Self-moving device turning control method and self-moving device

Abstract

A self-moving device turning control method and a self-moving device, belonging to the technical field of self-moving device control. The method of the present application comprises: acquiring an overall area of travel of a self-moving device; on the basis of the overall area, determining an initial point of turning; when the self-moving device reaches the initial point of turning, controlling the self-moving device to move backward to a target point of turning; and controlling, at the target point of turning, the self-moving device to turn according to a preset turning path so as to reach a target point in the overall area.

Description

Self-driving equipment turning control method and self-driving equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 11, 2023, with application number 202311172327.2, and invention name “Method for controlling turning of self-moving equipment and self-moving equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of self-propelled equipment control, and in particular to a self-propelled equipment turning control method and the self-propelled equipment. Background Art

[0003] When the self-propelled equipment is working, it can walk and perform corresponding work, such as mowing the grass, clearing snow, etc.

[0004] The inventors realized that the steering method of existing self-moving devices when cleaning or mowing is to turn in place. For example, when a lawn mower is mowing, due to its crawler structure, the self-moving device is heavy, the front of the vehicle is large, and the resistance of the grass is relatively large. The large torque of rotating in place will break the grass and twist up the turf.

[0005] Summary of the Invention

[0006] The main purpose of the present application is to provide a turning control method for a self-moving device and a self-moving device, aiming to solve the technical problem of poor turning effect of the existing technology for controlling the self-moving device.

[0007] To achieve the above objectives, the present application provides a turning control method for a self-propelled device, the method comprising the following steps:

[0008] Obtain the overall area traveled by the mobile device;

[0009] Determining an initial turning point according to the overall area;

[0010] When the self-moving device reaches the initial turning point, controlling the self-moving device to retreat to the target turning point;

[0011] At the target turning point, the self-moving device is controlled to turn according to a preset turning path to reach the target point in the entire area.

[0012] In addition, to achieve the above-mentioned purpose, the present application also proposes a turning control device for a self-moving device, the turning control device for a self-moving device comprising:

[0013] An acquisition module is used to obtain the overall area where the mobile device travels;

[0014] A determination module, configured to determine an initial turning point according to the entire area;

[0015] A control module is configured to control the self-moving device to retreat to a target turning point when the self-moving device reaches the initial turning point;

[0016] The control module is further configured to control the self-moving device to turn according to a preset turning path at the target turning point to reach the target point in the entire area.

[0017] In addition, to achieve the above-mentioned purpose, the present application also proposes a self-moving device, which includes: a front end, a body, a walking device and a controller. The front end can be detachably connected to the body, and the walking device and the controller are arranged on the body. The controller is used to control the walking device to turn. The controller can run a self-moving device turning control program, and the self-moving device turning control program is configured to implement the steps of the self-moving device turning control method described above.

[0018] The present application obtains the entire area where the self-moving device travels; determines an initial turning point based on the entire area; when the self-moving device reaches the initial turning point, controls the self-moving device to retreat to a target turning point; at the target turning point, controls the self-moving device to turn according to a preset turning path to reach the target point in the entire area. By controlling the self-moving device to retreat before turning, the turning effect is improved and irreversible damage to the grass is avoided.

[0019] The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below, and other features and advantages of the disclosure will be apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a flow chart of a first embodiment of a turning control method for a mobile device according to the present invention;

[0021] FIG2 is a schematic diagram of overall area division according to an embodiment of a turning control method for a mobile device of the present application;

[0022] FIG3 is a schematic diagram of an initial turning point and a target turning point according to an embodiment of a turning control method for a mobile device of the present invention;

[0023] FIG4 is a schematic diagram of controlling a mobile device to turn according to a preset turning path to reach a target point in the entire area according to an embodiment of a turning control method for a mobile device of the present application;

[0024] FIG5 is a flow chart of a second embodiment of a turning control method for a mobile device according to the present invention;

[0025] FIG6 is a schematic diagram of a preset turning path according to an embodiment of a turning control method for a mobile device of the present invention;

[0026] FIG7 is a flowchart of a third embodiment of a turning control method for a mobile device according to the present invention;

[0027] FIG8 is a schematic diagram showing the relationship between a turning point and a target point according to an embodiment of a turning control method for a mobile device of the present invention;

[0028] FIG9 is a flowchart of a fourth embodiment of a turning control method for a mobile device according to the present invention;

[0029] FIG10 is a flowchart of a fifth embodiment of a turning control method for a mobile device according to the present invention;

[0030] FIG11 is a structural block diagram of the first embodiment of the turning control device for a mobile device of the present application.

[0031] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0032] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0033] 1 , which is a flow chart of a first embodiment of a turning control method for a mobile device according to the present invention.

[0034] In this embodiment, the turning control method of the self-propelled device includes the following steps:

[0035] Step S10: Acquire the entire area where the mobile device is traveling.

[0036] It should be noted that the executor of this embodiment may be a turning control device for a self-moving device, or other devices or equipment that can achieve the same or similar functions. This embodiment does not limit this. This embodiment takes the turning control device for a self-moving device as an example for explanation.

[0037] In a specific implementation, the self-moving device may be a lawn mower, a snow sweeper, a mop, etc., which is not limited in this embodiment. This embodiment is described using a lawn mower as an example.

[0038] The entire area where the mobile device moves can be the area where the lawn mower needs to mow. Before mowing, the lawn mower can be controlled to move around the outside, and the area can be recorded through a map to finally form an entire working area.

[0039] The existing lawn mowers mostly have parallel paths when mowing, and two adjacent paths require two consecutive 90-degree turns. If they rotate in place, the grass will be severely worn and irreversibly damaged.

[0040] This embodiment disperses the rotation in place into Bezier turns with a turning radius of 0.5 to 1 meter, thereby coherently connecting two adjacent parallel paths through two Bezier turns and two back-ups, thereby smoothing the turning trajectory, enhancing driving stability, improving the turning effect, and avoiding irreversible damage to the grass.

[0041] Step S20: determining an initial turning point according to the entire area.

[0042] It should be noted that after obtaining the overall working area of ​​the self-moving device, the overall area can be divided to determine the initial turning point of the lawn mower. During the movement of the lawn mower, the position of the obstacle can be determined in advance to avoid multiple turns of the self-moving device.

[0043] In one embodiment, the step of determining the initial turning point based on the overall area specifically includes: dividing the overall area to obtain multiple walking path data; obtaining boundary point data of the mobile device walking based on the overall area; and determining the initial turning point based on the multiple walking path data and the boundary point data.

[0044] It should be noted that the overall area can be divided into multiple paths for the lawn mower to travel based on its operating conditions, for example, with each path separated by a distance of 30-60 cm. Boundary points of the operation can be determined during the mower's travel, thereby determining the initial turning point based on the multiple path data and boundary point data. The number of initial turning points is 1. As shown in FIG2 , which is a schematic diagram of the overall area division, by dividing the overall area into multiple paths and obtaining boundary points based on the overall area, i.e., the black dots in FIG2 , the point at which the self-moving device needs to turn, i.e., the initial turning point, can be determined based on the mower's paths and boundary points.

[0045] Step S30: When the self-moving device reaches the initial turning point, the self-moving device is controlled to move backward to the target turning point.

[0046] It should be noted that when the self-moving device reaches the initial turning point, the self-moving device needs to turn, but turning at the initial turning point is turning in place, which will seriously wear out the grass. Therefore, the self-moving device can be controlled to retreat to the target turning point, as shown in Figure 3. Figure 3 is a schematic diagram of the initial turning point and the target turning point. In Figure 3, point 1 is the initial turning point and point 2 is the target turning point. After the lawn mower reaches point 1, the lawn mower is controlled to retreat to point 2.

[0047] Step S40: Controlling the self-moving device to turn according to a preset turning path at the target turning point to reach the target point in the entire area.

[0048] It should be understood that when the self-moving device reaches the target turning point, the self-moving device can be controlled to turn. For example, the preset turning path of the self-moving device can be a second-order Bezier curve. By controlling the self-moving device to turn according to the preset turning path at the target turning point, the target point in the entire area is reached, as shown in Figure 4. Figure 4 is a schematic diagram of controlling the self-moving device to turn according to the preset turning path to reach the target point in the entire area. In Figure 4, point 1 is the initial turning point, point 2 is the target turning point, and point 3 is the target point in the entire area. By turning according to the preset turning path at point 2, point 3 is reached.

[0049] This embodiment obtains the entire area where the self-moving device travels; determines an initial turning point based on the entire area; when the self-moving device reaches the initial turning point, controls the self-moving device to retreat to a target turning point; at the target turning point, controls the self-moving device to turn according to a preset turning path to reach the target point in the entire area. By controlling the self-moving device to retreat before turning, the turning effect is improved and irreversible damage to the grass is avoided.

[0050] Refer to FIG5 , which is a flow chart of a second embodiment of a turning control method for a mobile device according to the present application.

[0051] Based on the first embodiment, step S40 of the turning control method for a mobile device in this embodiment specifically includes:

[0052] Step S401: obtaining the coordinates of the current position point of the mobile device when turning, the initial turning point, the target turning point, and the position coordinates of the target point.

[0053] It should be noted that during the turning process of the mobile device, the coordinates of the current position of the mobile device in real time can be obtained, and the position coordinates of the initial turning point P1, the target turning point P2 and the target point P3 can be obtained.

[0054] Step S402: Calculating the inclination angle of the self-moving device according to the coordinates of the current position point and the coordinates of the position of the initial turning point.

[0055] In a specific implementation, the inclination angle of the self-moving device can be calculated based on the coordinates of the current position point and the position coordinates of the initial turning point, and can be specifically obtained by inverse trigonometric function calculation.

[0056] Step S403: Calculate the current progress of the self-moving device using the dichotomy method based on the inclination angle of the self-moving device.

[0057] In a specific implementation, the current progress of the self-moving device can be determined by using a binary method based on the inclination angle of the self-moving device. For example, the calculated inclination angle is compared with the middle value of the current inclination angle range. If the calculated inclination angle is within the current inclination angle range, it means that the target point is within this range, indicating half of the progress. Otherwise, the target point is in the other half of the inclination angle range, thus determining the current progress of the self-moving device.

[0058] Step S404: Calculate a preset turning path based on the current progress of the mobile device, the initial turning point, the target turning point, and the position coordinates of the target point.

[0059] It should be noted that the path of the second-order Bezier curve is tracked by the function B(t) of the given points P1, P2, and P3. The initial turning point P1, the target turning point P2, and the target point P3 form a 90-degree turn, which corresponds to a 90-degree turn in a three-point turn, and is smoothed into a Bezier curve, making the lawn mower control smoother and more stable.

[0060] As shown in Figure 6, Figure 6 is a schematic diagram of the preset turning path. After the current progress of the self-mobile device is obtained, the path point data when turning can be calculated through the current progress of the self-mobile device, the initial turning point, the target turning point and the position coordinates of the target point, and all the path point data are connected to form the preset turning path.

[0061] The process of calculating the path point data is as follows: B(t) = (1-t) 2 *P1+2(1-t)t*P2+t 2 *P3 (Formula 1)

[0062] In Equation 1, B(t) represents the path point data, t represents the current progress of the mobile device, which can be calculated using the dichotomy method based on the inclination angle of the mobile device. P1, P2, and P3 correspond to the position coordinates of the initial turning point, the target turning point, and the target point, respectively.

[0063] Step S405: Controlling the self-moving device to turn according to the preset turning path at the target turning point to reach the target point in the entire area.

[0064] In a specific implementation, after the preset turning path is calculated, the self-moving device can be controlled to turn according to the preset turning path at the target turning point, so as to reach the target point in the entire area.

[0065] This embodiment obtains the coordinates of the current position point of the mobile device when turning, the initial point to be turned, the target point to be turned, and the position coordinates of the target point; calculates the inclination angle of the mobile device according to the coordinates of the current position point and the position coordinates of the initial point to be turned; calculates the current progress of the mobile device by using the dichotomy method through the inclination angle of the mobile device; calculates a preset turning path through the current progress of the mobile device, the initial point to be turned, the target point to be turned, and the position coordinates of the target point; controls the mobile device to turn according to the preset turning path at the target point to reach the target point in the overall area, and controls the mobile device to turn according to the preset turning path and performs smooth control when turning, so that the control of the mobile device is smoother and more stable.

[0066] Refer to FIG. 7 , which is a flow chart of a third embodiment of a turning control method for a mobile device according to the present application.

[0067] Based on the first embodiment, step S405 of the turning control method for a mobile device in this embodiment specifically includes:

[0068] Step S4051: Control the self-moving device to turn according to the preset turning path at the target turning point to reach the first path point.

[0069] It should be noted that when controlling a self-moving device to turn, it is not possible to directly control the turn to be completed. It is necessary to first control the self-moving device to make the first turn according to the preset turning path and reach the first path point. The first path point is the location point reached for the first turn.

[0070] Step S4052: Calculate the distance between the first path point and the target point.

[0071] In a specific implementation, after controlling the self-moving device to reach the first path point, it is necessary to make another turn to reach the target point in the entire area. The self-moving device needs to be controlled to retreat at the first path point and then turn according to the preset path to reach the target point in the entire area. Therefore, the distance between the first path point and the target point can be calculated. The distance L1 between the first path point and the target point can be measured.

[0072] Step S4053: Obtain the path distances between each walking path in the entire area where the mobile device walks.

[0073] It should be noted that the path distance between the walking paths of the mobile device is the distance between the walking paths in the divided overall area, that is, L2.

[0074] Step S4054: Calculate a first retreat distance using the distance between the first path point and the target point and the path distance.

[0075] In a specific implementation, the first retreat distance H1 is related to the distance L1 between the first path point and the target point. Therefore, the first retreat distance can be calculated by the distance L1 between the first path point and the target point and the path distance L2. The first retreat distance H1 = 2L1 - L2.

[0076] Step S4055: Control the mobile device to retreat to a second path point according to the first retreat distance.

[0077] In a specific implementation, the second path point can be reached by controlling the mobile device to retreat to a first retreat distance.

[0078] Step S4056: At the second path point, the self-moving device is controlled to turn according to the preset turning path to reach the target point in the entire area.

[0079] In a specific implementation, the self-mobile device may be controlled to continue turning along a preset turning path at the second path point to reach a target point in the entire area.

[0080] As shown in Figure 8, Figure 8 is a schematic diagram between the turning point and the target point. Point 1 in Figure 8 is the initial turning point, point 2 is the target turning point, point 3 is the target point, point 4 is the first path point, and point 5 is the second path point. Point 5 and point 1 may overlap (when the turning radius is too large, there will be a problem of non-overlapping). When the self-moving device retreats from the initial turning point to the target turning point, the self-moving device is controlled to turn to the first path point 4 at the target turning point according to the preset turning path, and retreats to the second path point 5 at the first path point 4. At the second path point 5, the self-moving device is controlled to turn to the target point 3 according to the preset turning path, thereby completing the overall turning control process of the self-moving device.

[0081] This embodiment controls the self-moving device to turn according to the preset turning path at the target turning point to reach a first path point; calculates the distance between the first path point and the target point; obtains the path distance between each walking path in the overall area where the self-moving device is walking; calculates a first retreat distance based on the distance between the first path point and the target point and the path distance; controls the self-moving device to retreat to a second path point according to the first retreat distance; and controls the self-moving device to turn according to the preset turning path at the second path point to reach the target point in the overall area. By continuously controlling the self-moving device to retreat and turn, the turning control effect of the self-moving device can be improved.

[0082] Refer to FIG9 , which is a flowchart of a fourth embodiment of a turning control method for a mobile device according to the present application.

[0083] Based on the first embodiment, step 40 of the turning control method for a mobile device in this embodiment includes:

[0084] Step S401 ′: obtaining the current linear speed and current progress of the mobile device.

[0085] It should be noted that when controlling the turning of the self-moving device, in order to make the self-moving device turn more smoothly and steadily, it is necessary to control the turning speed of the self-moving device, and the current linear speed and current progress of the self-moving device can be obtained. The current progress of the self-moving device can be calculated by using the dichotomy method through the inclination angle of the self-moving device, and the current linear speed of the self-moving device can be collected by a speed sensor or other measuring instruments.

[0086] Step S402 ′: adjusting the current linear speed to the target linear speed.

[0087] In a specific implementation, the target linear speed can be set in advance, and the target linear speed is less than the current linear speed of the self-moving device, thereby preventing the self-moving device from turning uncontrollably due to excessive speed.

[0088] For example, if the current linear speed is 0.3 m / s and the preset linear speed is 0.2 m / s, the current linear speed is adjusted to the target linear speed, which is the adjusted speed, 0.2 m / s.

[0089] Step S403 ′: calculating the angular velocity of the self-moving device according to the current progress of the self-moving device and the target linear velocity.

[0090] In a specific implementation, the angular velocity of the mobile device can be calculated using the target linear velocity v and the current progress t of the mobile device. Specifically, the turning radius of the mobile device when turning can be calculated using the current progress t of the mobile device, and the angular velocity of the mobile device can be calculated using the turning radius and the target linear velocity. The angular velocity of the mobile device w = v / r.

[0091] In one embodiment, calculating the angular velocity of the self-moving device based on the current progress of the self-moving device and the target linear velocity specifically includes: calculating the position values ​​of the self-moving device reaching the first position point and the second position point when turning and the radian relative to the current position point of the self-moving device when turning based on the current progress of the self-moving device; calculating the turning radius through the radian and the position values ​​of the first position point and the second position point; and calculating the angular velocity of the self-moving device based on the target linear velocity and the turning radius.

[0092] It should be understood that the position values ​​of the first position point and the second position point reached by the mobile device when turning can be calculated based on the current progress t of the mobile device and the B(t) function, the position value of the first position point B1 = B(t-0.05), the position value of the second position point B2 = B(t+0.05), and the radians rad(B2-B1) of the first position point and the second position point relative to the current position point B of the mobile device when turning are obtained.

[0093] In a specific implementation, the distance dis(B2-B1) between the first position point and the second position point can be calculated using radians rad(B2-B1), the position value B1 of the first position point, and the position value B2 of the second position point. Then, the turning radius r of the mobile device is r=dis(B2-B1) / rad(B2-B1).

[0094] In a specific implementation, the angular velocity of the self-moving device may be calculated using the target linear velocity v and the turning radius r, where the angular velocity of the self-moving device w=v / r.

[0095] It should be noted that when controlling a self-moving device to perform a turn, due to ground slippage, unevenness of the ground, or deviation from the prescribed path, etc., the self-moving device may have certain deviations, such as position deviation or angle deviation. Therefore, it is necessary to calculate the deviation of the self-moving device when turning to obtain a more accurate angular velocity.

[0096] The steps of calculating the angular velocity of the mobile device based on the target linear velocity and the turning radius include: obtaining the current body orientation, current body position and target position of the mobile device when turning; calculating the angle between the body orientation and the straight line where the target position is located through the current body orientation and the target position to obtain the angle deviation; calculating the difference between the current body position and the target position to obtain the position deviation; and calculating the angular velocity of the mobile device based on the target linear velocity, the turning radius, the angle deviation and the position deviation.

[0097] In a specific implementation, the current orientation and position of the mobile device, as well as the target position of the mobile device when turning, can be obtained to determine the angle between the current orientation and the line containing the target position. The target position of the mobile device when turning is the ideal position to be reached when controlling the mobile device to turn.

[0098] The heading angle of the current vehicle body orientation can be obtained to calculate the angle between the heading angle and the straight line where the target position is located as the angle deviation, and the distance difference between the current vehicle body position and the target position can be calculated to obtain the position deviation. The target position can be located at any point on the preset turning path. When the self-moving device needs to go to the target position, the self-moving device can be controlled to move to the target position with the current vehicle body orientation and current vehicle body position. However, due to the slippage or unevenness of the ground during the control process, there will be a certain deviation in the movement of the self-moving device, and the distance difference between the current vehicle body position and the target position may be positive or negative.

[0099] In a specific implementation, the angle deviation and position deviation can be adjusted through PID adjustment to calculate the angular velocity of the self-moving device. The angular velocity of the self-moving device w = v / r + PID (angErr) + PID (posErr), where the angErr value controlled by PID is the angle deviation, and the posErr value controlled by PID is the position deviation.

[0100] Step S404 ′: controlling the self-moving device to turn along a preset turning path at the target turning point according to the target linear velocity and the angular velocity of the self-moving device.

[0101] In a specific implementation, the target linear velocity and the angular velocity of the mobile device can be used to control the mobile device to turn according to a preset turning path. The faster the angular velocity, the faster the linear velocity needs to be reduced. During the turning process of the mobile device, one wheel may be faster and the other wheel may be slower. Therefore, after calculating the angular velocity of the mobile device, the wheelbase d between the two wheels of the mobile device can be obtained, and the speeds of the left and right wheels can be calculated respectively. The left and right wheel speeds are calculated as follows:

[0102] In Equation 2, v1 is the right wheel speed, v2 is the left wheel speed, d is the wheelbase, v is the target linear velocity, and w is the angular velocity of the self-propelled device. The calculated left and right wheel speeds are used to control the lawn mower to turn and improve the turning effect.

[0103] This embodiment obtains the current linear speed and current progress of the self-moving device; adjusts the current linear speed to the target linear speed, thereby reducing the power of the motor; calculates the angular velocity of the self-moving device based on the current progress of the self-moving device and the target linear speed; controls the self-moving device to turn according to a preset turning path at the target turning point based on the target linear speed and the angular velocity of the self-moving device; thereby controlling the self-moving device to turn according to the preset turning path and improving the stability of the turning.

[0104] Refer to FIG. 10 , which is a flowchart of a fifth embodiment of a turning control method for a mobile device according to the present application.

[0105] Based on the first embodiment, step S30 of the turning control method for a mobile device in this embodiment specifically includes:

[0106] Step S301: When the self-moving device arrives at the initial turning point, the path distances between the walking paths in the entire area where the self-moving device is walking are obtained.

[0107] It should be noted that this solution uses three-point turning control when controlling the turning of the self-moving device. The initial turning point is the boundary point of the self-moving device to a certain path. The path distance between each walking path in the overall walking area of ​​the self-moving device can be obtained. The path distance can be any value in the range of 30cm-60cm, and the path distance between each walking path can be the same or different.

[0108] Step S302: Calculate a second retreat distance using the path distance.

[0109] In a specific implementation, the second retreat distance is the distance the lawn mower retreats after reaching the initial turning point. The second retreat distance H2 may be half of the path distance L2.

[0110] Step S303: Control the mobile device to retreat to the second retreat distance to reach the target turning point.

[0111] It can be understood that after the second retreat distance H2 is calculated, the mobile device can be controlled to retreat to the second retreat distance to reach the target turning point. The distance between the initial turning point and the target turning point is the second retreat distance.

[0112] In this embodiment, when the self-moving device reaches the initial turning point, the path distances between the various walking paths in the entire area where the self-moving device is walking are obtained; a second retreat distance is calculated based on the path distances; and the self-moving device is controlled to retreat to the second retreat distance to reach the target turning point. By controlling the self-moving device to retreat to the target turning point, the self-moving device is controlled to turn at the target turning point, thereby improving the turning effect.

[0113] Refer to FIG11 , which is a structural block diagram of a first embodiment of a turning control device for a mobile device according to the present application.

[0114] As shown in FIG11 , the turning control device of the self-propelled device proposed in the embodiment of the present application includes:

[0115] The acquisition module 10 is used to acquire the entire area where the mobile device travels.

[0116] The determination module 20 is configured to determine an initial turning point according to the entire area.

[0117] The control module 30 is configured to control the self-moving device to retreat to the target turning point when the self-moving device reaches the initial turning point.

[0118] The control module 30 is further configured to control the self-moving device to turn according to a preset turning path at the target turning point to reach the target point in the entire area.

[0119] This embodiment obtains the entire area where the self-moving device travels; determines an initial turning point based on the entire area; when the self-moving device reaches the initial turning point, controls the self-moving device to retreat to a target turning point; at the target turning point, controls the self-moving device to turn according to a preset turning path to reach the target point in the entire area. By controlling the self-moving device to retreat before turning, the turning effect is improved and irreversible damage to the grass is avoided.

[0120] In one embodiment, the control module 30 is further used to obtain the coordinates of the current position point of the mobile device when turning, the initial turning point, the target turning point, and the position coordinates of the target point; calculate the inclination angle of the mobile device based on the coordinates of the current position point and the position coordinates of the initial turning point; calculate the current progress of the mobile device using the dichotomy method through the inclination angle of the mobile device; calculate the preset turning path through the current progress of the mobile device, the initial turning point, the target turning point, and the position coordinates of the target point; and control the mobile device to turn according to the preset turning path at the target turning point to reach the target point in the overall area.

[0121] In one embodiment, the control module 30 is further used to control the self-moving device to turn according to the preset turning path at the target turning point to reach a first path point; calculate the distance between the first path point and the target point; obtain the path distance between each walking path in the overall area where the self-moving device walks; calculate a first retreat distance based on the distance between the first path point and the target point and the path distance; control the self-moving device to retreat to a second path point according to the first retreat distance; and control the self-moving device to turn according to the preset turning path at the second path point to reach the target point in the overall area.

[0122] In one embodiment, the control module 30 is further used to obtain the current linear speed and current progress of the self-moving device; adjust the current linear speed to the target linear speed; calculate the angular speed of the self-moving device based on the current progress of the self-moving device and the target linear speed; and control the self-moving device to turn according to a preset turning path at the target turning point based on the target linear speed and the angular speed of the self-moving device.

[0123] In one embodiment, the control module 30 is further used to calculate the position values ​​of the self-moving device reaching the first position point and the second position point when turning, and the arc relative to the current position point of the self-moving device when turning based on the current progress of the self-moving device; calculate the turning radius through the arc and the position values ​​of the first position point and the second position point; and calculate the angular velocity of the self-moving device based on the target linear velocity and the turning radius.

[0124] In one embodiment, the control module 30 is further used to obtain the current body orientation, current body position and target position of the self-moving device when the self-moving device turns; calculate the angle between the body orientation and the straight line where the target position is located using the current body orientation and the target position to obtain the angle deviation; calculate the difference between the current body position and the target position to obtain the position deviation; and calculate the angular velocity of the self-moving device based on the target linear velocity, the turning radius, the angle deviation and the position deviation.

[0125] In one embodiment, the control module 30 is further configured to obtain, when the self-moving device reaches the initial turning point, the path distance between each walking path in the entire area where the self-moving device is walking; calculate a second retreat distance based on the path distance; and control the self-moving device to retreat to the second retreat distance to reach the target turning point.

[0126] In one embodiment, the determination module 20 is further used to divide the overall area to obtain multiple walking path data; obtain boundary point data of the mobile device walking based on the overall area; and determine the initial turning point through the multiple walking path data and the boundary point data.

[0127] In addition, to achieve the above-mentioned purpose, the present application also proposes a self-moving device, which includes: a front end, a body, a walking device and a controller, the front end can be detachably connected to the body, the walking device and the controller are arranged on the body, the controller is used to control the walking device to turn, the controller can run a self-moving device turning control program, and the self-moving device turning control program is configured to implement the steps of the self-moving device turning control method described above.

[0128] Since the mobile device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0129] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present application. In specific applications, technicians in this field can make settings as needed, and the present application does not impose any restrictions on this.

[0130] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In actual applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of this embodiment scheme, and no restrictions are imposed here.

[0131] In addition, for technical details not fully described in this embodiment, please refer to the turning control method for a self-moving device provided in any embodiment of the present application, and will not be repeated here.

[0132] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0133] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0134] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0135] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A turning control method for a self-propelled device, wherein: The method comprises: Get the overall area where the mobile device walks; Determine an initial turning point according to the overall area; When the self-moving device reaches the initial turning point, controlling the self-moving device to retreat to the target turning point; At the target turning point, the self-moving device is controlled to turn according to a preset turning path to reach the target point in the overall area.

2. The turning control method of a self-moving device according to claim 1, wherein: The step of controlling the self-moving device to turn according to a preset turning path at the target turning point to reach the target point in the overall area includes: Obtaining the coordinates of the current position point of the mobile device when turning, the initial turning point, the target turning point, and the position coordinates of the target point; Calculate the inclination angle of the mobile device according to the coordinates of the current position point and the position coordinates of the initial turning point; Calculate the current progress of the self-moving device by using the dichotomy method according to the inclination angle of the self-moving device; Calculate a preset turning path by using the current progress of the self-moving device, the initial turning point, the target turning point and the position coordinates of the target point; At the target turning point, the self-moving device is controlled to turn according to the preset turning path to reach the target point in the overall area.

3. The turning control method of a self-moving device as claimed in claim 2, wherein: The calculating of the preset turning path by using the current progress of the self-moving device, the initial turning point, the target turning point and the position coordinates of the target point includes: Calculate the path point data when turning by using the current progress of the mobile device, the initial turning point, the target turning point and the position coordinates of the target point; All the path point data are connected to form the preset turning path.

4. The turning control method of a self-moving device as claimed in claim 3, wherein: The path point data B(t)=(1-t)2*P1+2(1-t)t*P2+t2*P3; wherein t represents the current progress of the mobile device, and P1, P2 and P3 correspond to the position coordinates of the initial turning point, the target turning point and the target point respectively.

5. The turning control method of a self-moving device as claimed in claim 2, wherein: The controlling the self-moving device to turn according to the preset turning path at the target turning point to reach the target point in the overall area includes: At the target turning point, control the self-moving device to turn according to the preset turning path to reach the first path point; Calculating the distance between the first path point and the target point; Obtaining the path distances between each walking path in the overall area where the mobile device walks; Calculate a first retreat distance by using the distance between the first path point and the target point and the path distance; Controlling the mobile device to retreat to a second path point according to the first retreat distance; At the second path point, the self-moving device is controlled to turn according to the preset turning path to reach the target point in the overall area.

6. The turning control method of a self-moving device according to claim 1, wherein: The step of controlling the self-moving device to turn according to a preset turning path at the target turning point to reach the target point in the overall area includes: Get the current linear speed and current progress of the mobile device; Adjusting the current linear speed to a target linear speed; Calculating the angular velocity of the self-moving device according to the current progress of the self-moving device and the target linear velocity; The self-moving device is controlled to turn along a preset turning path at the target turning point according to the target linear velocity and the angular velocity of the self-moving device.

7. The turning control method of a self-moving device as claimed in claim 6, wherein: The calculating the angular velocity of the self-moving device according to the current progress of the self-moving device and the target linear velocity includes: Calculating the turning radius of the self-moving device when turning according to the current progress of the self-moving device; The angular velocity of the self-moving device is calculated by the turning radius and the target linear velocity.

8. The turning control method of a self-moving device as claimed in claim 6, wherein: The calculating the angular velocity of the self-moving device according to the current progress of the self-moving device and the target linear velocity includes: Calculate, according to the current progress of the self-moving device, the position values ​​of the first position point and the second position point reached by the self-moving device when turning, and the arc relative to the current position point of the self-moving device when turning; Calculate the turning radius using the arc and the position values ​​of the first position point and the second position point; The angular velocity of the self-moving device is calculated according to the target linear velocity and the turning radius.

9. The turning control method of a self-moving device as claimed in claim 8, wherein: The step of calculating the angular velocity of the mobile device according to the target linear velocity and the turning radius includes: Obtain the current body orientation and current body position of the mobile device and the target position of the mobile device when turning; Calculating the angle between the vehicle body orientation and the straight line where the target position is located by using the current vehicle body orientation and the target position to obtain an angle deviation; Calculating the difference between the current vehicle body position and the target position to obtain a position deviation; The angular velocity of the self-moving device is calculated according to the target linear velocity, the turning radius, the angle deviation and the position deviation.

10. The turning control method of a self-moving device according to claim 6, wherein: The controlling the self-moving device to turn according to a preset turning path at the target turning point according to the target linear velocity and the angular velocity of the self-moving device comprises: Calculate the speed of the left and right wheels according to the target linear speed and the angular speed of the self-moving device; According to the speed control of the left and right wheels, the self-moving device is controlled to turn according to a preset turning path at the target turning point.

11. The turning control method of a self-moving device according to claim 1, wherein: When the self-moving device reaches the initial turning point, controlling the self-moving device to retreat to the target turning point includes: When the self-moving device reaches the initial turning point, the path distance between each walking path in the entire area where the self-moving device is walking is obtained; Calculate a second back-off distance using the path distance; The self-moving device is controlled to retreat to the second retreat distance to reach the target turning point.

12. The turning control method of a self-moving device according to claim 11, wherein: The second retreat distance is half of the path distance.

13. The turning control method for a self-moving device according to any one of claims 1 to 11, wherein: The step of determining the initial turning point according to the overall area includes: Dividing the entire area to obtain multiple walking path data; Obtaining boundary point data of the mobile device walking according to the overall area; The initial turning point is determined by using the multiple walking path data and the boundary point data.

14. A turning control device for a self-propelled device, wherein: The self-propelled equipment turning control device comprises: An acquisition module is used to acquire the overall area where the mobile device walks; A determination module, used for determining an initial turning point according to the overall area; A control module, configured to control the self-moving device to retreat to a target turning point when the self-moving device reaches the initial turning point; The control module is further used to control the self-moving device to turn according to a preset turning path at the target turning point to reach the target point in the overall area.

15. The turning control device for a self-moving device according to claim 14, wherein: The control module is also used for: Obtaining the coordinates of the current position point of the mobile device when turning, the initial turning point, the target turning point, and the position coordinates of the target point; Calculate the inclination angle of the mobile device according to the coordinates of the current position point and the position coordinates of the initial turning point; Calculate the current progress of the self-moving device by using the dichotomy method based on the inclination angle of the self-moving device; Calculate a preset turning path by using the current progress of the self-moving device, the initial turning point, the target turning point and the position coordinates of the target point; At the target turning point, the self-moving device is controlled to turn according to the preset turning path to reach the target point in the overall area.

16. The turning control device for a self-moving device according to claim 15, wherein: The control module is also used for: By using the current progress of the mobile device, the initial turning point, the target turning point And the location coordinates of the target point to calculate the path point data when turning; All the path point data are connected to form the preset turning path.

17. A self-propelled device, wherein: The self-moving device comprises: a vehicle head, a vehicle body, a walking device and a controller, wherein the vehicle head is detachably connected to the vehicle body, the walking device and the controller are arranged on the vehicle body, the controller is used to control the walking device to turn, and the controller can run a turning control program of the self-moving device, and the turning control program of the self-moving device is configured to implement the following steps: Get the overall area where the mobile device walks; Determine an initial turning point according to the overall area; When the self-moving device reaches the initial turning point, controlling the self-moving device to retreat to the target turning point; At the target turning point, the self-moving device is controlled to turn according to a preset turning path to reach the target point in the overall area.

18. The self-moving device according to claim 17, wherein the self-moving device is a crawler lawn mower.

19. The self-moving device according to claim 17, wherein: The self-mobile device turning control program is configured to further implement the following steps: Obtaining the coordinates of the current position point of the mobile device when turning, the initial turning point, the target turning point, and the position coordinates of the target point; Calculate the inclination angle of the mobile device according to the coordinates of the current position point and the position coordinates of the initial turning point; Calculate the current progress of the self-moving device by using the dichotomy method based on the inclination angle of the self-moving device; Calculate a preset turning path by using the current progress of the self-moving device, the initial turning point, the target turning point and the position coordinates of the target point; At the target turning point, the self-moving device is controlled to turn according to the preset turning path to reach the target point in the overall area.

20. The turning control method of a self-moving device as claimed in claim 19, wherein: The self-mobile device turning control program is configured to further implement the following steps: Calculate the path point data when turning by using the current progress of the mobile device, the initial turning point, the target turning point and the position coordinates of the target point; All the path point data are connected to form the preset turning path.

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