movement command received from the terminal device, it travels within the work area; Based on the positioning data of the self-moving device during the driving process, the driving trajectory of the self-moving device is fitted in the preset map of the working area; Based on the driving trajectory, determine the area to be cut in the preset map; The area to be cut is removed from the preset map to obtain an updated map of the working area.

3. The equipment control method as described in claim 2, characterized in that, The step of determining the area to be cut in the preset map based on the driving trajectory includes: If the driving trajectory passes through the working area in the preset map and divides the working area in the preset map into multiple areas, the area to be cut is determined from the multiple areas based on the area of ​​each area; If the driving trajectory forms a closed area in the working area of ​​the preset map, the closed area is determined as the area to be cut off.

4. The equipment control method as described in claim 3, characterized in that, Determining the region to be removed from the multiple regions based on the area of ​​each region includes: Select the region with the smallest area from the multiple regions as the region to be removed.

5. The equipment control method as described in claim 2, characterized in that, The method further includes: The location data is sent to the terminal device, so that the terminal device generates the updated map based on the location data and the preset map.

6. A map determination method, applied to a terminal device, characterized in that, The terminal device is communicatively connected to the self-moving device, the self-moving device having a corresponding working area, and the method includes: The user interface of the terminal device displays an option for multiple maps, wherein the multiple maps correspond to different areas of the work area, and the areas corresponding to the multiple maps may overlap or not overlap. In response to the user's first action on the options, determine the target option from the options; The system generates a selection instruction based on the map corresponding to the target option and sends the selection instruction to the self-moving device.

7. The map determination method as described in claim 6, characterized in that, Before determining the target map from multiple maps of the work area, the method further includes: At least one shelter model is displayed in the user interface; In response to the user's second operation on the at least one shelter model, a target shelter model is determined; In response to the user's dragging operation on the target bunker model, the area covered by the dragged target bunker model is cut off in the preset map of the work area to obtain an updated map of the work area.

8. The map determination method as described in claim 7, characterized in that, The method further includes: In response to the user's third operation on the target shelter model, adjust the size and / or shape of the target shelter model.

9. The map determination method as described in claim 6, characterized in that, The method further includes: The user interface displays at least one map element, the at least one map element including a fence, the fence being used to control the working range of the self-mobile device; In response to the user's fourth operation on the at least one map element, the target map element is determined; Add the target map element to any one of the at least one maps.

10. A self-moving device, characterized in that, The self-moving device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-moving device implements the device control method as described in any one of claims 1 to 5.

11. A terminal device, characterized in that, The terminal device includes: a storage device, a processing device, and a computer program stored on the storage device and executable on the processing device. When the processing device executes the computer program, it causes the terminal device to implement the map determination method as described in any one of claims 6 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor in a self-moving device, implements the device control method as described in any one of claims 1 to 5, or when executed by a processing device in a terminal device, implements the map determination method as described in any one of claims 6 to 9.

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