Navigation method and self-mobile device

Abstract

To provide a navigation method and a self-mobile device for a technical field of self-mobile devices.SOLUTION: A navigation method applied to self-mobile devices includes the steps of: determining a planned replenishment travel region after completing a current operation task; determining whether or not there is any reachable position adjacent to the planned replenishment travel region; controlling the self-mobile device so as to reach the reachable position in response to the presence of the reachable position adjacent to the planned replenishment travel region and controlling the self-mobile device in such a manner as to attempt entrance into the planned replenishment travel region to execute operation of the planned replenishment travel region.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202110963412.5, filed on August 20, 2021, the entire disclosure of which is incorporated herein by reference as part of this application.

[0002] The present disclosure relates to the technical field of self-mobile devices, and in particular to a navigation method and a self-mobile device, and more particularly to a navigation method applied to a self-mobile device and a self-mobile device using the navigation method. [Background technology]

[0003] With the development of technology, various intelligent self-mobile devices have emerged, such as sweeping robots, mopping robots, vacuum cleaners, weeders, etc. These robots can automatically identify cleaning paths and select cleaning modes based on the cleaning paths, not only freeing up labor but also reducing labor costs. Summary of the Invention

[0004] Some embodiments of the present disclosure provide a navigation method applied to a self-mobile device, comprising: determining a travel area to be replenished after the current work task is completed; determining whether there is a reachable location adjacent to the replenishment target travel area; In response to the existence of a reachable position adjacent to the planned replenishment travel area, the method includes controlling a self-mobile device to reach the reachable position, and controlling the self-mobile device to attempt to enter the planned replenishment travel area in order to perform work in the planned replenishment travel area.

[0005] In some embodiments, the navigation method further includes controlling the self-mobile device to cancel entry into the travel area to be replenished in response to the absence of a reachable position adjacent to the travel area to be replenished.

[0006] In some embodiments, the step of determining the planned replenishment travel area includes determining the planned replenishment travel area based on data information, the data information including environmental data information acquired by the self-mobile device during the completion of the current work task, and determining, in response to determining based on the acquired environmental data information that an obstacle is a passable obstacle and that the obstacle is located at a boundary position of the traveled area reached by the self-mobile device in the current work task, the side of the obstacle facing away from the traveled area as the planned replenishment travel area.

[0007] In some embodiments, the environmental data information includes at least one or any combination of structural spot cloud information, laser ranging information, and image information.

[0008] In some embodiments, the step of determining the driving area to be replenished includes determining the driving area to be replenished based on data information, the data information including data information of historical work tasks recorded by the self-mobile device, and the data information of the historical work tasks including historical map information and / or historical navigation information; and determining the one or more partial areas as the driving area to be replenished in response to determining, based on the data information of the historical work tasks, that the traveled area reached in the current work task does not include one or more partial areas in the area reached in the historical work task.

[0009] In some embodiments, the step of determining whether there is a reachable position adjacent to the planned replenishment travel area includes determining an adjacent portion of the traveled area adjacent to the planned replenishment travel area, and determining the adjacent portion as the reachable position in response to the presence of only passable obstacles at the boundary between the adjacent portion and the planned replenishment travel area.

[0010] In some embodiments, the step of controlling a self-mobile device to reach the reachable position and controlling the self-mobile device to attempt to enter the planned replenishment driving area includes controlling the self-mobile device to ignore the passable obstacle at the boundary between the reachable position and the planned replenishment driving area, and to pass through the boundary between the reachable position and the planned replenishment driving area and drive toward the planned replenishment driving area.

[0011] In some embodiments, the traversable obstacle comprises a threshold and / or a carpet edge.

[0012] In some embodiments, in response to there being a plurality of the reachable locations, the self-mobile device is controlled to select a reachable location according to a predetermined order and attempt to enter the replenishment intended travel area.

[0013] Some embodiments of the present disclosure provide a navigation device applied to a self-mobile device, the navigation device comprising: a replenishment planned travel area determination unit for determining a replenishment planned travel area after the self-mobile device completes a current work task; a reachable position determining unit for determining whether there is a reachable position adjacent to the replenishment target travel area; and a control unit for controlling the self-mobile device to reach the reachable position in response to the existence of a reachable position adjacent to the planned replenishment travel area, and for controlling the self-mobile device to attempt to enter the planned replenishment travel area in order to perform work in the planned replenishment travel area.

[0014] In some embodiments, the control unit is further configured to control the self-mobile device to cancel entry into the planned replenishment travel area in response to the absence of a reachable position adjacent to the planned replenishment travel area.

[0015] In some embodiments, determining the travel area to be replenished includes determining the travel area to be replenished based on data information, the data information including environmental data information acquired by the self-mobile device during completion of a current work task; The planned replenishment travel area determination unit is configured to determine the side of the obstacle facing away from the already traveled area as the planned replenishment travel area in response to determining, based on the acquired environmental data information, that the obstacle is a passable obstacle and that the obstacle is located at the boundary position of the already traveled area reached by the self-mobile device in the current work task.

[0016] In some embodiments, the environmental data information includes at least one or any combination of structural spot cloud information, laser ranging information, and image information.

[0017] In some embodiments, determining the travel area to be replenished includes determining the travel area to be replenished based on data information, where the data information includes data information of historical work tasks recorded by the self-mobile device, and the data information of the historical work tasks includes historical map information and / or historical navigation information; The planned replenishment travel area determination unit is configured to determine the one or more partial areas as the planned replenishment travel area in response to determining that the travel area reached by the current work task does not include one or more partial areas in the area reached in the historical work task based on data information of the historical work task.

[0018] In some embodiments, the reachable position determination unit is configured to determine an adjacent portion of the traveled area adjacent to the planned replenishment travel area, and determine the adjacent portion as the reachable position in response to the presence of only passable obstacles at the boundary between the adjacent portion and the planned replenishment travel area.

[0019] In some embodiments, the control unit is configured to control the self-mobile device to ignore the passable obstacle at the boundary between the reachable position and the planned replenishment driving area, and to pass through the boundary between the reachable position and the planned replenishment driving area and drive towards the planned replenishment driving area.

[0020] In some embodiments, the traversable obstacle comprises a threshold and / or a carpet edge.

[0021] In some embodiments, in response to there being a plurality of the reachable locations, the control unit is configured to control the self-mobile device to select a reachable location according to a predetermined order and attempt to enter the replenishment-destination travel area.

[0022] Some embodiments of the present disclosure provide a self-mobile device comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, the method steps are performed.

[0023] Some embodiments of the present disclosure provide a non-transitory computer-readable storage medium having stored thereon computer program instructions that, when called and executed by a processor, perform the method steps described in the embodiments. [Effects of the Invention]

[0024] Compared with the related art, the above solution of the embodiments of the present disclosure has at least the following beneficial effects:

[0025] A navigation method for a self-mobile device, such as a sweeping robot, detects a replenishment travel area based on environmental data information and / or historical work task data information, determines whether the replenishment travel area is reachable, provides reference for subsequent cleaning operations, and improves cleaning coverage.

[0026] The accompanying drawings herein are incorporated into this specification as part of the present disclosure, illustrate embodiments of the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are merely some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these accompanying drawings without creative work. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a structural schematic diagram of a self-mobile device provided by some embodiments of the present disclosure. [Figure 2] 1 is a flowchart of a navigation method applied to a self-mobile device provided by some embodiments of the present disclosure. [Figure 3] Scenario diagram of a navigation method applied to a self-mobile device provided by some embodiments of the present disclosure. [Figure 4] 1 is a schematic diagram of a control device for a self-mobile device according to some embodiments of the present disclosure. [Figure 5] 1 is a schematic diagram of the electronic structure of a self-mobile device provided by some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0028] In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present disclosure, but are not all of the embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative labor shall all fall within the scope of protection of the present disclosure.

[0029] It should be noted that the terms "comprises," "has," or any other variation thereof are intended to cover a non-exclusive inclusion, and a product or device comprising a set of elements includes not only those elements but also other elements not expressly listed or inherent in such product or device. Unless further qualified, the fact that a definition is made with the phrase "comprising one or more" does not exclude the presence of other elements of the same type in the product or device of said elements.

[0030] A self-moving device, such as a sweeping robot, may use a differential chassis and perform environmental recognition using one or more sensors, such as a camera, depth imager, laser distance sensor (LDS), odometer, or inertial measurement unit (IMU). For non-random collision sweeping robots, the sweeping robot software uses sensor data to perform operations such as real-time positioning and mapping (SLAM), depth estimation, and obstacle detection, and obtains the location map and obstacle information required for navigation and obstacle avoidance functions.

[0031] When a sweeping robot performs cleaning tasks, it may collide with furniture or small obstacles, especially if its obstacle avoidance function is insufficient. In this case, the furniture may be easily damaged by the collision of the sweeping robot, and the sweeping robot may be easily pinched or damaged due to unexpected movement caused by the collision, which may affect the cleaning performance. This disclosure proposes a solution in which a depth sensor, such as a double-line structured light, capable of detecting obstacles is disposed at the front end of the sweeping device to detect the environment and achieve the purpose of collision avoidance.

[0032] The obstacle avoidance aspect of the depth sensor can cause the following problem in collision avoidance mode: Because the depth sensor cannot determine obstacles ahead, obstacle detection based on a single observation by the depth sensor may misidentify thresholds, carpet edges, etc. as obstacles that need to be avoided. As a result, cleaning of the room or carpet area behind the threshold may be skipped, significantly reducing cleaning efficiency.

[0033] The present disclosure provides a navigation method applied to a self-mobile device such as a sweeping robot, the navigation method including at least the following steps: After the current work task is completed, the planned replenishment travel area is determined, determining whether there is a reachable location adjacent to the replenishment target travel area; In response to the existence of a reachable position adjacent to the planned replenishment travel area, the self-mobile device is controlled to reach the reachable position, and the self-mobile device is controlled to attempt to enter the planned replenishment travel area in order to perform work in the planned replenishment travel area.

[0034] According to the navigation method disclosed herein, a self-mobile device, such as a sweeping robot, can detect a travel area to be filled based on environmental data information and / or historical work task data information, determine whether the travel area to be filled is reachable, provide reference for subsequent cleaning operations, and improve cleaning coverage, where the environmental data information includes, for example, at least one or any combination of structural spot cloud information, laser distance measurement information, and image information, and the historical work task data information includes historical map information and / or historical navigation information.

[0035] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0036] 1 is a structural schematic diagram of a self-mobile device provided by some embodiments of the present disclosure. As shown in FIG. 1 , the self-mobile device 100, e.g., a sweeping robot, includes a laser distance sensor (LDS) 10 disposed on the top of the sweeping robot body 110 and an image sensor 20 disposed on the side wall of the robot body 110. The image sensor 20 may include, for example, a structured light imaging element, and the image sensor 20 may further include a visible light imaging element. The laser distance sensor 10 is configured to detect obstacles around the self-mobile device and detect the distance between the obstacles and the self-mobile device 100, specifically, to detect obstacles that are higher than the body of the self-mobile device 100. The image sensor 20 is configured to capture images of obstacles in the traveling direction of the self-mobile device 100.

[0037] FIG. 2 is a flowchart of a navigation method applied to a self-mobile device provided by some embodiments of the present disclosure. As shown in FIG. 2, the navigation method includes the following steps: In step S220, a travel area to be replenished after the current work task is completed is determined. The current work task here can be understood as a cleaning task that the self-mobile device 100, for example, a sweeping robot, executes only once in accordance with a user command without contacting or colliding with obstacles. Specifically, the self-mobile device 100, for example, a sweeping robot, employs a collision avoidance mode when performing a cleaning task, i.e., the sweeping robot bypasses detected obstacles to prevent the sweeping robot from colliding with furniture or small obstacles, damaging the furniture, or getting pinched or damaged, thereby enabling the cleaning task to be completed smoothly. Due to limitations in recognition accuracy and precision, the self-mobile device 100 may identify thresholds, carpet edges, etc. as obstacles and avoid them, resulting in skipping cleaning of rooms or carpeted areas behind the thresholds. Since rooms or carpeted areas behind the thresholds clearly require cleaning, these areas must be identified as planned replacement travel areas. The planned replacement travel areas are areas that the sweeping robot avoids and does not clean in the current work task to avoid contact or collision with obstacles.

[0038] In step S240, it is determined whether there is a reachable position adjacent to the replenishment planned travel area. Specifically, after the travel area to be replenished is determined, the self-mobile device 100, for example, a sweeping robot, needs to determine whether there is a reachable position adjacent to the travel area to be replenished, that is, whether there is an entrance or passageway to enter the travel area to be replenished. If there is a reachable position adjacent to the travel area to be replenished, the following step S260 is executed, and if there is no reachable position adjacent to the travel area to be replenished, the self-mobile device 100 is controlled to cancel entry into the travel area to be replenished and skip cleaning the travel area to be replenished.

[0039] In step S260, in response to the existence of a reachable position adjacent to the planned replenishment travel area, the self-mobile device is controlled to reach the reachable position, and the self-mobile device is controlled to attempt to enter the planned replenishment travel area in order to perform work in the planned replenishment travel area.

[0040] Specifically, the self-mobile device 100 is controlled to move to a reachable position, and the self-mobile device 100 is controlled to attempt to enter the planned replenishment traveling area; if the self-mobile device 100 enters the planned replenishment traveling area as a result of the attempt, the self-mobile device 100 performs cleaning work within the planned replenishment traveling area; if the self-mobile device 100 still cannot enter the planned replenishment traveling area as a result of the attempt, the self-mobile device 100 is controlled to cancel the entry into the planned replenishment traveling area and skip cleaning the planned replenishment traveling area.

[0041] In some embodiments, in step S220, determining the travel area to be replenished includes determining the travel area to be replenished based on data information, including environmental data information acquired by the self-mobile device during the completion of the current work task, and when it is determined based on the environmental data information that an obstacle is a passable obstacle and is located at a boundary position of a travel area reached by the self-mobile device in the current work task, determining the side of the obstacle facing away from the travel area as the travel area to be replenished.

[0042] Specifically, the environmental data information includes at least one or any combination of structure spot cloud information, laser distance measurement information, and image information, where the structure spot cloud information is acquired by a structured light imaging element in the image sensor 20, the laser distance measurement information is acquired by a laser distance sensor (LDS) 10, and the image information is acquired by a visible light imaging element in the image sensor 20.

[0043] The self-mobile device 100 can acquire information about obstacles, such as the outline of the obstacle and the distance between the obstacle and the self-mobile device 100, acquired by the laser distance sensor (LDS) 10 and the structured light imaging element and visible light imaging element in the image sensor 20, and this information also belongs to the environmental data information. Specifically, the self-mobile device 100 uses the laser distance sensor (LDS) 10 to acquire information about obstacles in the environment surrounding the self-mobile device, particularly information about obstacles that are higher than the main body of the self-mobile device 100, such as distance information between each point on the obstacle and the self-mobile device 100, thereby acquiring information about the outline of the obstacle and the positional relationship between it and the self-mobile device 100. The self-mobile device 100 obtains structure spot cloud information of obstacles in the traveling direction of the self-mobile device by the structured light imaging element in the image sensor 20, and even if the obstacle is lower than the height of the body of the self-mobile device 100, the structured light imaging element can detect the obstacle and obtain structure spot cloud information including the outline shape of the obstacle and information about the distance from the self-mobile device 100. The self-mobile device 100 can directly capture images of obstacles in the traveling direction of the self-mobile device by the visible light imaging element in the image sensor 20.

[0044] During the process of performing a cleaning task in collision avoidance mode, the self-mobile device 100 obtains information about an obstacle using a laser distance sensor (LDS) 10 and a structured light imaging element and a visible light imaging element in an image sensor 20, and performs the cleaning task by bypassing the obstacle to avoid collision between the self-mobile device 100 and the obstacle. After the self-mobile device 100 completes the cleaning task in collision avoidance mode, the cleaned area becomes a traveled area, and then the self-mobile device 100 determines whether the obstacle is a passable obstacle and whether the obstacle is located at the boundary position of the traveled area reached by the self-mobile device in the current work task based on the environmental data information, including structure spot cloud information, laser distance measurement information, and image information about the obstacle, obtained during the process of the self-mobile device 100 performing the cleaning task in collision avoidance mode.

[0045] Specifically, the method for determining whether an obstacle is a passable obstacle is as follows: if the obstacle can be detected by the laser distance sensor (LDS) 10 of the self-mobile device 100, that is, if the height of the obstacle is higher than the height of the body 110 of the self-mobile device 100, the obstacle is determined to be an impassable obstacle, because thresholds, carpet edges, etc. are generally not higher than the body 110 of the self-mobile device 100. If the obstacle cannot be detected by the laser distance sensor (LDS) 10 of the self-mobile device 100 but can be detected by the structured light imaging member or visible light imaging member of the self-mobile device 100, and the height of the obstacle is lower than a first threshold, the obstacle is determined to be a passable obstacle, and the first threshold is, for example, smaller than the height of the body 110 of the self-mobile device 100, for example, equal to or lower than the height of the body 110 of the self-mobile device 100 from the ground. Whether an obstacle is a passable obstacle may be determined based on image information of the obstacle. For example, the image information of the obstacle is analyzed, and specifically, the image information of the obstacle is processed using, for example, a convolutional neural network to determine the type of the obstacle. If the obstacle is determined to be a threshold, a carpet edge, or the like, the obstacle is determined to be a passable obstacle.

[0046] The above lists several ways of determining whether an obstacle is a passable obstacle, but the embodiments of the present disclosure are not limited to these, and for example, the determination may be made by comprehensively considering and analyzing the obstacle's structural spot cloud information, laser distance measurement information, and image information.

[0047] After determining whether the obstacle is a passable obstacle, if it is determined that the obstacle is a passable obstacle and that the passable obstacle is located at the boundary of the traveled area reached by the self-mobile device in the current work task, the side of the obstacle facing away from the travel area is determined to be the travel area to be replenished. In this way, there is a possibility that the passable obstacle is located at the boundary between the traveled area and the travel area to be replenished, and the self-mobile device 100 will pass through the passable obstacle and enter the travel area to be replenished.

[0048] In some embodiments, in step S220, the step of determining the driving area to be replenished includes determining the driving area to be replenished based on data information, the data information including data information of historical work tasks recorded by the self-mobile device, the data information of the historical work tasks including historical map information and / or historical navigation information, and if it is determined based on the data information of the historical work tasks that the traveled area reached in the current work task does not include one or more partial areas of the area reached in the historical work task, determining the one or more partial areas as the driving area to be replenished.

[0049] Specifically, each time the self-mobile device performs a cleaning operation, it stores data information about the work task, and the data information about the work task includes map information and navigation information about the travel area, where the map information indicates the area that the self-mobile device can clean, and the navigation information indicates the route along which the self-mobile device will perform the cleaning work.

[0050] After the self-mobile device 100 completes the cleaning work in the collision avoidance mode, the cleaned area becomes a traveled area, and the self-mobile device 100 determines whether the traveled area reached in the current work task includes one or more partial areas of the area reached in the previous work task. If the self-mobile device 100 determines that the traveled area reached in the current work task does not include one or more partial areas of the area reached in the previous work task, it determines the one or more partial areas as a travel area to be replenished.

[0051] In the above embodiment, the mode of determining the planned replenishment travel area based on the environmental data information acquired by the self-mobile device during the process of completing the current work task, and the mode of determining the planned replenishment travel area based on the data information of the history work task recorded by the self-mobile device are listed. The present disclosure is not limited to these specific modes, and the planned replenishment travel area may be determined by combining the above two modes and comprehensively determining them.

[0052] In some embodiments, in step 240, the step of determining whether there is a reachable position adjacent to the planned replenishment travel area determines an adjacent portion of the traveled area adjacent to the planned replenishment travel area, and determines the adjacent portion as the reachable position in response to the presence of only passable obstacles at the boundary between the adjacent portion and the planned replenishment travel area.

[0053] Specifically, first, it is determined whether the traveled area cleaned in the current work of the self-mobile device 100 is adjacent to the previously determined travel area to be replenished, i.e., whether the traveled area has an adjacent portion adjacent to the travel area to be replenished. If it is determined that the traveled area does not have an adjacent portion adjacent to the travel area to be replenished, the self-mobile device 100 cannot enter the traveled area from the traveled area to the travel area to be replenished, and in this case, the self-mobile device 100 is controlled to cancel the entry into the travel area to be replenished and skip cleaning the travel area to be replenished.

[0054] If the already traveled area includes an adjacent area adjacent to the planned replenishment travel area, it is further determined whether only passable obstacles exist at the boundary between the adjacent area and the planned replenishment travel area. If there are no passable obstacles at the boundary between the adjacent area and the planned replenishment travel area, or if there are passable obstacles but also impassable obstacles, the self-mobile device 100 cannot enter the planned replenishment travel area from the already traveled area, and in this case, the self-mobile device 100 is controlled to cancel entry into the planned replenishment travel area and skip cleaning the planned replenishment travel area. If there are only passable obstacles but no impassable obstacles at the boundary between the adjacent area and the planned replenishment travel area, the self-mobile device 100 may enter the planned replenishment travel area from the adjacent area to perform replenishment cleaning work, and the adjacent area may be set as a reachable position.

[0055] In some embodiments, in step S260, the step of controlling the self-mobile device to reach the reachable position and to attempt to enter the planned replenishment travel area includes: The method includes controlling the self-mobile device to ignore the passable obstacle at the boundary between the reachable position and the planned replenishment traveling area, and to travel through the boundary between the reachable position and the planned replenishment traveling area toward the planned replenishment traveling area.

[0056] Specifically, when the self-mobile device 100 is controlled to attempt to enter the planned replenishment traveling area, the self-mobile device 100 can ignore the passable obstacle at the boundary between the reachable position and the planned replenishment traveling area, for example, ignore data information of the corresponding passable obstacle collected by the self-mobile device 100, such as structural spot cloud information of the passable obstacle, and travel toward the planned replenishment traveling area through the boundary between the reachable position and the planned replenishment traveling area in a collision avoidance mode. In some embodiments, the self-mobile device 100 can be controlled to exit the collision avoidance mode, and travel toward the planned replenishment traveling area by directly passing through the boundary between the reachable position and the planned replenishment traveling area.

[0057] If the self-mobile device 100 succeeds in entering the planned replenishment travel area, the self-mobile device 100 performs supplementary cleaning work in the planned replenishment travel area, and if the self-mobile device 100 fails to enter the planned replenishment travel area, it is determined that the self-mobile device 100 cannot enter the planned replenishment travel area from the area it has already traveled, and in this case, the self-mobile device 100 is controlled to cancel entry into the planned replenishment travel area and skip cleaning the planned replenishment travel area.

[0058] In some embodiments, when the self-mobile device 100 attempts to enter the planned replenishment travel area, the self-mobile device 100 may make multiple attempts to enter the same reachable position because there is a possibility that the self-mobile device 100 will not be able to enter the planned replenishment travel area in a single attempt due to various factors such as the travel speed and drive power of the self-mobile device 100. In some embodiments, the success rate of the self-mobile device 100 entering the planned replenishment travel area can be increased by increasing the drive power of the self-mobile device 100.

[0059] In some embodiments, the number of reachable locations may be one or more, and the self-mobile device 100 may attempt to enter the planned replenishment travel area from any one of the plurality of reachable locations. In some embodiments, the self-mobile device 100 may sort each reachable location based on its distance to the reachable location. For example, the reachable locations may include M reachable locations, i.e., a first reachable location, a second reachable location, and an Mth reachable location. The distance to the self-mobile device 100 increases sequentially from the first reachable location to the second reachable location, and the self-mobile device 100 may select the closest first reachable location and attempt to enter the planned replenishment travel area. If the self-mobile device 100 cannot enter the planned replenishment traveling area even when trying from the first reachable position, the self-mobile device 100 selects a second reachable position and attempts to enter the planned replenishment traveling area, and if the self-mobile device 100 cannot enter the planned replenishment traveling area even when trying from the second reachable position, the self-mobile device 100 selects a third reachable position and attempts to enter the planned replenishment traveling area. The self-mobile device 100 repeats the above trial operation via M reachable positions until it succeeds in entering the planned replenishment traveling area.

[0060] The navigation method described in the embodiments of the present disclosure detects a travel area to be replenished based on environmental data information and / or data information of historical work tasks, determines whether the travel area to be replenished is reachable, provides reference for subsequent cleaning operations, and improves cleaning coverage.

[0061] 3 is a scenario diagram of a navigation method applied to a self-mobile device provided by some embodiments of the present disclosure. In FIG. 3 , the self-mobile device 100, for example, a sweeping robot, starts a cleaning task in a living room 310. The self-mobile device 100 uses a collision avoidance mode when performing the cleaning task. When the self-mobile device 100 detects a threshold 330, it performs an obstacle avoidance task with the threshold 330 as an obstacle. As a result, the self-mobile device 100 cannot pass through the threshold 330 to enter the bedroom 320 to perform the cleaning task. After the self-mobile device 100 completes the cleaning task in the living room 310, the living room 310 becomes a traveled area, the threshold 330 belongs to a passable obstacle, the bedroom 320 is a target area to be cleaned, and the area 311 adjacent to the threshold 330 in the living room 310 is a reachable area.

[0062] The embodiments of the present disclosure further provide a navigation device for a self-mobile device, such as a sweeping robot, where each unit performs the method steps described in the above embodiments, and the same method steps have the same technical effects and will not be repeated herein. FIG. 4 is a schematic diagram of a navigation device for a self-mobile device provided by some embodiments of the present disclosure. As shown in FIG. 4, the navigation device 400 specifically includes:

[0063] The replenishment planned traveling area determining unit 420 is configured to determine a replenishment planned traveling area after the current work task is completed.

[0064] the reachable position determining unit 440 is configured to determine whether there is a reachable position adjacent to the replenishment target travel area; The control unit 460 is configured to, in response to the existence of a reachable position adjacent to the travel area to be replenished, control the self-mobile device to reach the reachable position, and to control the self-mobile device to attempt to enter the travel area to be replenished in order to perform work in the travel area to be replenished.

[0065] In some embodiments, the control unit 460 is further configured to control the self-mobile device to cancel entry into the planned replenishment travel area in response to the absence of a reachable position adjacent to the planned replenishment travel area.

[0066] In some embodiments, determining the travel area to be replenished includes determining the travel area to be replenished based on data information, where the data information includes environmental data information acquired by the self-mobile device during the completion of the current work task, and the environmental data information includes at least one or any combination of structural spot cloud information, laser distance measurement information, and image information. The travel area to be replenished determination unit 440 is configured to determine, based on the environmental data information, that an obstacle is a passable obstacle including a threshold and / or a carpet edge, and that the obstacle is located at a boundary position of a traveled area reached by the self-mobile device in the current work task, to determine the side of the obstacle facing away from the travel area as the travel area to be replenished.

[0067] In some embodiments, the step of determining the traveling area to be replenished includes determining the traveling area to be replenished based on data information, where the data information includes data information of past work tasks recorded by the self-mobile device, and the data information of the past work tasks includes historical map information and / or historical navigation information. The traveling area to be replenished determination unit 440 is configured to determine, based on the data information of the past work tasks, the one or more partial areas of the area reached in the past work tasks in response to determining that the traveling area reached by the current work task does not include the one or more partial areas as the traveling area to be replenished.

[0068] In some embodiments, the reachable position determination unit 440 is configured to determine an adjacent portion of a driving area adjacent to the driving area to be replenished, and determine the adjacent portion as the reachable position in response to the presence of only passable obstacles at the boundary between the adjacent portion and the driving area to be replenished.

[0069] In some embodiments, the control unit 460 is configured to control the self-mobile device to ignore the passable obstacle at the boundary between the reachable position and the planned replenishment driving area, and to drive through the boundary between the reachable position and the planned replenishment driving area toward the planned replenishment driving area.

[0070] In some embodiments, the number of reachable locations is multiple, and the control unit 460 is configured to control the self-mobile device to select a reachable location according to a predetermined order and attempt to enter the replenishment-destined travel area.

[0071] The navigation device described in the embodiment of the present disclosure controls the navigation of a self-mobile device, detects a travel area to be replenished based on environmental data information and / or data information of historical work tasks, determines whether the travel area to be replenished is reachable, provides reference for subsequent cleaning operations, and improves the cleaning coverage rate.

[0072] An embodiment of the present disclosure further provides a non-transitory computer-readable storage medium having computer program instructions stored thereon, the computer program instructions, when called and executed by a processor, performing any one of the method steps described above.

[0073] An embodiment of the present disclosure provides a self-mobile device 100, such as a sweeping robot, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the method steps of any one of the above embodiments are performed.

[0074] 5 is a schematic diagram of the electronic structure of a self-mobile device provided by some embodiments of the present disclosure. As shown in FIG. 5, the self-mobile device may include a processing unit (e.g., a central processor, a graphics processor, etc.) 501 that can perform various appropriate operations and processes according to programs stored in a read-only memory (ROM) 502 or programs loaded from a storage device 508 into a random access memory (RAM) 503. The RAM 503 stores various programs and data necessary for the operation of the electronic robot. The processing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0075] Typically, the I / O interface 505 is connected to input devices 506, including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507, including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 508, including, for example, a hard disk, etc.; and communication devices 509. The communication devices 509 enable the self-mobile device to exchange data with other devices via wireless or wired communication. While FIG. 5 illustrates a self-mobile device with various devices, it should be understood that it is not necessary for the device to implement or include all of the devices illustrated. Alternatively, the device may implement or include more or fewer devices.

[0076] The flowcharts and block diagrams in the accompanying drawings illustrate possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowcharts or block diagrams may represent a module, program section, or portion of code, which includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions depicted in the boxes may occur in a different order than that depicted in the accompanying drawings. For example, two boxes depicted in succession may actually be executed substantially in parallel, or may be executed in the reverse order, depending on the functionality involved. It should also be noted that each box in the block diagrams and / or flowcharts, and combinations of boxes in the block diagrams and / or flowcharts, may be implemented in a dedicated hardware-based system that performs the specified function or operation, or in a combination of dedicated hardware and computer instructions.

[0077] Finally, it should be noted that the embodiments in this specification are gradually described by focusing on the differences between each embodiment and other embodiments, and that for the same and similar parts of each embodiment, it is sufficient to refer to each embodiment with respect to each other. Furthermore, since the system or device disclosed in the embodiment corresponds to the method disclosed in the embodiment, the description is relatively simple, and it is sufficient to refer to the description in the method section.

[0078] The above examples are not intended to be limiting but to illustrate the technical solutions of the present disclosure. The present disclosure has been described in detail with reference to the above examples. However, it should be understood that a person skilled in the art may modify the technical solutions described in the above examples or substitute some technical features with equivalents, and such modifications or substitutions will not cause the essence of the relevant technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. 1. A navigation method applied to a self-mobile device, the navigation method comprising: determining a travel area to be replenished after the current work task is completed; determining whether there is a reachable location adjacent to the replenishment target travel area; In response to the existence of a reachable position adjacent to the travel area to be replenished, controlling a self-mobile device to reach the reachable position, and controlling the self-mobile device to attempt to enter the travel area to be replenished in order to perform work in the travel area to be replenished.

2. 2. The navigation method according to claim 1, further comprising the step of controlling the self-mobile device to cancel entry into the travel area to be replenished in response to the absence of a reachable position adjacent to the travel area to be replenished.

3. The step of determining a planned replenishment travel area includes: determining a travel area to be replenished based on data information, the data information including environmental data information acquired by the self-mobile device during the completion of a current work task; 2. The navigation method according to claim 1, further comprising: determining, in response to determining that an obstacle is a passable obstacle based on the acquired environmental data information and that the obstacle is located at a boundary position of a traveled area reached by the self-mobile device in the current work task, a side of the obstacle facing away from the traveled area as the planned replenishment travel area.

4. The navigation method of claim 3 , wherein the environmental data information includes at least one or any combination of structural spot cloud information, laser distance measurement information, and image information.

5. the step of determining the travel area to be replenished determines the travel area to be replenished based on data information, the data information including data information of historical work tasks recorded by the self-mobile device, and the data information of the historical work tasks includes historical map information and / or historical navigation information; The navigation method of claim 1, further comprising: determining, based on data information of the historical work task, that the traveled area reached in the current work task does not include one or more partial areas in the area reached in the historical work task, and determining the one or more partial areas as the traveled area to be supplemented.

6. The step of determining whether there is a reachable position adjacent to the replenishment target travel area includes: A navigation method as described in claim 3 or 5, which includes determining an adjacent portion adjacent to the planned replenishment travel area of the traveled area, and determining the adjacent portion as the reachable position in response to the presence of only passable obstacles at the boundary between the adjacent portion and the planned replenishment travel area.

7. The step of controlling the self-moving device to reach the reachable position and to attempt to enter the planned replenishment traveling area includes:

7. The navigation method according to claim 6, further comprising controlling the self-mobile device to ignore the passable obstacle at the boundary between the reachable position and the planned replenishment traveling area, and to travel through the boundary between the reachable position and the planned replenishment traveling area toward the planned replenishment traveling area.

8. The method of navigation according to claim 3 , wherein the traversable obstacles include thresholds and / or carpet edges.

9. The navigation method according to claim 1 , further comprising the step of: in response to the existence of a plurality of reachable positions, controlling the self-mobile device to select a reachable position according to a predetermined order and attempt to enter the planned replenishment travel area.

10. A navigation device applied to a self-mobile device, the navigation device comprising: a replenishment planned travel area determination unit for determining a replenishment planned travel area after the self-mobile device completes a current work task; a reachable position determining unit for determining whether there is a reachable position adjacent to the replenishment target travel area; A navigation device comprising: a control unit for controlling a self-mobile device to reach the reachable position in response to the existence of a reachable position adjacent to the planned replenishment traveling area, and for controlling the self-mobile device to attempt to enter the planned replenishment traveling area in order to perform work in the planned replenishment traveling area.

11. The navigation device according to claim 10, wherein the control unit is further used to control the self-mobile device to cancel entry into the travel area to be replenished in response to the absence of a reachable position adjacent to the travel area to be replenished.

12. determining the travel area to be replenished includes determining the travel area to be replenished based on data information, the data information including environmental data information acquired by the self-mobile device during the completion of a current work task; The navigation device according to claim 10, wherein the planned replenishment travel area determination unit is configured to determine, in response to determining based on the acquired environmental data information that an obstacle is a passable obstacle and that the obstacle is located at a boundary position of a traveled area reached by the self-mobile device in the current work task, the side of the obstacle facing away from the traveled area as the planned replenishment travel area.

13. The navigation device of claim 12 , wherein the environmental data information includes at least one or any combination of structural spot cloud information, laser ranging information, and image information.

14. determining the travel area to be replenished includes determining the travel area to be replenished based on data information, the data information including data information of historical work tasks recorded by the self-mobile device, and the data information of the historical work tasks including historical map information and / or historical navigation information; The navigation device according to claim 10, wherein the replenishment-planned travel area determination unit is configured to determine, based on data information of the historical work task, that the traveled area reached by the current work task does not include one or more partial areas in the area reached in the historical work task, to determine the one or more partial areas as the replenishment-planned travel area.

15. The navigation device according to claim 12 or 14, wherein the reachable position determination unit is configured to determine an adjacent portion of the already traveled area adjacent to the planned replenishment travel area, and to determine the adjacent portion as the reachable position in response to the presence of only passable obstacles at the boundary between the adjacent portion and the planned replenishment travel area.

16. The navigation device according to claim 15, wherein the control unit is configured to control the self-mobile device to ignore the passable obstacle at the boundary between the reachable position and the planned replenishment traveling area, and to pass through the boundary between the reachable position and the planned replenishment traveling area and travel toward the planned replenishment traveling area.

17. 13. A navigation device according to claim 12, wherein the traversable obstacles include thresholds and / or carpet edges.

18. 11. The navigation device of claim 10, wherein in response to there being a plurality of the reachable locations, the control unit is configured to select a reachable location according to a predetermined order and control the self-mobile device to attempt to enter the replenishment-planned traveling area.

19. 10. A self-mobile device comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, the self-mobile device performing the method steps of any one of claims 1 to 9 when the processor executes the computer program instructions.

20. A non-transitory computer-readable storage medium having stored thereon computer program instructions which, when called and executed by a processor, perform the method steps of any one of claims 1 to 9.

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