Navigation method and self-mobile device

Abstract

The present application relates to the technical field of self-mobile devices, and discloses a navigation method and a self-mobile device, wherein the navigation method is applied to a self-mobile device, and includes the steps of: determining a travel area to be replenished after a current work task is completed; determining whether there is a reachable position adjacent to the travel area to be replenished; and in response to there being a reachable position adjacent to the travel area to be replenished, controlling the self-mobile device to reach the reachable position, and controlling the self-mobile device to attempt to enter the travel area to be replenished to perform work in the travel area to be replenished.

Description

Technical Field

[0001] (Related Application) This application claims the priority of Chinese Patent Application No. 202110963412.5 filed on August 20, 2021, and all the disclosure contents of the above Chinese patent application are incorporated herein by reference as part of this application.

[0002] This disclosure relates to the technical field of self - moving devices, specifically to a navigation method and a self - moving device, and particularly to a navigation method applied to a self - moving device and a self - moving device using this navigation method.

Background Art

[0003] With the development of technology, various intelligent self - moving devices such as sweeping robots, mopping robots, vacuum cleaners, and weeding machines have emerged. These robots can automatically identify the cleaning path and select the cleaning mode based on the cleaning path, which not only liberates the labor force but also can reduce labor costs.

Summary of the Invention

[0004] Some embodiments of this disclosure provide a navigation method applied to a self - moving device, After the current work task is completed, determining a planned replenishment travel area; Determining whether there is an accessible position adjacent to the planned replenishment travel area; In response to there being an accessible position adjacent to the planned replenishment travel area, controlling the self - moving device to reach the accessible position and controlling the self - moving device to attempt to enter the planned replenishment travel area to perform the work in the planned replenishment travel area.

[0005] In some embodiments, the navigation method further includes controlling the self - moving device to cancel entry into the planned refueling travel area in response to there being no reachable position adjacent to the planned refueling travel area.

[0006] In some embodiments, the step of determining the planned refueling travel area includes determining the planned refueling travel area based on data information, where the data information includes environmental data information acquired by the self - moving device during the completion process of the current work task, and 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 the boundary position of the traveled area reached by the self - moving device in the current work task, determining the side of the obstacle facing away from the traveled area as the planned refueling travel area.

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

[0008] In some embodiments, the step of determining the planned refueling travel area includes determining the planned refueling travel area based on data information, where the data information includes data information of historical work tasks recorded by the self - moving device, the data information of the historical work tasks includes historical map information and / or historical navigation information, and 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 sub - areas in the area reached in the historical work tasks, determining the one or more sub - areas as the planned refueling travel area.

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

[0010] In some embodiments, the steps of controlling the self - moving device to reach the accessible position and controlling the self - moving device to attempt to enter the planned replenishment travel area include ignoring the passable obstacles at the boundary between the accessible position and the planned replenishment travel area, and controlling the self - moving device to travel through the boundary between the accessible position and the planned replenishment travel area and towards the planned replenishment travel area.

[0011] In some embodiments, the passable obstacles include thresholds and / or carpet edges.

[0012] In some embodiments, in response to there being a plurality of the accessible positions, select the accessible positions in a predetermined order and control the self - moving device to attempt to enter the planned replenishment travel area.

[0013] Some embodiments of the present disclosure provide a navigation device applied to a self - moving device, and the navigation device includes a planned replenishment travel area determination unit for determining a planned replenishment travel area after the self - moving device has completed the current work task; an accessible position determination unit for determining whether there is an accessible position adjacent to the planned replenishment travel area; and a control unit for controlling the self - moving device to reach the accessible position in response to there being an accessible position adjacent to the planned replenishment travel area, and controlling the self - moving device to attempt to enter the planned replenishment travel area to perform work in the planned replenishment travel area.

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

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

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

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

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

[0019] In some embodiments, the control unit ignores the passable obstacles at the boundary between the reachable position and the planned replenishment travel area, and is configured to control the self-mobile device to travel through the boundary between the reachable position and the planned replenishment travel area and towards the planned replenishment travel area.

[0020] In some embodiments, the passable obstacles include thresholds and / or carpet edges.

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

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

[0023] Some embodiments of the present disclosure provide a non-transitory computer-readable storage medium storing computer program instructions, and when the computer program instructions are called and executed by a processor, the method steps described in the embodiments are implemented.

Advantages of the Invention

[0024] The above solutions of the embodiments of the present disclosure have at least the following beneficial effects as compared with the related art.

[0025] The navigation method of a self - moving device, such as a sweeping robot, etc., detects a planned replenishment travel area based on environmental data information and / or data information of historical work tasks, determines whether it is reachable to the planned replenishment travel area, provides a reference for subsequent cleaning operations, and improves the cleaning coverage rate.

[0026] The accompanying drawings here are incorporated herein as part of this specification, illustrate embodiments of the present disclosure, and are used to interpret the principles of the present disclosure together with the specification. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these accompanying drawings without creative labor.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, hereinafter, the technical solutions in the embodiments of the present disclosure will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. It is assumed that all other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative labor are included in the protection scope of the present disclosure.

[0029] Note that the terms "comprising", "including", or any other variation are intended to cover non-exclusive inclusion. A product or device that includes a series of elements includes not only those elements but also other elements not explicitly listed or elements inherent to such a product or device. Unless further limited, the fact of being defined by the expression "including one ~" does not exclude the presence of other elements of the same kind in the product or device of the said element.

[0030] A self-mobile device, such as a sweeping robot, may use a differential chassis and may perform environment recognition using one or more sensors such as a camera, a depth imaging device, a laser distance sensor (LDS), an odometer, and an inertial measurement unit (IMU). In the case of a non-random collision type sweeping robot, the sweeping robot software performs operations such as simultaneous localization and mapping (SLAM), depth estimation, and obstacle detection based on sensor data, obtains a position map and obstacle information necessary for navigation, and avoids functions such as obstacle avoidance.

[0031] When the sweeping robot performs a cleaning operation, especially when the obstacle avoidance function is insufficient, the sweeping robot may collide with furniture or small obstacles. In this case, the furniture is likely to be damaged by the collision of the sweeping robot. At the same time, due to the unexpected movement caused by the collision, the sweeping robot is likely to be pinched or damaged, affecting the implementation of the cleaning. The present disclosure proposes a solution to arrange a depth sensor capable of detecting obstacles, such as binocular structured light, at the front end of the cleaning device to detect the environment and achieve the purpose of collision avoidance.

[0032] In the obstacle avoidance mode of the depth sensor, the following problems may occur in the collision avoidance mode. That is, since the depth sensor cannot determine a front obstacle, in the obstacle detection based on one observation of the depth sensor, steps, carpet edges, etc. may be regarded as obstacles to be avoided. As a result, the cleaning of the room behind the step and the carpet area is skipped, and the cleaning efficiency is significantly reduced.

[0033] The present disclosure provides a navigation method applicable to a self-propelled device such as a cleaning robot, and the navigation method includes at least the following steps. That is, After the current work task is completed, determine a planned replenishment travel area, Determine whether there is an accessible position adjacent to the planned replenishment travel area, In response to there being an accessible position adjacent to the planned replenishment travel area, control the self-propelled device to reach the accessible position, and control the self-propelled device to attempt to enter the planned replenishment travel area in order to execute the work in the planned replenishment travel area.

[0034] According to the navigation method of the present disclosure, in the navigation method of a self-propelled device such as a cleaning robot, a planned replenishment travel area is detected based on environmental data information and / or data information of a history work task, it is determined whether the planned replenishment travel area is accessible, and a reference is provided for subsequent cleaning operations, thereby improving the cleaning coverage rate. Here, the environmental data information includes, for example, at least one or any combination of structure spot cloud information, laser distance measurement information, and image information, and the data information of the history work task includes history map information and / or history navigation information.

[0035] Hereinafter, selectable embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0036] FIG. 1 is a schematic structural diagram of a self-mobile device provided by some embodiments of the present disclosure. As shown in FIG. 1, the self-mobile device 100, such as a sweeping robot, includes a laser distance sensor (LDS) 10 disposed at 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 includes, for example, a structured light imaging member, and further, the image sensor 20 may further include a visible light imaging member. 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 configured to detect obstacles higher than the body of the self-mobile device 100. The image sensor 20 is configured to acquire an image of an obstacle 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, after the current work task is completed, a replenishment planned travel area is determined. The current working task mentioned here can be understood as a cleaning task that a self - moving device 100, such as a sweeping robot, executes only once in accordance with a user command without contacting or colliding with an obstacle. Specifically, the self - moving device 100, such as a sweeping robot, adopts a collision avoidance mode when executing the cleaning operation. That is, it bypasses the obstacles detected by the sweeping robot to avoid the sweeping robot colliding with furniture or small obstacles, causing damage to the furniture, etc., or the sweeping robot being pinched or damaged, so that the cleaning operation can be carried out smoothly. At this time, due to limitations in recognition accuracy and probability, the self - moving device 100 may regard thresholds, carpet edges, etc. as obstacles and avoid them. As a result, the cleaning of the rooms behind the thresholds, carpet areas, etc. is skipped. The rooms behind the thresholds, carpet areas, etc. are clearly areas that need to be cleaned, and it is necessary to specify these areas as the replenishment planned travel areas. The replenishment planned travel area is an area that the sweeping robot avoids and is not cleaned in the current working task in order to avoid contact and collision with obstacles.

[0038] In step S240, it is determined whether there is an accessible position adjacent to the replenishment planned travel area. Specifically, after the replenishment planned travel area is determined, the self - moving device 100, such as a sweeping robot, needs to determine whether there is an accessible position adjacent to the replenishment planned travel area, that is, determine whether there is an entrance or passage to enter the replenishment planned travel area. If there is an accessible position adjacent to the replenishment planned travel area, step S260 below is executed. If there is no accessible position adjacent to the replenishment planned travel area, the self - moving device 100 is controlled to cancel the entry into the replenishment planned travel area and skip the cleaning of the replenishment planned travel area.

[0039] In step S260, in response to there being an accessible position adjacent to the replenishment planned travel area, the self - moving device is controlled to reach the accessible position, and the self - moving device is controlled to attempt to enter the replenishment planned travel area in order to execute the operation in the replenishment planned travel area.

[0040] Specifically, the self - moving device 100 is controlled to move to an accessible position and to attempt to enter the planned replenishment travel area. As a result of the attempt, if the self - moving device 100 enters the planned replenishment travel area, the self - moving device 100 executes a cleaning operation within the planned replenishment travel area. As a result of the attempt, if the self - moving device 100 still cannot enter the planned replenishment travel area, the self - moving device 100 is controlled to cancel the entry into the planned replenishment travel area and skip the cleaning of the planned replenishment travel area.

[0041] In some embodiments, in step S220, the step of determining the planned replenishment travel area includes determining the planned replenishment travel area based on data information. The data information includes environmental data information acquired by the self - moving device during the process of completing the current work task. Based on the environmental data information, when it is determined that an obstacle is a passable obstacle and the obstacle is located at the boundary position of the travel area reached by the self - moving device in the current work task, the side of the obstacle facing away from the travel area is determined as the planned replenishment travel area.

[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. The structure spot cloud information is acquired by a structured light imaging member 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 member in the image sensor 20.

[0043] The self - moving device 100 can acquire information about obstacles obtained by a Laser Distance Sensor (LDS) 10, a structured light imaging member and a visible light imaging member in the image sensor 20, such as the contour of the obstacle, the distance between the obstacle and the self - moving device 100, etc. These information also belong to the environmental data information. Specifically, the self - moving device 100 can acquire obstacle information in the surrounding environment of the self - moving device by the Laser Distance Sensor (LDS) 10, especially information about obstacles higher than the main body of the self - moving device 100, such as the distance information between each point of the obstacle and the self - moving device 100. Thereby, the contour information of the obstacle and the positional relationship between it and the self - moving device 100 can be acquired. The self - moving device 100 can acquire the structure spot cloud information of the obstacle in the traveling direction of the self - moving device by the structured light imaging member in the image sensor 20. Even if the obstacle is lower than the height of the main body of the self - moving device 100, the structured light imaging member can detect the obstacle and acquire the structure spot cloud information including the contour form of the obstacle and the distance information from the self - moving device 100. The self - moving device 100 can directly image the image of the obstacle in the traveling direction of the self - moving device by the visible light imaging member in the image sensor 20.

[0044] During the process of executing the cleaning operation in the collision avoidance mode, the self - moving device 100 acquires information about obstacles by the laser distance sensor (LDS) 10, the structured light imaging member and the visible light imaging member in the image sensor 20, executes the cleaning operation by bypassing the obstacles, and avoids the collision between the self - moving device 100 and the obstacles. After the self - moving device 100 completes the cleaning operation in the collision avoidance mode, the cleaned area becomes the traveled area. Thereafter, based on the environmental data information including the structure spot cloud information, the laser distance measurement information, and the image information about the obstacles acquired during the process of the self - moving device 100 executing the cleaning operation in the collision avoidance mode, the self - moving 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 - moving device in the current work task.

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

[0046] As mentioned above, several determination modes for whether an obstacle is a passable obstacle have been listed. However, the embodiments in the present disclosure are not limited to this. For example, the determination may be made by comprehensively considering and analyzing the structural spot cloud information, laser distance measurement information, and image information of the obstacle.

[0047] After determining whether the obstacle is a passable obstacle, if the obstacle is a passable obstacle and it is determined that the passable obstacle is located at the boundary position of the traveled area reached by the self - moving device in the current work task, the side of the obstacle facing away from the travel area is determined as the planned replenishment travel area. In this way, the passable obstacle is located at the boundary between the traveled area and the planned replenishment travel area, and the self - moving device 100 may pass through the passable obstacle and enter the planned replenishment travel area.

[0048] In some embodiments, in step S220, the step of determining the planned refueling travel area includes determining the planned refueling travel area based on data information, where the data information includes data information of historical work tasks recorded by the self - moving device. The data information of the historical work tasks includes historical map information and / or historical navigation information. Based on the data information of the historical work tasks, when it is determined that the traveled area reached in the current work task does not include one or more sub - areas of the areas reached in the historical work tasks, determining the one or more sub - areas as the planned refueling travel area.

[0049] Specifically, each time the self - moving device executes a cleaning operation, it stores the data information of the work task, and the data information of the work task includes map information and navigation information of its travel area. The map information indicates the area that the self - moving device can clean, and the navigation information indicates the route for the self - moving device to execute the cleaning operation.

[0050] After the self - moving device 100 completes the cleaning operation in the collision avoidance mode, the cleaned area becomes the traveled area, and the self - moving device 100 determines whether the traveled area reached in the current work task includes one or more sub - areas of the areas reached in the historical work tasks. When the self - moving device 100 determines that the traveled area reached in the current work task does not include one or more sub - areas of the areas reached in the historical work tasks, it determines the one or more sub - areas as the planned refueling travel area.

[0051] In the above embodiments, in the process of completing the current work task, the modes of determining the planned refueling travel area based on the environmental data information acquired by the self - moving device and based on the data information of the historical work tasks recorded by the self - moving device are listed. In the present disclosure, it is not specifically limited, and the determination of the planned refueling travel area may be comprehensively determined by combining the above two modes.

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

[0053] Specifically, first, it is determined whether the traveled area cleaned in the current operation of the self - moving device 100 is adjacent to the previously determined planned replenishment driving area, that is, whether there is an adjacent portion of the traveled area adjacent to the planned replenishment driving area. If it is determined that there is no adjacent portion of the traveled area adjacent to the planned replenishment driving area, the self - moving device 100 cannot enter the planned replenishment driving area from the traveled area. At this time, the self - moving device 100 is controlled to cancel the entry into the planned replenishment driving area and skip the cleaning of the planned replenishment driving area.

[0054] If there is an adjacent portion of the traveled area adjacent to the planned replenishment driving area, it is further determined whether only passable obstacles exist at the boundary between the adjacent portion and the planned replenishment driving area. If there are no passable obstacles or there are passable obstacles but also impassable obstacles at the boundary between the adjacent portion and the planned replenishment driving area, the self - moving device 100 cannot enter the planned replenishment driving area from the traveled area. At this time, the self - moving device 100 is controlled to cancel the entry into the planned replenishment driving area and skip the cleaning of the planned replenishment driving area. If only passable obstacles exist at the boundary between the adjacent portion and the planned replenishment driving area and there are no impassable obstacles, the self - moving device 100 may enter the planned replenishment driving area from the adjacent portion to perform a replenishment cleaning operation, and the adjacent portion may be used as the accessible position.

[0055] In some embodiments, in step S260, the step of controlling the self-mobile device to reach the reachable position and controlling the self-mobile device to attempt to enter the planned replenishment travel area is as follows: It includes ignoring the passable obstacles at the boundary between the reachable position and the planned replenishment travel area, and controlling the self-mobile device to travel through the boundary between the reachable position and the planned replenishment travel area and towards the planned replenishment travel area.

[0056] Specifically, when controlling the self-mobile device 100 to attempt to enter the planned replenishment travel area, ignore the passable obstacles at the boundary between the reachable position and the planned replenishment travel area. For example, ignore the corresponding passable obstacle data information collected by the self-mobile device 100, such as the structural spot cloud information of the passable obstacles. The self-mobile device 100 can travel through the boundary between the reachable position and the planned replenishment travel area in the collision avoidance mode and towards the planned replenishment travel area. In some embodiments, the self-mobile device 100 may be controlled to end the collision avoidance mode and travel directly through the boundary between the reachable position and the planned replenishment travel area and towards the planned replenishment travel area.

[0057] When the self-mobile device 100 succeeds in entering the planned replenishment travel area, the self-mobile device 100 executes the complementary cleaning operation in the planned replenishment travel area. When 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 traveled area. At this time, the self-mobile device 100 is controlled to cancel the entry into the planned replenishment travel area and skip the cleaning of the planned replenishment travel area.

[0058] In some embodiments, when the self - moving device 100 attempts to enter the planned replenishment driving area, at a certain reachable position, due to various factors such as the driving speed and driving power of the self - moving device 100, it may not be able to enter the planned replenishment driving area with just one attempt. Therefore, for the same reachable position, the self - moving device 100 may perform multiple trial operations. In some embodiments, by increasing the driving power of the self - moving device 100, the success rate of the self - moving device 100 entering the planned replenishment driving area can be increased.

[0059] In some embodiments, the number of reachable positions may be one or more, and the self - moving device 100 may attempt to enter the planned replenishment driving area from any one of the multiple reachable positions. In some embodiments, the self - moving device 100 can sort each reachable position based on its distance from it. For example, the reachable positions include M reachable positions, namely, the first reachable position, the second reachable position... the Mth reachable position. The distances from the first reachable position, the second reachable position... the Mth reachable position to the self - moving device 100 increase sequentially. The self - moving device 100 may select the first reachable position with the closest distance and attempt to enter the planned replenishment driving area. Even if it tries from the first reachable position and the self - moving device 100 cannot enter the planned replenishment driving area, the self - moving device 100 may select the second reachable position and attempt to enter the planned replenishment driving area. Even if it tries from the second reachable position and the self - moving device 100 cannot enter the planned replenishment driving area, the self - moving device 100 may select the third reachable position and attempt to enter the planned replenishment driving area. The self - moving device 100 performs the above - mentioned trial operations through the M reachable positions until it successfully enters the planned replenishment driving area.

[0060] According to the navigation method described in the embodiments of the present disclosure, a planned replenishment driving area is detected based on environmental data information and / or data information of historical work tasks, it is determined whether it is reachable to the planned replenishment driving area, which provides a reference for subsequent cleaning operations and improves the cleaning coverage rate.

[0061] In some embodiments, FIG. 3 is a scenario diagram of a navigation method applied to a self - moving device provided by some embodiments of the present disclosure. In FIG. 3, a self - moving device 100, such as a sweeping robot, discloses a cleaning operation in the living room 310. When the self - moving device 100 executes the cleaning operation, it uses a collision avoidance mode. When the self - moving device 100 detects the threshold 330, it performs an obstacle avoidance operation using the threshold 330 as an obstacle. As a result, the self - moving device 100 cannot pass through the threshold 330 and enter the bedroom 320 to execute the cleaning operation. After the self - moving device 100 completes the cleaning operation in the living room 310, for this cleaning operation, the living room 310 becomes a traveled area, the threshold 330 belongs to a passable obstacle, the bedroom 320 is a cleaning target area, and the area 311 adjacent to the threshold 330 of the living room 310 is an accessible area.

[0062] Embodiments of the present disclosure further provide a navigation device for a self - moving device, such as a sweeping robot. Each unit executes the method steps described in the above embodiments. 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 - moving device provided by some embodiments of the present disclosure. As shown in FIG. 4, the navigation device 400 specifically includes the following.

[0063] The replenishment - scheduled travel area determination unit 420 is configured to determine a replenishment - scheduled travel area after the current work task is completed.

[0064] The accessible position determination unit 440 is configured to determine whether there is an accessible position adjacent to the replenishment - scheduled travel area. The control unit 460 is configured to control the self - moving device to reach the accessible position in response to the presence of an accessible position adjacent to the replenishment - scheduled travel area, and to control the self - moving device to attempt to enter the replenishment - scheduled travel area in order to execute the operation in the replenishment - scheduled travel area.

[0065] In some embodiments, the control unit 460 is further configured to control the self - moving device to cancel the entry into the planned refueling travel area in response to the absence of an accessible position adjacent to the planned refueling travel area.

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

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

[0068] In some embodiments, the reachable position determination unit 440 determines an adjacent portion adjacent to the planned replenishment travel area of the travel area, and in response to only passable obstacles existing at the boundary between the adjacent portion and the planned replenishment travel area, determines the adjacent portion as the reachable position.

[0069] In some embodiments, the control unit 460 ignores the passable obstacles at the boundary between the reachable position and the planned replenishment travel area, and is configured to control the self-mobile device to travel through the boundary between the reachable position and the planned replenishment travel area and towards the planned replenishment travel area.

[0070] In some embodiments, the number of reachable positions is plural, and the control unit 460 is configured to select reachable positions in a predetermined order and control the self-mobile device to attempt to enter the planned replenishment travel area.

[0071] The navigation device according to the embodiment of the present disclosure performs navigation control on the self-mobile device, detects a planned replenishment travel area based on environmental data information and / or data information of historical work tasks, determines whether it is possible to reach the planned replenishment travel area, provides a reference for subsequent cleaning operations, and improves the cleaning coverage rate.

[0072] The embodiment of the present disclosure further provides a non-transitory computer-readable storage medium storing computer program instructions, and when the computer program instructions are called and executed by a processor, any one of the above method steps is implemented.

[0073] The embodiment of the present disclosure provides a self-mobile device 100 including a processor and a memory, for example, a sweeping robot, wherein computer program instructions executable by the processor are stored in the memory, and when the processor executes the computer program instructions, the method steps of any one of the above embodiments are implemented.

[0074] FIG. 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 device (e.g., a central processor, a graphics processor, etc.) 501 that can execute various appropriate operations and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. Various programs and data necessary for the operation of the electronic robot are stored in the RAM 503. The processing device 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] Normally, the I / O interface 505 is connected to an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc., an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc., a storage device 508 including, for example, a hard disk, etc., and a communication device 509. The communication device 509 enables the self-mobile device to exchange data with other devices via wireless or wired communication. Although FIG. 5 shows a self-mobile device equipped with various devices, it should be understood that it is not necessary to implement or include all the illustrated devices. Alternatively, more or fewer devices may be implemented or included.

[0076] The flowcharts and block diagrams in the accompanying drawings illustrate the 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 flowchart or block diagram may represent a module, a program section, or a part of code, and this module, program section, or part of code includes one or more executable instructions for implementing the specified logic function. Also, it should be noted that in some alternative implementations, the functions shown within the boxes may occur in an order different from the order shown in the accompanying drawings. For example, two boxes represented consecutively may actually be executed substantially in parallel, or depending on the related functions, may be executed in the reverse order. Also, each box in the block diagram and / or flowchart, and combinations of boxes in the block diagram and / or flowchart, may be implemented in a dedicated hardware-based system for performing the specified function or operation, or may be implemented in a combination of dedicated hardware and computer instructions.

[0077] Finally, it should be noted that each embodiment in this specification is progressively described with attention to the differences from other embodiments, and for the same parts and similar parts of each embodiment, it is sufficient to refer to each embodiment with respect to each other. Also, for the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and reference may be made to the description in the method section.

[0078] The above embodiments are not restrictive but are for explaining the technical solutions of the present disclosure. Although the present disclosure has been described in detail with reference to the above embodiments, those skilled in the art can modify the technical solutions described in each of the above embodiments or perform equivalent substitutions for some technical features. It should be understood that these modifications or substitutions do not deviate from the spirit and scope of the technical solutions of the present disclosure for the essence of the related technical solutions.

Claims

1. A navigation method applied to a self - moving device, the navigation method comprising: After the current work task is completed, determining a planned replenishment driving area; Determining whether there is an accessible position adjacent to the planned replenishment driving area; In response to there being an accessible position adjacent to the planned replenishment driving area, controlling the self - moving device to reach the accessible position and controlling the self - moving device to attempt to enter the planned replenishment driving area to execute the work in the planned replenishment driving area. The step of determining the planned replenishment driving area includes: Determining a planned replenishment driving area based on data information, the data information including environmental data information acquired by the self - moving device during the completion process of the current work task; In response to determining that an obstacle is a passable obstacle based on the acquired environmental data information and the obstacle is located at the boundary position of the traveled area reached by the self - moving device in the current work task, determining the side of the obstacle facing away from the traveled area as the planned replenishment driving area. A navigation method.

2. Further comprising, in response to there being no accessible position adjacent to the planned replenishment driving area, controlling the self - moving device to cancel the entry into the planned replenishment driving area, the navigation method according to claim 1.

3. The environmental data information includes at least one or any combination of structural spot cloud information, laser distance measurement information, and image information, the navigation method according to claim 1.

4. The step of determining the planned replenishment travel area determines the planned replenishment travel area based on data information, and 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, and responding to determining that the traveled area reached in the current work task does not include one or more sub-areas in the area reached in the historical work task based on the data information of the historical work task, determining the one or more sub-areas as the planned replenishment travel area, The navigation method according to claim 1, comprising:

5. The step of determining whether there is an accessible position adjacent to the planned replenishment travel area is determining an adjacent portion adjacent to the planned replenishment travel area of the traveled area, and determining the adjacent portion as the accessible position in response to the presence of only passable obstacles at the boundary between the adjacent portion and the planned replenishment travel area, The navigation method according to claim 1 or 4, comprising:

6. The step of controlling the self-mobile device to reach the accessible position and controlling the self-mobile device to attempt to enter the planned replenishment travel area is ignoring the passable obstacles at the boundary between the accessible position and the planned replenishment travel area, and controlling the self-mobile device to travel toward the planned replenishment travel area through the boundary between the accessible position and the planned replenishment travel area, The navigation method according to claim 5, comprising:

7. The passable obstacles include thresholds and / or carpet edges, The navigation method according to claim 1, comprising:

8. Responding to the presence of a plurality of the accessible positions, selecting the accessible positions in a predetermined order, and controlling the self-mobile device to attempt to enter the planned replenishment travel area, The navigation method according to claim 1, comprising:

9. A navigation device applied to a self-propelled device, wherein the navigation device a replenishment planned travel area determination unit for determining a replenishment planned travel area after the self-propelled device has completed the current work task; an accessible position determination unit for determining whether there is an accessible position adjacent to the replenishment planned travel area; a control unit for controlling the self-propelled device to reach the accessible position in response to the presence of an accessible position adjacent to the replenishment planned travel area, and for controlling the self-propelled device to attempt to enter the replenishment planned travel area in order to execute the work in the replenishment planned travel area, comprising determining the replenishment planned travel area includes determining the replenishment planned travel area based on data information, and the data information includes environmental data information acquired by the self-propelled device during the completion process of the current work task, the replenishment planned travel area determination unit is configured to determine the side of the obstacle facing away from the traveled area as the replenishment planned travel area in response to determining that the obstacle is a passable obstacle based on the acquired environmental data information and that the obstacle is located at the boundary position of the traveled area reached by the self-propelled device in the current work task. Navigation device.

10. The control unit is further used to control the self-propelled device to cancel the entry into the replenishment planned travel area in response to the non-existence of an accessible position adjacent to the replenishment planned travel area. The navigation device according to claim 9.

11. The environmental data information includes at least one or any combination of structural spot cloud information, laser distance measurement information, and image information. The navigation device according to claim 9.

12. Determining the planned replenishment travel area includes determining the planned replenishment travel area 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 sub-areas as the planned replenishment travel area in response to determining that the traveled area reached by the current work task does not include one or more sub-areas in the area reached in the historical work task, based on the data information of the historical work task. The navigation device according to claim 9.

13. The reachable position determination unit is configured to determine an adjacent part adjacent to the planned replenishment travel area of the traveled area, and determine the adjacent part as the reachable position in response to there being only passable obstacles at the boundary between the adjacent part and the planned replenishment travel area. The navigation device according to claim 9 or 12.

14. The control unit is configured to control the self-mobile device to ignore the passable obstacles at the boundary between the reachable position and the planned replenishment travel area and travel towards the planned replenishment travel area through the boundary between the reachable position and the planned replenishment travel area. The navigation device according to claim 13.

15. The passable obstacles include thresholds and / or carpet edges. The navigation device according to claim 9.

16. In response to there being a plurality of the reachable positions, the control unit is configured to select the reachable positions according to a predetermined order and control the self-mobile device to attempt to enter the planned replenishment travel area. The navigation device according to claim 9.

17. A self - moving device comprising a processor and a memory, wherein computer program instructions executable by the processor are stored in the memory, and when the processor executes the computer program instructions, the method steps according to any one of claims 1 to 8 are performed. A self - moving device characterized by this.

18. A non - transitory computer - readable storage medium, in which computer program instructions are stored, and when the computer program instructions are called and executed by a processor, the method steps according to any one of claims 1 to 8 are performed. A non - transitory computer - readable storage medium characterized by this.

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