Self-moving device and working area determination method thereof

Abstract

The invention provides a self-moving device and a working area determining method thereof, and belongs to the field of automatic control, and the method comprises the steps: receiving a control signal sent by a function control; determining position information of a function control based on the control signal; taking the position information as a reference position, and extracting a working area based on a preset area screening rule; wherein the region screening rule comprises screening a working region based on a specified region range. By means of the method, automatic and intelligent determination of the working area can be achieved, the control efficiency is remarkably improved, the user operation process is simplified, and the user experience is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511676587.2 (22) Application Date 2022.07.28 (62) Divisional Application Data 202210897571.4 2022.07.28 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Sun Jiajia, Shen Shimao, Xu Yinbo (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Feng Ying (51) Int.Cl. G05D 1 / 43 (2024.01) G05D 1 / 648 (2024.01) G05D 109 / 10 (2024.01) (54) Invention Title: Self-Moving Device and Method for Determining its Working Area (57) Abstract: This application provides a self-moving device and a method for determining its working area, belonging to the field of automatic control. The method includes: receiving a control signal sent by a functional control; determining the position information of the functional control based on the control signal; and extracting a working area based on a preset area filtering rule using the position information as a reference position; wherein the area filtering rule includes filtering the working area based on a specified area range. Through the method of this application, the automatic and intelligent determination of the working area can be realized, significantly improving control efficiency, simplifying user operation processes, and enhancing user experience. Claims 1 page, Description 13 pages, Drawings 2 pages, CN 121541639 A 2026.02.17 CN 1 21 54 16 39 A 1. A method for determining the working area of ​​a self-moving device, characterized in that the method comprises: receiving a control signal sent by a functional control; determining the position information of the functional control based on the control signal; extracting a working area based on a preset area filtering rule using the position information as a reference position; wherein the area filtering rule includes filtering the working area based on a specified area range. 2. The method for determining the working area of ​​a self-moving device according to claim 1, characterized in that the area filtering rule further includes filtering the working area based on a specified orientation. 3. The method for determining the working area of ​​a self-moving device according to claim 1, characterized in that the area filtering rule further includes filtering the working area based on area type. 4. The method for determining the working area of ​​a self-moving device according to claim 1, characterized in that the area filtering rule further includes filtering the working area based on integrated device type.5. The method for determining the working area of ​​a self-moving device according to claim 1, wherein the area filtering rule further includes extracting the working area based on floor material as an additional filtering condition. 6. The method for determining the working area of ​​a self-moving device according to claim 1, wherein filtering the working area based on a specified area range includes: extracting an area within a preset distance range around the functional control as the working area, centered on the position information of the functional control. 7. The method for determining the working area of ​​a self-moving device according to claim 1, wherein the position information of the functional control is determined based on the signal strength and signal direction of the control signal. 8. The method for determining the working area of ​​a self-moving device according to claim 7, wherein determining the position information of the functional control based on the signal strength and signal direction of the control signal includes: obtaining the correspondence between the signal strength of the control signal and the distance between the self-moving device and the functional control involved in the control signal; determining the relative distance between the self-moving device and the functional control involved in the control signal based on the correspondence; and determining the relative positional relationship between the functional control and the self-moving device based on the relative distance and the signal direction of the control signal. 9. The method for determining the working area of ​​a self-moving device according to claim 1, wherein the method further includes: obtaining area parameters of the working area; and, when the area parameters meet preset working conditions, sending a prompt output command to the functional control to cause the functional control to output a prompt. 10. A self-moving device, characterized in that it includes a processor and a memory; the memory stores a program, which is loaded and executed by the processor to implement the method for determining the working area of ​​the self-moving device as described in any one of claims 1 to 9. Claims 1 / 1 Page 2 CN 121541639 A Self-moving device and method for determining the working area thereof

[0001] This application is a divisional application of the invention patent with application number 202210897571.4, application date 2022-07-28, and invention title "Control method, device, storage medium and control system of self-moving device". Technical Field

[0002] This application relates to the field of automatic control technology, specifically, to a method for determining the working area of ​​a self-moving device and a self-moving device. Background Art

[0003] Self-moving devices refer to devices that can move autonomously without the user providing power, such as floor scrubbers, sweepers, etc. Currently, self-moving devices can work on a designated area within the current working area based on the user's needs.

[0004] Generally, self-moving devices are connected to mobile terminals for communication.At this time, the traditional method of controlling the movement of a self-moving device to a designated area usually involves the mobile terminal displaying a work map of the current work area based on user operation. Upon receiving a trigger operation acting on the target area on the work map, a control command is generated and sent to the self-moving device so that the self-moving device moves to the location corresponding to the target area according to the control command.

[0005] In the prior art, the method of determining the work area relies too much on the user's manual selection or tapping operation on the mobile terminal. The method of determining the work area is singular and fixed, and cannot automatically and flexibly generate diverse work areas. Summary of the Invention

[0006] In view of the technical problem that the method of determining the work area in the prior art is singular and fixed, and cannot automatically and flexibly generate diverse work areas, the present invention provides a method for determining the work area of ​​a self-moving device and a self-moving device. The method of determining the work area of ​​the self-moving device can realize the automated and intelligent determination of the work area, significantly improve control efficiency, simplify the user operation process, and improve the user experience.

[0007] To achieve the above objective, the first aspect of the present invention provides a method for determining the working area of ​​a self-moving device. The method includes: receiving a control signal sent by a functional control; determining the position information of the functional control based on the control signal; and extracting a working area based on a preset area filtering rule using the position information as a reference position; wherein the area filtering rule includes filtering the working area based on a specified area range.

[0008] Further, the area filtering rule further includes filtering the working area based on a specified orientation.

[0009] Further, the area filtering rule further includes filtering the working area based on area type.

[0010] Further, the area filtering rule further includes filtering the working area based on integrated device type.

[0011] Further, the area filtering rule further includes extracting the working area based on floor material as an additional filtering condition.

[0012] Further, filtering the working area based on a specified area range includes: extracting an area within a preset distance range around the functional control as the working area, centered on the position information of the functional control.

[0013] Further, the position information of the functional control is determined based on the signal strength and signal direction of the control signal.

[0014] Further, determining the position information of the functional control based on the signal strength and signal direction of the control signal includes: obtaining the correspondence between the signal strength of the control signal and the distance between the self-moving device and the functional control involved in the control signal; determining the relative distance between the self-moving device and the functional control involved in the control signal based on the correspondence; and determining the relative positional relationship between the functional control and the self-moving device based on the relative distance and the signal direction of the control signal.

[0015] Further, the method further includes: obtaining the area parameters of the working area; and sending a prompt output instruction to the functional control when the area parameters meet the preset working conditions, so that the functional control outputs a prompt.

[0016] A second aspect of this application provides a self-moving device, including a processor and a memory; the memory stores a program, which is loaded and executed by the processor to implement the self-moving device working area determination method as described above.

[0017] Through the technical solution provided by this application, this application has at least the following technical effects: The self-moving device working area determination method of this application, after receiving the control signal sent by the functional control, determines the position information of the functional control based on the control signal, uses the position information as a reference position, and extracts the working area based on preset area filtering rules, the area filtering rules including filtering the working area based on a specified area range. Through the self-moving device working area determination method provided by this application, the automatic and intelligent determination of the working area can be realized, significantly improving control efficiency, simplifying user operation process, and improving user experience.

[0018] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section.

[0019] The accompanying drawings are provided to further illustrate the embodiments of this application and constitute a part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: FIG1 is a schematic diagram of the structure of a control system of a self-moving device provided in one embodiment of this application; FIG2 is a flowchart of a control method of a self-moving device provided in one embodiment of this application; FIG3 is a flowchart of a control method of a self-moving device provided in another embodiment of this application; FIG4 is a block diagram of a control device of a self-moving device provided in one embodiment of this application; FIG5 is a block diagram of a control device of a self-moving device provided in another embodiment of this application; FIG6 is a block diagram of a self-moving device provided in one embodiment of this application; FIG7 is a block diagram of functional controls provided in one embodiment of this application. Detailed Description

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustrating and explaining the embodiments of the present invention and are not intended to limit the embodiments of the present invention.

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0022] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used to describe the relative positions of components in relation to the directions shown in the accompanying drawings or in relation to the vertical, perpendicular, or gravitational directions.

[0023] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] As shown in FIG1.The system includes: a function control 110 and a self-moving device 120.

[0025] The function control 110 refers to an electronic device that can control the self-moving device 120. The function control 110 may be an independently deployable switch control (such as a smart switch), or it may be a control device integrated into a smart home device. The self-moving device 120 may be a floor cleaning robot, a sweeping robot, or other self-moving devices. This embodiment does not limit the device type of the function control 110 and the self-moving device 120.

[0026] A communication connection is established between the function control 110 and the self-moving device 120. This communication connection may be established based on a wireless network, a mobile network, or an infrared signal. The function control 110 and the self-moving device 120 may establish a direct communication connection or a communication connection through other relay terminals. This embodiment does not limit the type or method of communication connection between the function control 110 and the self-moving device 120.

[0027] The functional control 110 can be placed by the user at any location within the working range of the self-moving device as needed. For example, the working range of the robot vacuum cleaner is a room, and the smart switch can be placed by the user at any location within the room as needed. The placement location of the functional control 110 can be fixed or movable at any time. For example, if the functional control 110 is integrated into other smart home devices, such as a smart refrigerator, then since the location of the refrigerator is usually fixed, the location of the functional control 110 is also usually fixed. If the functional control 110 is a smart switch, the smart switch can be fixed by the user in a certain location in the bedroom; or, the smart switch can also be non-fixed, and can be placed by the user at any location within the room as needed.

[0028] In a scenario example provided in the embodiments of this application, the functional control 110 can be an independently deployable smart switch, and the self-moving device 120 can be a robot vacuum cleaner. Correspondingly, the smart switch and the robot vacuum cleaner can establish a communication connection using WIFI. The smart switch can also establish a communication connection with a mobile phone using WIFI. Users can place smart switches anywhere in the room as needed and store their location information in the smart switches. Similarly, a mobile phone can have an application for a robotic vacuum cleaner, which stores a cleaning map for the robot's cleaning tasks. Users can store the location information of the smart switches in the cleaning map, and the cleaning map will store the association between the smart switch's identifier and its location. The mobile phone can then send this cleaning map to the robotic vacuum cleaner, enabling it to perform cleaning tasks based on the map.

[0029] Accordingly, when a user wants to clean the vicinity of the smart switch, the smart switch can be triggered; based on the user's triggering operation, the smart switch sends a cleaning command to the robot vacuum cleaner, and the cleaning command may include at least the switch identifier of the triggered smart switch. After receiving the cleaning command, the robot vacuum cleaner can extract the location information corresponding to the switch identifier contained in the cleaning command from the cleaning map, and move based on the location information to clean the vicinity of the smart switch.

[0030] Based on the solution provided by the embodiments of this application, by receiving the control signal sent by the functional control, the self-moving device can go to the working area corresponding to the control signal to work, without the user having to perform complex operations on the mobile terminal to control the self-moving device, which can improve the ease of operation and at the same time improve the control efficiency of the self-moving device.

[0031] Based on the system provided by the above embodiments, this application also provides a control method for a self-moving device, and the control method for a self-moving device provided by this application will be described in detail below.

[0032] As shown in FIG. 2, an embodiment of this application provides a control method for a self-moving device. This embodiment uses the method in the self-moving device 120 of FIG. 1 as an example for illustration. The method includes at least the following steps: Step 201, receiving a control signal sent by at least one functional control based on a first trigger operation.

[0033] The functional control can receive the user's trigger operation and generate a control signal based on the user's trigger operation. The functional control can send the generated control signal to the self-moving device through a pre-established communication connection.

[0034] For example, the functional control can be provided with a sensing component for sensing the user's trigger operation. The structure and working principle of the sensing component are not limited in this embodiment. The sensing component can be placed in a position that facilitates receiving the user's operation signal. For example, when the functional control is a smart switch, the sensing component can be placed close to the housing of the smart switch or protrude from the housing of the smart switch. If the functional control includes a display screen, the sensing component can also be placed below the display screen. Sensing markers can also be set on the function control to identify the location of the sensing component, so that the user can perform targeted operations and further improve the accuracy of user operation signal reception. The function control can have only one sensing component or multiple sensing components. When multiple sensing components are deployed on the function control, different sensing markers can be configured for different sensing components.

[0035] User trigger operations can include pressing, sliding, etc. The sensing component can receive the user's trigger operation and generate corresponding control signals based on the received trigger operation.For different trigger operations of sensing components, and for different trigger operation types of the same sensing component, the functional control can generate different control signals. The control signals, sensing components, and trigger operation types can be pre-configured in the functional control. Of course, if the functional control contains only one sensing component and the trigger operation type is also fixed, it is not necessary to store the association relationship between the control signals, sensing components, and trigger operation types.

[0036] Alternatively, the functional control can be equipped with a switch button, which the user can operate to power on the functional control. After the functional control is powered on, the control circuit is activated to send control signals outward. Correspondingly, the trigger operation can be the operation of pressing the switch button and powering on the functional control.

[0037] The trigger structure and trigger method included in the functional control can also be configured in other forms as needed, which are not limited in this application embodiment.

[0038] The control signal can be a signal that controls the mobile device to move to the working area corresponding to the functional control to perform work. For ease of distinction, the trigger operation corresponding to the control signal can be described as the first trigger operation.

[0039] The signal type of the control signal can be determined according to the communication connection method between the functional control and the self-moving device. This embodiment does not limit the type of control signal.

[0040] Step 202: Extract the working area corresponding to the functional control involved in the control signal.

[0041] After receiving the control signal, the self-moving device can extract the working area corresponding to the functional control involved in the control signal. For example, the control signal may contain a working area. After receiving the control signal, the self-moving device can directly extract the working area from the control signal. The working area in the control signal can be pre-configured by the user using a mobile phone and stored in the functional control. Alternatively, the control signal may not contain a working area. After receiving the control signal, the self-moving device can determine the working area corresponding to the functional control based on the information about the functional control contained in the control signal.

[0042] The correspondence between the working area and the functional control can be pre-associated or determined by the self-moving device based on the area filtering rules after receiving the control signal. After receiving the control signal, if the functional control and the working area are pre-associated and stored, the self-moving device can extract the working area corresponding to the functional control based on the association relationship. Alternatively, after determining the location information of the functional control, the location information of the functional control can be used as a reference position to extract the working area corresponding to the functional control.

[0043] In one example, the location information of the functional control can be determined first, and then the location of the functional control can be used as the reference position for extracting the working area corresponding to the functional control to extract the working area corresponding to the functional control.

[0044] The location information of the functional control can be identified using coordinates.For example, the location information of a functional control can be its coordinates on a cleaning map. Alternatively, the location information of a functional control can be identified using a specific object marker or a room marker. For example, if a functional control is installed on a bedroom wall, the bedroom can be used as the location information of the functional control, or the wall on which the functional control is located can be used as the location information of the functional control. Similarly, if a functional control is placed on a coffee table, the living room can be used as the location information of the functional control, or the coffee table can be used as the location information of the functional control. Of course, the location information can also be identified in other ways.

[0045] The location information of the functional control can be pre-configured in the self-moving device or in the functional control itself.

[0046] For example, after a user fixes the functional control or places it in a certain location, the user can write the location of the functional control into the storage device of the functional control through a terminal device (such as a mobile phone, PAD, etc.) that establishes a communication connection with the functional control. Correspondingly, the control signal can include the location information of the functional control.

[0047] For example, for a robotic vacuum cleaner, the user can mark the location information of the functional controls on the cleaning map and send the cleaning map to the functional controls for storage. For example, a mobile phone can display the control identifier of the functional control at a specified location on the cleaning map; this specified location is the location of the corresponding functional control, allowing the user to intuitively determine its location. The control identifier can refer to information identifying the functional control, such as the factory code of the functional control or a user-defined name for the functional control. The cleaning map can also support user adjustments to the position of the functional controls. For example, it can support users moving the control identifier of the functional control within the cleaning image to adjust its position; or it can support users selecting a location on the cleaning image and then adding or deleting the control identifier of the functional control, thereby marking and changing the location information of the functional controls. After receiving a control signal, the self-moving device can obtain the cleaning map from the control signal and extract the location information of the functional controls from the cleaning map.

[0048] Alternatively, the pre-configured location information can be associated with the control identifier of the functional control and stored in the self-moving device. Specific configuration methods can be found in the above embodiments and will not be elaborated here. Correspondingly, the control signal may include the control identifier to extract the location information corresponding to the functional control based on the control identifier.

[0049] By pre-configuring the location information of the functional control, the determination of the location information of the functional control can be made simpler and more flexible.

[0050] In another example, the self-moving device can determine the relative positional relationship between the functional control and the self-moving device based on the signal strength and signal direction of the control signal, and determine the position information of the functional control based on the relative positional relationship.

[0051] Determining the relative positional relationship between the functional control and the self-moving device based on the signal strength and signal direction of the control signal may include: obtaining the correspondence between the signal strength of the control signal and the distance between the self-moving device and the functional control involved in the control signal; determining the relative distance between the self-moving device and the functional control involved in the control signal based on the correspondence; and determining the relative positional relationship between the functional control and the self-moving device based on the relative distance and the signal direction of the control signal. Then, the position information of the functional control is determined based on the relative positional relationship. For example, the position information of the functional control can be determined based on the current position information of the self-moving device and the above relative positional relationship.

[0052] The correspondence between the signal strength of the control signal and the distance between the self-moving device and the functional control involved in the control signal is pre-stored in the self-moving device.

[0053] Referring to Table 1, if the signal strength of the control signal is 50 dB at this time, the distance between the self-moving device and the functional control involved in the control signal is determined to be 10 meters.

[0054] Table 1: Specification 5 / 13 Page 7 CN 121541639 A

[0055] The method of determining the relative positional relationship between the functional control and the self-moving device based on the signal strength and signal direction of the control signal, and then determining the positional information of the functional control, can further reduce the user's operational complexity and improve the user experience.

[0056] After determining the positional information of the functional control, the working area corresponding to the functional control is extracted based on the position of the functional control. For example, a region filtering rule can be preset, which can be pre-configured in the functional control or the self-moving device. For example, it can be configured by the user in a mobile APP that establishes a communication connection with the functional control or the self-moving device, and sent to the functional control or the self-moving device for local storage.

[0057] The region filtering rule may include at least one filtering region based on a specified region range / specified orientation. The self-moving device can extract the region of the specified region range and / or specified orientation as the working area corresponding to the functional control, with the positional information of the functional control as the center. For example, if the location information of the functional control extracted from the control signal is a dining table, then the area within a 5m radius around the dining table is considered the working area corresponding to the functional control. Alternatively, if the functional control is mounted on a wall, the wall surface where the functional control is located can be used as the boundary line, and the area within a specified distance from that boundary line along a certain direction can be extracted as the working area corresponding to the functional control.

[0058] The area filtering rules can also determine the working area of ​​the functional control based on the area type and integrated device type involved in the location information. For example, if the location information of the functional control is "bedroom", then the bedroom can be used as the working area corresponding to the functional control; or if the location information of the functional control is located in the bedroom based on the map, then the bedroom can be used as the working area corresponding to the functional control. For another example, when the functional control is integrated on a washing machine, the self-moving device can also use the area around the washing machine as the working area of ​​the functional control.

[0059] Of course, the specified area range / specified location, the area type involved in the location information, and the integrated device type can be combined to determine the location of the functional control as the reference location. Alternatively, other area filtering conditions can be added, such as further specifying the floor material as an additional filtering condition, to extract the working area of ​​the functional control.

[0060] In the above embodiments, the method of using the location information of the functional control as the reference location to extract the working area corresponding to the functional control can make the determination of the working area more flexible and improve the user experience.

[0061] Alternatively, an area can be pre-specified as the working area corresponding to the functional control, and the specified area can be associated with the control identifier of the functional control for storage. Accordingly, in one example, the working area corresponding to the functional control involved in the control signal can be extracted based on the correspondence between the functional control and the working area.

[0062] Optionally, the correspondence may include the correspondence between the control identifier and / or triggering method of the functional control and the working area; correspondingly, the control signal may include the control identifier and / or triggering method of the functional control.

[0063] The correspondence may be pre-configured in the self-moving device. Optionally, before extracting the working area corresponding to the functional control involved in the control signal, the self-moving device may also receive and store the correspondence between the control identifier and / or triggering method of the functional control and the working area sent by the terminal device. The correspondence is configured by the terminal device based on the association operation specified on page 6 / 13 of the specification 8 CN 121541639 A.

[0064] The self-moving device is communicatively connected to the terminal device. For example, the user can perform a setting operation on the mobile APP to associate the control identifier and / or triggering method of the functional control with the working area. After the association is completed, the mobile phone sends it to the self-moving device for storage.

[0065] The triggering method of the functional control can refer to the above embodiments, such as pressing, sliding, etc., which will not be elaborated here. The above first triggering operation corresponds to this triggering method.

[0066] The specific form of the working area associated with the control identifier, triggering method, etc. of the functional control can be at least one of the following: area range, area type (area type can be characterized by room type, floor material, etc.), and of course, it can also be other forms.

[0067] For example: Users can perform settings operations on a mobile APP, associating the control identifiers of different functional controls with different work areas. Referring to Table 2 below, the correspondence between different functional controls and different work areas can be obtained. The correspondence can be sent to the self-device for use. If the functional control involved in the control signal is functional control 1, then the work area is determined to be the bedroom.

[0068] Table 2:

[0069] For example: The triggering methods of the smart switch include long press for 3 seconds and double click. It can be preset that long press for 3 seconds will clean the living room and double click will clean the dining room, and stored in the self-device. Users can perform the first triggering operation based on the preset triggering method. Correspondingly, the control signal contains the triggering method corresponding to the first triggering operation. After receiving the control signal, the self-device can extract the triggering method from the control signal, and then determine the work area corresponding to the functional control based on the correspondence between the triggering method and the work area.

[0070] By associating the control identifiers and triggering methods of functional controls with the work area in advance, the determination of the work area can be made simpler and more flexible, improving the user experience.

[0071] Of course, the working area corresponding to the functional control can also be determined by combining the location information, control identifier, triggering method, etc. of the functional control, so as to further improve the flexibility and convenience of determining the working area and improve the user experience. For example, the triggering methods of the smart switch include long press for 3 seconds and double click. It can be preset that long press for 3 seconds is to clean the floor tiles and double click is to clean the carpet area, and stored in the self-moving device. If a smart switch is placed in the living room, the user can perform a long press operation on the smart switch for 3 seconds to clean the floor tiles in the living room by combining the location information and triggering method of the smart switch; or the user can perform a double click operation on the smart switch to clean the carpet area in the living room.

[0072] Step 203, determine the target working area to be traveled to by the self-moving device according to the extracted working area, so that the self-moving device can travel to the target working area.

[0073] When there is only one extracted working area, the extracted working area can be used as the target working area to be traveled to by the self-moving device. When there are two or more extracted working areas, one working area can be selected from the extracted working areas as the target working area to be traveled to by the self-moving device. Of course, if there are more than two work areas in the extracted work area description (page 7 / 13, CN 121541639 A), the priority of the work areas can be determined, and each work area can be used as the target work area for the self-moving device to go to in turn based on the priority. For example, after the self-moving device finishes working in the work area with higher priority, the next priority work area can be used as the target work area so that the self-moving device can go there.

[0074] In one example, when the control signal involves more than two functional controls, determining the target working area to which the self-moving device is to go based on the extracted working area includes: obtaining the sub-control signals corresponding to each functional control involved in the control signal; selecting one functional control as the target functional control from among the functional controls involved in the control signal based on the signal strength and / or signal direction of the sub-control signal; and using the working area corresponding to the target functional control as the target working area to which the self-moving device is to go.

[0075] The signal strength and signal direction of the sub-control signal can be combined simultaneously to select one functional control as the target functional control from among the functional controls involved in the control signal. For example, based on the signal strength and signal direction of the sub-control signal, a functional control is selected as the target functional control from the functional controls involved in the control signal, including: obtaining the signal strength and signal direction of the sub-control signal; when the signal direction of each sub-control signal is the same, the functional control corresponding to the sub-control signal with the largest signal strength value is selected as the target functional control; when the signal direction of each sub-control signal is different, the functional control corresponding to the sub-control signal with the higher signal direction priority is selected as the target functional control, wherein the signal direction priority is pre-stored in the self-moving device.

[0076] For example: if the self-moving device obtains two sub-control signals simultaneously in the due east direction, the signal strength of the first sub-control signal is 60dB and the signal strength of the second sub-control signal is 65dB, then the functional control corresponding to the sub-control signal with the signal strength of 65dB is selected as the target functional control; if the self-moving device obtains two sub-control signals simultaneously in the due east and due west directions, then according to the pre-stored signal direction priority, the signal direction priority in the due east direction is greater than the signal direction priority in the due west direction, then the functional control corresponding to the sub-control signal in the due east direction is selected as the target functional control.

[0077] By prioritizing the signal direction, sub-control signals with higher priority are selected. If there is more than one sub-control signal associated with a signal direction with a higher priority, the signal strength is further considered, and the sub-control signal with higher signal strength is selected as the final control signal. This allows the self-moving device to prioritize working in the direction with higher priority, which is more in line with the needs of the work scenario. When the signal direction priority meets the requirements, the target functional control is determined based on the signal strength, and then the target working area is determined. This allows the self-moving device to prioritize performing corresponding work in the nearby working area. If necessary, it can then perform corresponding work in the working area further away, minimizing the need for the self-moving device to go back and forth during the work process, making the working mode of the self-moving device more orderly and efficient.

[0078] Of course, in the absence of specific requirements for signal direction priority, the function control with the higher signal strength can be selected as the target function control simply by combining signal strength. For example, the signal strength value of the sub-control signal can be obtained; the function control corresponding to the sub-control signal with the highest signal strength can be selected as the target function control. For example, if the self-moving device obtains three sub-control signals with signal strengths of 55dB, 60dB, and 65dB respectively, then the function control corresponding to the sub-control signal with a signal strength of 65dB can be selected as the target function control.

[0079] Of course, other parameters can also be referenced to determine the target function control, and thus determine the target working area. In another example, when the control signal involves more than two function controls, the target working area to be traveled to by the self-moving device is determined based on the extracted working area, including: determining the number of times the sub-control signals corresponding to each function control involved in the control signal are sent; selecting one function control from each function control involved in the control signal as the target function control based on the number of times the sub-control signals are sent; and selecting the working area corresponding to the target function control as the target working area to be traveled to by the self-moving device.

[0080] Wherein, based on the number of times the sub-control signal is sent, one functional control is selected as the target functional control from the functional controls involved in the control signal, including: determining the number of times the sub-control signal is sent within a preset time, and taking the functional control corresponding to the sub-control signal with the highest number of transmissions as the target functional control.

[0081] For example: if the self-moving device receives the signal sent by the first sub-control signal 3 times within 5 seconds, and receives the signal sent by the second sub-control signal 4 times within 5 seconds, then the functional control corresponding to the sub-control signal with the 4th transmission is taken as the target functional control.

[0082] Of course, signal strength, signal direction, and signal frequency can also be combined to determine the target functional control.

[0083] By determining the target working area to be visited by the self-moving device based on the signal strength, signal direction, etc. of the sub-control signal when the control signal involves more than two functional controls, the self-moving device can prioritize visiting the target working area with higher priority according to the actual situation, further improving the intelligence of the self-moving device and improving the user experience.

[0084] Optionally, before receiving the control signal sent by at least one functional control based on the first trigger operation, the method further includes: obtaining the area parameters of the target working area; and, if the area parameters meet the working conditions, sending a prompt output instruction to the functional control so that the functional control outputs a trigger prompt to indicate that work needs to be performed on the target working area.

[0085] Since the self-moving device may not be able to reach the target work area with a high degree of dirt in a timely manner, the area parameters of the target work area are obtained in advance; when the area parameters meet the working conditions, a prompt output instruction is sent to the function control to trigger the function control to prompt that work needs to be done on the target work area. This can prompt the user to trigger the function control in the target work area with a high degree of dirt, thereby ensuring that the self-moving device can reach the target work area with a high degree of dirt in a timely manner.

[0086] The area parameters of the target work area are obtained in the following ways, including but not limited to: First, receiving the area parameters of the target work area sent by other devices that are communicatively connected to the self-moving device. The other devices can be electronic cameras, digital cameras, etc. This embodiment does not limit the type of other devices.

[0087] Second, receiving the area parameters of the target area sent by a sensing component that is communicatively connected to the self-moving device. The sensing component can be an image sensor, an odor sensor, a bacteria sensor, etc. This embodiment does not limit the type of sensing component.

[0088] In actual implementation, the self-moving device can also obtain the area parameters of the target work area in other ways. This embodiment does not limit the method of obtaining the area parameters of the target work area.

[0089] Optionally, the method of outputting trigger prompts by the functional control includes, but is not limited to: outputting trigger prompts through voice broadcast or outputting trigger prompts through indicator light flashing.

[0090] In one example, the area parameter includes dirt level data, and correspondingly, the working condition includes dirt level data exceeding a preset threshold.

[0091] In another example, the area parameter includes odor level data, and correspondingly, the working condition includes odor level data exceeding a preset threshold.

[0092] In yet another example, the area parameter includes bacteria data, and correspondingly, the working condition includes bacteria data exceeding a preset threshold.

[0093] Optionally, after receiving a control signal sent by at least one functional control based on a first trigger operation, the method further includes: receiving a functional signal sent by the functional control based on a second trigger operation; and controlling the self-moving device to perform a target function according to the functional signal.

[0094] The functional signal can be a signal that controls the self-moving device to perform a target function. Optionally, the target function package specification (page 9 / 13, CN 121541639 A) includes functions such as pause movement, accelerate movement, and / or recharge. This embodiment does not limit the type of target function. Users can operate the function control based on the triggering method corresponding to the target function. The triggering structure and triggering method configured for the target function by the function control can be implemented with reference to the control signals described above, and will not be elaborated here. For ease of distinction, the triggering operation corresponding to this function signal can be described as the second triggering operation.

[0095] Since the self-moving device may need to be controlled by other devices (such as mobile phones) to perform other target functions during movement or after reaching the target work area, the control of the self-moving device is still relatively complex and cumbersome. Based on the above embodiment, by receiving the function signal sent by the function control based on the second trigger operation, and controlling the self-moving device to perform the target function according to the function signal, the control efficiency and ease of operation of the self-moving device can be further improved, and the user experience can be enhanced.

[0096] In summary, the self-moving device control method provided in this embodiment, by receiving the control signal sent by at least one function control based on the first trigger operation; wherein the function control is communicatively connected to the self-moving device; extracting the work area corresponding to the function control involved in the control signal; and determining the target work area to be traveled by the self-moving device according to the extracted work area, so that the self-moving device can travel to the target work area, can at least solve the problem of low control efficiency and complex operation of the self-moving device during the control process. By receiving the control signal sent by the function control, the self-moving device can go to the work area corresponding to the control signal to work, without the need to control the self-moving device through a mobile terminal, which can further improve the control efficiency and ease of operation of the self-moving device.

[0097] To better understand the control method for the self-moving device provided in this application, another control method for the self-moving device provided in this application will be described in detail below.

[0098] As shown in FIG3, an embodiment of this application provides a self-cleaning control method for a self-moving device. This embodiment uses the method in the functional control 110 of FIG1 as an example for illustration. The method includes at least the following steps: Step 301, receiving a first trigger operation acting on at least one functional control.

[0099] Optionally, before receiving the first trigger operation acting on at least one functional control, the method further includes: receiving a prompt output instruction; outputting a trigger prompt based on the prompt output instruction to prompt the self-moving device to perform work on the target working area.

[0100] Optionally, before receiving the first trigger operation acting on at least one functional control, the method further includes: receiving a second trigger operation acting on the functional control; generating a functional signal based on the second trigger operation; sending the functional signal to the self-moving device, the functional signal being used to control the self-moving device to perform a target function.

[0101] By generating a function signal based on the second trigger operation and sending the function signal to the self-moving device to control the self-moving device to execute the target function, the control efficiency and ease of operation of the self-moving device can be further improved, and the user experience can be enhanced.

[0102] Step 302: Generate a control signal based on the first trigger operation.

[0103] Wherein, the function control is communicatively connected to the self-moving device.

[0104] In one example, the functional control can be set on the electronic device, and the first trigger operation is suitable for triggering the electronic device to switch states; generating a control signal based on the first trigger operation includes: determining whether the electronic device switches to a preset state based on the first trigger operation; generating a control signal when the electronic device switches to the preset state based on the first trigger operation.

[0105] The electronic device can be a smart home device, such as a washing machine, refrigerator, etc. For example: the functional control is set on the washing machine. If the functional control receives a trigger operation at this time, the washing machine switches to a preset state, which can be the cleaning state around the washing machine, and the functional control generates a control signal. Specification 10 / 13 pages 12 CN 121541639 A

[0106] By setting the functional control on the electronic device, the interconnection between the electronic device and the self-moving device can be improved, further improving the intelligence effect of the self-moving device, and also improving the user's operating experience.

[0107] In another example, the functional control is an independent switch control, and the first trigger operation is suitable for triggering the switch control's on / off state; generating a control signal based on the first trigger operation includes: generating a control signal when the first trigger operation is to open the switch control. Of course, the first trigger operation can also be in other forms. For specific implementation methods, please refer to the above embodiments, which will not be elaborated here.

[0108] Step 303: Send the control signal to the self-moving device and instruct the self-moving device to determine the target working area to be traveled by the self-moving device according to the extracted working area, so that the self-moving device travels to the target working area.

[0109] Wherein, the control signal is used for the self-moving device to extract the working area corresponding to the functional control involved in the control signal.

[0110] In summary, the self-moving device control method provided in this embodiment receives a first trigger operation acting on at least one functional control; generates a control signal based on the first trigger operation, wherein the functional control is communicatively connected to the self-moving device; sends the control signal to the self-moving device, the control signal is used for the self-moving device to extract the working area corresponding to the functional control involved in the control signal, and controls the self-moving device to determine the target working area to be traveled by the self-moving device according to the extracted working area, so that the self-moving device travels to the target working area; it can solve the problem of low control efficiency of the self-moving device in the control process; by sending the control signal to the self-moving device, the self-moving device can go to the working area corresponding to the control signal to work, without the need to control the self-moving device through the mobile terminal, which can improve the control efficiency of the self-moving device.

[0111] FIG4 is a block diagram of a control device for a self-moving device provided in an embodiment of the present application. The device includes at least the following modules: a signal receiving module 410, a region extraction module 420, and a region determination module 430.

[0112] The signal receiving module 410 is used to receive control signals sent by at least one functional control based on a first trigger operation; wherein the functional control is communicatively connected to the self-moving device; the area extraction module 420 is used to extract the working area corresponding to the functional control involved in the control signal; the area determination module 430 is used to determine the target working area to be traveled to by the self-moving device according to the extracted working area, so that the self-moving device travels to the target working area.

[0113] For related details, refer to the above embodiments.

[0114] It should be noted that: when the self-moving device control device provided in the above embodiments performs self-moving device control, it is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the self-moving device control device is divided into different functional modules to complete all or part of the functions described above. In addition, the self-moving device control device and the self-moving device control method embodiment provided in the above embodiments belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0115] Figure 5 is a block diagram of the self-moving device control device provided in another embodiment of this application. The device includes at least the following modules: an operation receiving module 510, a signal generating module 520, and a signal transmitting module 530.

[0116] The operation receiving module 510 is used to receive a first trigger operation acting on at least one functional control; the signal generating module 520 is used to generate a control signal based on the first trigger operation, wherein the functional control is communicatively connected to the self-moving device; the signal transmitting module 530 is used to send the control signal to the self-moving device, the control signal being used for the self-moving device to extract the working area corresponding to the functional control involved in the control signal, and instructing the self-moving device to determine the target working area to be traveled to according to the extracted working area specification page 11 / 13 13 CN 121541639 A, so that the self-moving device travels to the target working area.

[0117] Related details are referred to the above embodiments.

[0118] It should be noted that: the control device for the self-moving device provided in the above embodiments is only illustrated by the division of the above functional modules when controlling the self-moving device. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the control device for the self-moving device can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the self-moving device provided in the above embodiments and the control method embodiments for the self-moving device belong to the same concept. For details of its specific implementation process, please refer to the method embodiments, which will not be repeated here.

[0119] Figure 6 is a block diagram of a self-moving device provided in an embodiment of this application.The device can be a self-moving device as described above, and the device includes at least a processor 601 and a memory 602.

[0120] The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake-up state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 601 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content that the display screen needs to display. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0121] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 602 is used to store at least one instruction, which is executed by the processor 601 to implement the control method of the self-moving device provided in the method embodiment of this application.

[0122] In some embodiments, the extrinsic parameter calibration device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface may be connected by a bus or signal line. Each peripheral device may be connected to the peripheral device interface by a bus, signal line or circuit board. Indicatively, the peripheral device includes, but is not limited to: radio frequency circuits, touch screens, audio circuits and power supplies.

[0123] Of course, the extrinsic parameter calibration device may also include fewer or more components, which is not limited in this embodiment.

[0124] FIG7 is a block diagram of functional controls provided in an embodiment of this application. The device can be the functional control described in the above method, and the device includes at least a processor 701 and a memory 702.

[0125] The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake-up state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 701 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content that the display screen needs to display. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0126] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 702 is used to store at least one instruction, which is executed by the processor 701 to implement the control method of the self-moving device provided in the method embodiments of this application.

[0127] In some embodiments, the extrinsic parameter calibration device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 701, the memory 702 and the peripheral device interface may be connected via a bus or signal line. Each peripheral device may be connected to the peripheral device interface via a bus, signal line or circuit board. Indicatively, the peripheral device includes, but is not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.

[0128] Of course, the extrinsic parameter calibration device may also include fewer or more components, which is not limited in this embodiment.

[0129] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the self-moving device control method of the above method embodiments.

[0130] Optionally, this application also provides a computer product, which includes a computer-readable storage medium storing a program, the program being loaded and executed by a processor to implement the control method of the self-moving device described in the above method embodiments.

[0131] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0132] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0133] Furthermore, various different embodiments of the present invention can also be arbitrarily combined, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.Page 13 / 13 of the specification, CN 121541639 A, Figures 1, 2, 3 Page 1 / 2 of the drawings of the specification, CN 121541639 A, Figures 4, 5, 6, 7 Page 2 / 2 of the drawings of the specification, CN 121541639 A SELF-MOVING DEVICE AND WORKING AREA DETERMINATION METHOD THEREOF Abstract This application provides a self-moving device and a method for determining its working area, belonging to the field of automatic control. The method includes: receiving a control signal sent by a functional control element; determining position information of the functional control element based on the control signal; taking the position information as a reference position, and extracting a working area according to preset area screening rules. The area screening rules include screening the working area based on a specified area range. The method of the present application enables automatic and intelligent determination of the working area, significantly improves control efficiency, simplifies user operation procedures, and enhances user experience.。

Claims

1. A working area determination method of a self-moving device, characterized by, The working area determination method of the self-moving device comprises: receiving a control signal sent by a function control; determining position information of the function control based on the control signal; taking the position information as a reference position, extracting a working area based on a preset area screening rule; wherein the area screening rule comprises screening the working area based on a specified area range.

2. The working area determination method of a self-moving device according to claim 1, wherein, The area screening rule further comprises screening the working area based on a specified orientation.

3. The working area determination method of a self-moving device according to claim 1, wherein, The area screening rule further comprises screening the working area based on an area type.

4. The working area determination method of a self-moving device according to claim 1, characterized in that, The area screening rule further comprises screening the working area based on an integrated device type.

5. The method of claim 1, wherein The area screening rule further comprises extracting the working area based on floor material as an additional screening condition. 6.The method of claim 1, wherein The area screening rule further comprises extracting the working area based on a specified area range, which comprises taking the position information of the function control as the center and extracting the area within a preset distance range around the function control as the working area. 7.The method of claim 1, wherein The position information of the function control is determined based on the signal strength and signal direction of the control signal. 8.The method of claim 7, wherein, The position information of the function control is determined based on the signal strength and signal direction of the control signal, which comprises: obtaining a corresponding relationship between the signal strength of the control signal and the distance between the self-moving device and the function control involved by the control signal; determining the relative distance between the self-moving device and the function control involved by the control signal based on the corresponding relationship; determining the relative position relationship between the function control and the self-moving device according to the relative distance and the signal direction of the control signal. 9.The method of claim 1, wherein, The method further comprises: obtaining area parameters of the working area; in the case that the area parameters meet a preset working condition, sending a prompt output instruction to the function control to make the function control output a trigger prompt.

10. A self-moving device, characterized by A self-moving device comprises a processor and a memory; the memory stores a program which is loaded and executed by the processor to realize the working area determination method of the self-moving device as claimed in any one of claims 1 to 9.

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