Method for moving self-moving device in large area, and self-moving device and storage medium

Abstract

The present application belongs to the technical field of movement of self-moving devices. Disclosed are a method for moving a self-moving device in a large area, and a self-moving device and a storage medium. The method comprises: when it is determined, by means of localization information of a self-moving device, that the self-moving device moves to a first target location point in a large area, controlling the self-moving device to execute a backward movement action according to a preset movement strategy, so as to move the self-moving device to a historical movement location point; controlling the self-moving device to execute a large-angle turning action at the historical movement location point according to a preset turning strategy, so as to move the self-moving device to a first turning location point in the large area; controlling the self-moving device to execute the backward movement action at the first turning location point, so as to move the self-moving device to a second target location point in the large area; and controlling the self-moving device to continue to execute a movement action at the second target location point, until the movement work in the large area is completed.

Description

Self-moving device large-area moving method, self-moving device and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving device moving, and particularly relates to a self-moving device large-area moving method, a self-moving device and a storage medium. BACKGROUND

[0002] In the field of intelligent garden management, self-moving devices, especially lawn mowers, have brought great changes to garden maintenance due to their autonomous working ability. For example, a lawn mower can complete mowing work in a specific working area. The core working principle is that the lawn mower can autonomously plan a path and perform a corresponding work task according to a pre-set working area boundary. However, the inventors have realized that in actual application, a too large working area can cause the working area to be missed or incompletely cut when the lawn mower normally moves or turns, that is, the grass in the working area after work cannot be guaranteed to be in an orderly state, thereby affecting the overall visual effect of the working area for a user.

[0003] Therefore, the inventors have realized that it is urgent to find a new technical solution to solve the above technical problems. TECHNICAL PROBLEM

[0004] Therefore, it is necessary to provide a self-moving device large-area moving method, a self-moving device and a storage medium to solve the technical problem that the moving work process of the self-moving device in the prior art affects the overall visual effect. TECHNICAL SOLUTION

[0005] To achieve the above object, a self-moving device large-area moving method is provided, and the method comprises the following steps.

[0006] When the self-moving device moves to a first target position point in a large area according to positioning information of the self-moving device, a retreat action of the self-moving device is controlled according to a pre-set moving strategy, and the self-moving device is moved to a historical moving position point;

[0007] A large-angle turning action of the self-moving device at the historical moving position point is controlled according to a pre-set turning strategy, and the self-moving device is moved to a first turning position point in the large area;

[0008] A retreat action of the self-moving device at the first turning position point is controlled, and the self-moving device is moved to a second target position point in the large area; the second target position point and the first target position point are both located at a turning position in the large area;

[0009] controlling the self-moving device to continue to perform a moving action at the second target position point until the moving work in the large area is completed.

[0010] To achieve the above object, the application further provides a self-moving device, comprising a controller and a memory, wherein the memory stores a self-moving device large area moving program, and the controller controls the self-moving device large area moving program to perform the following steps when the self-moving device large area moving program is executed:

[0011] determining, by the positioning information of the self-moving device, that the self-moving device moves to a first target position point in a large area, controlling the self-moving device to perform a backward action according to a preset moving strategy, and moving the self-moving device to a historical moving position point;

[0012] controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area;

[0013] controlling the self-moving device to perform a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both located at a turning position in the large area;

[0014] controlling the self-moving device to continue to perform a moving action at the second target position point until the moving work in the large area is completed.

[0015] To achieve the above object, the application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to perform the following steps:

[0016] determining, by the positioning information of the self-moving device, that the self-moving device moves to a first target position point in a large area, controlling the self-moving device to perform a backward action according to a preset moving strategy, and moving the self-moving device to a historical moving position point;

[0017] controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area;

[0018] controlling the self-moving device to perform a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both located at a turning position in the large area;

[0019] controlling the self-moving device to continue to perform a moving action at the second target position point until the moving work in the large area is completed. Beneficial effects

[0020] The self-moving device large area moving method provided by the present application comprises: determining, by the positioning information of the self-moving device, that the self-moving device moves to a first target position point in a large area, controlling the self-moving device to perform a backward action according to a preset moving strategy, and moving the self-moving device to a historical moving position point; controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area; controlling the self-moving device to perform a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both located at a turning position in the large area; and controlling the self-moving device to continue to perform a moving action at the second target position point until the moving work of the large area is completed. In this way, by controlling the self-moving device to perform relevant actions, the probability of causing omission work of the self-moving device in a larger area can be reduced or the processing completeness of the self-moving device in a larger area can be improved, and thus the neatness after the work in the large area is completed can be ensured, and the overall visual effect can be met.

[0021] The details of one or more embodiments of the present application are presented in the following drawings and description, and other features and advantages of the present application will become apparent from the description, drawings and claims. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0023] FIG. 1 is a flow diagram of an embodiment of the self-moving device large area moving method of the present application.

[0024] FIG. 2 is a schematic diagram of an embodiment of the self-moving device large area moving method of the present application.

[0025] FIG. 3 is a schematic diagram of an embodiment of the self-moving device large area moving method of the present application.

[0026] FIG. 4 is a schematic diagram of an embodiment of the self-moving device large area moving method of the present application.

[0027] FIG. 5 is a schematic diagram of an embodiment of the self-moving device large area moving method of the present application.

[0028] FIG. 6 is a schematic block diagram of an embodiment of the self-moving device of the present application.

[0029] Wherein, A and C in Fig. 3 and Fig. 4 are a first preset angle relationship, B and D are a second preset angle relationship, and the dashed line in Fig. 4 and Fig. 5 represents a planned path of the self-moving device. Best mode of the present application

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] As shown in Fig. 1 and Fig. 2, an area working method of a self-moving device provided by an embodiment of the present application can be applied to a controller in the self-moving device, wherein the controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function, and the method comprises the following steps:

[0032] S10, when the self-moving device moves to a first target position point in a large area, determining the position information of the self-moving device, and controlling the self-moving device to perform a backward action according to a preset moving strategy, and moving the self-moving device to a historical moving position point.

[0033] Understandably, a plurality of sensors or components for positioning can be arranged in the self-moving device, including one or more of an RTK positioning sensor, a wheel speed meter, an IMU sensor, and a visual sensor. In this way, the positioning information can be obtained through the above-mentioned sensors or components, wherein the positioning information can include one or more of GPS information, rotation speed information, level information, or image information. The large area refers to a working area with a large area range, wherein various plants such as grass can grow in the area. The first target position point can refer to a position point in the large area that needs to be processed, which can be a position point at which the self-moving device turns. When the self-moving device moves to the first target position point, the self-moving device needs to perform slow and decelerated movement. The preset moving strategy can refer to the backward speed of the self-moving device, the position point reached after the backward movement, and the like. The historical position point can refer to a position point passed through by the self-moving device during forward movement according to a planned path.

[0034] S20, controlling the self-moving device to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area.

[0035] Understandably, the preset turning strategy can refer to the self-moving device turning at a larger angle, and in the process of turning, the self-moving device is involved in forward and backward movements, and is also involved in acceleration and deceleration movements. The specific requirement is to ensure that the self-moving device does not form a large missed area after turning, that is, to ensure the cleaning effect in the working area; the first turning position point can refer to the position point reached by the self-moving device after turning, which is also a point in the large area.

[0036] S30, controlling the self-moving device to perform a backward movement at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both located at the turning position in the large area.

[0037] Understandably, the second target position point can refer to another position point in the large area that needs to be processed. This position point can be a position point at which the turning position of the self-moving device is located, that is, the first target position point and the second position point are both located at the turning position in the large area. In addition, this point can be understood as a region point that the self-moving device cannot process during the turning process.

[0038] S40, controlling the self-moving device to continue to perform a moving action at the second target position point until the moving work of the large area is completed.

[0039] Understandably, the moving action can refer to the self-moving device moving forward in a straight line according to the planned path. Through the forward movement action, the grass in the missed area can be cut. In addition, the trajectory in the planned path can have a parallel relationship with the boundary in the large area. Moving in a parallel relationship can ensure that each region in the large area presents a uniform cleaning effect. The width between the paths can be exactly equal to the cutting diameter of the grass cutting blade in the self-moving device. The completion of the moving work in the large area is equivalent to the self-moving device performing forward movement, turning, and backward movement according to the planned path. The moving path can be like a bow-shaped scanning path. The completion of the moving work marks the completion of the entire moving work of the self-moving device in the large area.

[0040] In the embodiment of steps S10 to S40, the self-moving device performs automatic moving work in the large area. At the first target position point in the large area, the self-moving device can first move backward to the historical moving position point, then perform a large-angle turning action at the historical moving position point, and finally perform a backward movement at the first turning position point after the turning is completed. After the backward movement is completed, the self-moving device continues to perform forward movement. In this way, the probability of missed work caused by the self-moving device in the large area can be reduced, or the processing completeness of the self-moving device in the large area can be improved, thereby ensuring the neatness of the work in the large area and meeting the overall visual effect.

[0041] It should be noted that the moving work of the self-moving device is equivalent to walking work of the self-moving device.

[0042] In some embodiments, the control of the self-moving device to perform the backward action according to the preset moving strategy to move the self-moving device to the historical moving position point comprises:

[0043] Obtaining position adjustment information of the self-moving device from the historical moving position point to the first target position point;

[0044] Determining a moving path of the self-moving device according to the position adjustment information;

[0045] Controlling the self-moving device to perform a backward action at a preset backward speed according to the moving path until it is determined that the last position point of the self-moving device coincides with the historical moving position point.

[0046] Understandably, the position adjustment information is the pose adjustment information of the self-moving device determined according to the positioning information. Specifically, the pose adjustment information generated by the self-moving device during the movement from the historical moving position point to the first target position point is recorded by the sensor or component for positioning in the self-moving device, such as performing a small turning at a certain position, specifically, the normal moving direction is changed by the hard material in the ground, and the above position adjustment information is obtained from the recorded pose adjustment information. The moving path can refer to the path of the self-moving device retreating to the historical moving position point, wherein the path can be the same as the advancing path of the self-moving device from the historical position point to the first target position point. The preset backward speed can be automatically adjusted. When the distance is long enough, the backward speed can be high, and when the distance is short, the backward speed can be low. The low speed can prevent the self-moving device from not being able to accurately move to the correct position point. The last position point of the self-moving device is equivalent to the current position point of the self-moving device after stopping moving. By comparing the current position point with the recorded historical moving position point, once the data is the same, it can be determined that the last position point coincides with the historical moving position point.

[0047] In this embodiment, by retreating to the historical moving position point and coinciding with it, the self-moving device can accurately return to the previous position, improve the accuracy of the navigation of the self-moving device, and in addition, control the self-moving device to retreat to the historical moving position point of the previous work, so that the self-moving device has enough space to perform a large-angle turning action in the next step.

[0048] In some embodiments, as shown in FIG. 3, the control of the self-moving device to perform the backward action at a preset backward speed according to the moving path comprises:

[0049] obtaining an angle relationship corresponding to the first target position point; the angle relationship refers to an angle size formed by boundaries at the position point;

[0050] when the angle relationship is determined as a first preset angle relationship, controlling wheel speeds of left and right wheels in the self-moving device to perform a preset retreat speed retreat action, and adjusting a position of the self-moving device to a historical moving position point corresponding to the moving path.

[0051] Understandably, the angle relationship can refer to an angle size formed by two boundaries in a turning position at the first position point, which can vary with the shape of the working area. When the shape of the working area is a rectangular area, the angle size can be 90 degrees. In other shapes, the angle relationship can be an obtuse angle and an acute angle. The first preset angle relationship can refer to the angle size of the acute angle. The wheel speed adjustment of the left and right wheels involves the principle of differential drive, that is, two walking motors control one drive wheel respectively, and the retreat action is realized by adjusting the speed difference of the two motors. The preset retreat speed can refer to a closed-loop control algorithm. The controller in the self-moving device will monitor the actual speed of the left and right wheels in real time and compare it with the retreat speed. Through the closed-loop control algorithm, the current output of the motor is adjusted, so that the actual speed gradually approaches the preset retreat speed.

[0052] In this embodiment, after determining that the angle relationship is the first preset angle relationship (in the angle of an acute angle, the spatial position is relatively narrow, and the self-moving device needs to accurately control the wheel speed corresponding to the retreat action), by adjusting the wheel speed of the left and right wheels and the retreat action, the self-moving device can more accurately return to the historical moving position point, ensuring the positioning accuracy of the device on the moving path.

[0053] In some embodiments, as shown in FIG. 3, the control of the self-moving device to perform a retreat action at a preset retreat speed according to the moving path includes:

[0054] when the angle relationship is determined as a second preset angle relationship, directly controlling the self-moving device to perform a retreat action at a preset retreat speed according to distance information corresponding to the moving path, and adjusting a position of the self-moving device to a historical moving position point corresponding to the moving path.

[0055] Understandably, the second preset angle relationship can refer to the angle size of an obtuse angle. The distance information can refer to the distance corresponding to each moving position point in the moving path.

[0056] In the embodiment, after the angle relationship is determined as the second preset angle relationship (at an obtuse angle, the spatial position is wider, and the self-moving device can directly perform the backward movement), the self-moving device is directly controlled to move backward through the distance information, and the self-moving device can return to the historical movement position point more accurately, thereby ensuring the positioning accuracy of the device on the movement path.

[0057] In some embodiments, as shown in FIG. 3, the control of the self-moving device to perform the backward movement at the first turning position point and move the self-moving device to the second target position point in the large area includes:

[0058] When the angle relationship corresponding to the first target position point is determined as the first preset angle relationship, the self-moving device is controlled to perform the backward movement toward the first target position point at the target historical movement position point;

[0059] When the self-moving device moves to the target completion point in the large area, the self-moving device is controlled to perform the forward movement after the turning movement is completed at the target completion point, and the self-moving device is moved to the second target position point in the large area. After the turning movement is completed at the target completion point, the orientation of the self-moving device is consistent with the orientation of the self-moving device at the first turning position point.

[0060] Understandably, the first preset angle relationship is consistent with the above-mentioned content, which is not repeated here; the first position point is located at the turning position, and the movement of the self-moving device to the first position point is equivalent to the movement of the self-moving device to the turning position; the target completion point is also a position point located at the turning position, and the position thereof has a spacing relationship with the first target position point. The turning movement is completed at the target completion point because the missed work area is at the bottom corner area close to the turning position, and the working direction of the self-moving device needs to be adjusted through turning. Therefore, the self-moving device needs to first move backward in a straight line to the turning completion point, and then perform the backward processing through turning.

[0061] In the embodiment, the self-moving device is controlled to perform the backward movement twice to the turning position, so as to process the missed area caused by the turning of the self-moving device, thereby ensuring the neatness of the large area after the work is completed and ensuring the overall visual effect.

[0062] In some embodiments, as shown in FIG. 4, the control of the self-moving device to continue to perform the movement at the second target position point until the movement work of the large area is completed includes:

[0063] determining that the self-moving device is not located at the bottom corner position in the large area, controlling the self-moving device to move to a second turning position point corresponding to the second target position point;

[0064] controlling the self-moving device to accelerate for a preset distance from the second turning position point within a first preset time, and controlling the self-moving device to decelerate to a third target position point in the large area within a second preset time;

[0065] determining that the angle relationship corresponding to the third target position point is a first preset angle relationship or a second preset angle relationship, and controlling the self-moving device to perform a turning action of a preset shape at the third target position point until the moving work in the large area is completed.

[0066] Understandably, the bottom corner position not located in the large area corresponds to the turning position of the self-moving device in the planned path, at this time, the self-moving device will continue to move at the second target position point in the planned path, preferably, the self-moving device in the embodiment moves in the planned path in the shape of a bow; the second turning position point is also located on a turning position region in the planned path, and the self-moving device can move to the second turning position point after turning at the second target position point (the process of turning is as mentioned above for controlling the differential speed of the left and right wheels); wherein, accelerating for a preset distance at the second turning position point is to move to the next position point, the third target position point, and the acceleration speed can be calculated by the distance of the vehicle body, such as completing acceleration by 3 vehicle body distances; the third target position point is located at another turning position region in the planned path, and the moving sequence of the third target position point in the planned path is located after the second target position point (the third target position point is only a position point located after the second target position point, and can be considered not the same as the first target position point, and the first target position point mentioned above is a position point located before the second target position point); wherein, decelerating to the third target position point in the large area is to move the self-moving device to the outside of the boundary of the large area; the turning of the preset shape can refer to U-shaped turning or turning of other shapes, and the specific turning process is to turn in a shorter moving distance manner, and in the process of turning, the rotation speed of one wheel is higher than that of the other wheel;

[0067] In the embodiment, by acquiring the second turning position point corresponding to the second target position point and controlling the self-moving device to accelerate and decelerate within a preset time, the device can move more efficiently in a large area, which helps to reduce unnecessary path deviation and time waste and improve overall work efficiency; by controlling the self-moving device to move a preset distance within a specific time and combining deceleration and turning actions, the device can accurately reach the target position point, which helps to reduce positioning errors and ensures that the device can work according to the predetermined path and plan; when the angle relationship corresponding to the third target position point is the first preset angle relationship or the second preset angle relationship, the self-moving device can automatically perform a turning action of a preset shape, and the flexible turning strategy enables the self-moving device to adapt to different angle and direction requirements, thereby increasing the applicability of the self-moving device in different environments and scenarios.

[0068] In some embodiments, as shown in FIG. 5, after the control of the self-moving device to decelerate to the third target position point in the large area within the second preset time, the method further includes:

[0069] When it is determined that the angle relationship corresponding to the third target position point is the third preset angle relationship, the self-moving device is controlled to perform accelerated movement at the third target position point until the movement work in the large area is completed.

[0070] Understandably, the third preset angle relationship can refer to the angle size of a right angle;

[0071] In the embodiment, when it is determined that the turning position of the self-moving device is a right angle, that is, the moving path of the self-moving device is a straight line, the self-moving device is directly controlled to accelerate at the third target position point after turning, thereby improving the overall work efficiency.

[0072] The application provides a large-area moving method of a self-moving device, and belongs to the technical field of self-moving device moving. The self-moving device is moved to a first target position point in a large area through positioning information of the self-moving device. When the self-moving device is moved to the first target position point, the self-moving device is controlled to perform a backward action according to a preset moving strategy, and the self-moving device is moved to a historical moving position point. The self-moving device is controlled to perform a large-angle turning action at the historical moving position point according to a preset turning strategy, and the self-moving device is moved to a first turning position point in the large area. The self-moving device is controlled to perform a backward action at the first turning position point, and the self-moving device is moved to a second target position point in the large area. The second target position point and the first target position point are both located at a turning position in the large area. The self-moving device is controlled to continue to perform a moving action at the second target position point until the moving work of the large area is completed. In this way, the self-moving device performs automatic moving work in the large area. At the first target position point in the large area, the self-moving device is first moved to the historical moving position point, then performs a large-angle turning action at the historical moving position point, finally performs a backward action at the first turning position point after the turning is completed, and continues to perform a forward moving action after the backward action is completed. In this way, the probability of missing work of the self-moving device in a large area can be reduced, or the processing completeness of the self-moving device in a large area can be improved, so that the neatness after the work in the large area is completed can be ensured, and the overall visual effect can be met.

[0073] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the application.

[0074] As shown in FIG. 6, a self-moving device is also provided, which includes a controller and a memory. The memory stores a large-area moving program of the self-moving device. The controller controls the large-area moving program of the self-moving device to control the implementation of the steps of the above-mentioned large-area moving method of the self-moving device when the program is executed. The self-moving device can be a mower applied to a weeding scene, which can be detachable into a vehicle head and a vehicle body. A blade for weeding can be arranged at the bottom of the vehicle head.

[0075] The execution function of the controller corresponds to the large-area moving method of the self-moving device in the above embodiment. For specific limitations of the controller, please refer to the above limitations of the large-area moving method of the self-moving device, which will not be repeated here. The processes performed by each sub-module in the above controller can be referred to the above limitations of the large-area moving method of the self-moving device, which will not be repeated here. Each sub-module can be embedded in the controller in hardware form or independent of the controller, or can be stored in the memory in the controller in software form, so as to be called and executed by the controller to perform the operations corresponding to each sub-module.

[0076] In an embodiment, the present application also provides one or more readable storage media storing computer readable instructions, the readable storage media including non-volatile readable storage media and volatile readable storage media; the readable storage media storing computer readable instructions, which, when executed by one or more processors, cause the one or more processors to implement the steps of the self-moving device large area moving method described in the above embodiments.

[0077] Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by computer readable instructions instructing related hardware, and the computer readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium, and when executed, can include the processes of the above embodiments. Any reference to memory, storage, database or other medium used in the embodiments of the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct RAM bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0078] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, i.e. the internal structure of the self-moving device is divided into different functional units or modules to complete all or part of the above described functions.

[0079] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A large area moving method of a self-moving device, wherein, The method comprises: determining, by the positioning information of the self-moving device, that the self-moving device moves to a first target position point in a large area, controlling the self-moving device to perform a backward action according to a preset movement strategy, and moving the self-moving device to a historical movement position point; controlling the self-moving device to perform a large-angle turning action at the historical movement position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area; controlling the self-moving device to perform a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both located at a turning position in the large area; controlling the self-moving device to continue to perform a movement action at the second target position point until the movement work of the large area is completed.

2. The large area movement method of a self-moving device according to claim 1, wherein, The control of the self-moving device to perform a backward action according to a preset movement strategy and move to a historical movement position point comprises: obtaining position adjustment information of the self-moving device from the historical movement position point to the first target position point; determining a movement path of the self-moving device according to the position adjustment information; controlling the self-moving device to perform a backward action at a preset backward speed according to the movement path until it is determined that the last position point of the self-moving device coincides with the historical movement position point.

3. The large area movement method of a self-moving device according to claim 2, wherein, The control of the self-moving device to perform a backward action at a preset backward speed according to the movement path comprises: obtaining an angle relationship corresponding to the first target position point; the angle relationship refers to the angle size formed by the boundary where the position point is located; when it is determined that the angle relationship is a first preset angle relationship, controlling the wheel speed of the left and right wheels of the self-moving device to perform a backward action at a preset backward speed, and adjusting the position of the self-moving device to a historical movement position point corresponding to the movement path.

4. The self-moving device large area moving method of claim 3, wherein, The control of the self-moving device to perform a backward action at a preset backward speed according to the movement path comprises: when it is determined that the angle relationship is a second preset angle relationship, directly controlling the self-moving device to perform a backward action at a preset backward speed according to distance information corresponding to the movement path, and adjusting the position of the self-moving device to a historical movement position point corresponding to the movement path.

5. The self-moving device large area moving method of claim 4, wherein, The first preset angle relationship is an acute angle size, and the first preset angle relationship is an obtuse angle size.

6. The large area movement method of a self-moving device according to claim 1, wherein, The control of the self-moving device to perform a large-angle turning action at the historical movement position point according to a preset turning strategy and move to a first turning position point in a large area comprises: controlling the wheel speed of the left and right wheels of the self-moving device to perform a turning action at a preset turning speed at the historical movement position point, and moving the self-moving device to the first turning position point in the large area.

7. The large area movement method of a self-moving device according to claim 1, wherein, The control of the self-moving device to perform a backward action at the first turning position point and move the self-moving device to a second target position point in the large area comprises: determining that the angle relationship corresponding to the first target position point is a first preset angle relationship, controlling the self-moving device to perform a backward action at the target historical moving position point towards the first target position point; determining that the self-moving device moves to a target completion point in the large area, controlling the self-moving device to perform a forward action after completing a turning action at the target completion point, and moving the self-moving device to a second target position point in the large area; after completing the turning action at the target completion point, the orientation of the self-moving device is consistent with the orientation of the self-moving device at the first turning position point.

8. The large area movement method of a self-moving device according to claim 1, wherein, controlling the self-moving device to continue to perform a moving action at the second target position point until completing the moving work in the large area, including: determining that the self-moving device is not located at a bottom corner position in the large area, controlling the self-moving device to move to a second turning position point corresponding to the second target position point; controlling the self-moving device to accelerate and move a preset distance from the second turning position point within a first preset time, and controlling the self-moving device to decelerate and move to a third target position point in the large area within a second preset time; determining that the angle relationship corresponding to the third target position point is a first preset angle relationship or a second preset angle relationship, controlling the self-moving device to perform a turning action of a preset shape at the third target position point until completing the moving work in the large area.

9. The large area movement method of a self-moving device according to claim 8, wherein, after controlling the self-moving device to decelerate and move to the third target position point in the large area within a second preset time, further including: determining that the angle relationship corresponding to the third target position point is a third preset angle relationship, controlling the self-moving device to perform an accelerated movement at the third target position point until completing the moving work in the large area.

10. The large area movement method of a self-moving device according to claim 9, wherein, The third preset angle relationship is a right angle.

11. A self-moving device, wherein, including a controller and a memory, the memory storing a self-moving device large area moving program, and the controller controlling the self-moving device large area moving program to implement the following steps: determining that the self-moving device moves to a first target position point in a large area through positioning information of the self-moving device, controlling the self-moving device to perform a backward action according to a preset moving strategy, and moving the self-moving device to a historical moving position point; controlling the self-moving device to perform a large angle turning action at the historical moving position point according to a preset turning strategy, and moving the self-moving device to a first turning position point in the large area; controlling the self-moving device to perform a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both turning positions in the large area; controlling the self-moving device to continue to perform a moving action at the second target position point until completing the moving work in the large area.

12. The self-mobility device of claim 11, wherein, The control of the self-moving device according to the preset moving strategy executes the backward action, and moves the self-moving device to the historical moving position point. The self-moving device large area moving program is configured to realize the following steps: Obtain the position adjustment information of the self-moving device from the historical moving position point to the first target position point; Determine the moving path of the self-moving device according to the position adjustment information; Control the self-moving device to execute the backward action at the preset backward speed according to the moving path until the last position point of the self-moving device is determined to coincide with the historical moving position point.

13. The self-mobility device of claim 12, wherein, The control of the self-moving device according to the preset moving strategy executes the backward action, and moves the self-moving device to the historical moving position point. The self-moving device large area moving program is configured to realize the following steps: Obtain the angle relationship corresponding to the first target position point; the angle relationship refers to the angle formed by the boundary of the position point; When it is determined that the angle relationship is the first preset angle relationship, control the wheel speed of the left and right wheels of the self-moving device to execute the backward action at the preset backward speed, and adjust the position of the self-moving device to the historical moving position point corresponding to the moving path.

14. The self-mobbling device of claim 13, wherein, The control of the self-moving device according to the preset moving strategy executes the backward action, and moves the self-moving device to the historical moving position point. The self-moving device large area moving program is configured to realize the following steps: When it is determined that the angle relationship is the second preset angle relationship, directly control the self-moving device to execute the backward action at the preset backward speed according to the distance information corresponding to the moving path, and adjust the position of the self-moving device to the historical moving position point corresponding to the moving path.

15. The self-mobility device of claim 11, wherein, The control of the self-moving device in the first turning position point executes the backward action, and moves the self-moving device to the second target position point in the large area. The self-moving device large area moving program is configured to realize the following steps: When it is determined that the angle relationship corresponding to the first target position point is the first preset angle relationship, control the self-moving device to execute the backward action at the target historical moving position point towards the first target position point; When it is determined that the self-moving device moves to the target completion point in the large area, control the self-moving device to execute the forward action after completing the turning action at the target completion point, and move the self-moving device to the second target position point in the large area. After completing the turning action at the target completion point, the orientation of the self-moving device is consistent with the orientation of the self-moving device at the first turning position point.

16. A computer-readable storage medium storing a computer program, wherein, The computer program is executed by the processor to realize the following steps: When the self-moving device moves to the first target position point in the large area through the positioning information of the self-moving device, control the self-moving device to execute the backward action according to the preset moving strategy, and move the self-moving device to the historical moving position point; Control the self-moving device to execute the large-angle turning action at the historical moving position point according to the preset turning strategy, and move the self-moving device to the first turning position point in the large area; controlling the self-moving device to perform a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area; the second target position point and the first target position point are both located at a turning position in the large area; controlling the self-moving device to continue to perform a moving action at the second target position point until the moving work of the large area is completed.

17. The computer-readable storage medium of claim 16, wherein, The control of the self-moving device performing a backward action according to a preset moving strategy and moving the self-moving device to a historical moving position point, and the computer program is configured to implement the following steps: obtaining position adjustment information of the self-moving device moving from the historical moving position point to the first target position point; determining a moving path of the self-moving device according to the position adjustment information; controlling the self-moving device to perform a backward action at a preset backward speed according to the moving path until it is determined that the last position point of the self-moving device coincides with the historical moving position point.

18. The computer-readable storage medium of claim 17, wherein, The control of the self-moving device performing a backward action at a preset backward speed according to the moving path, and the computer program is configured to implement the following steps: obtaining an angle relationship corresponding to the first target position point; the angle relationship refers to an angle formed by a boundary where the position point is located; when it is determined that the angle relationship is a first preset angle relationship, controlling the wheel speed of the left and right wheels of the self-moving device to perform a backward action at a preset backward speed and adjusting the position of the self-moving device to a historical moving position point corresponding to the moving path.

19. The computer-readable storage medium of claim 18, wherein, The control of the self-moving device performing a backward action at a preset backward speed according to the moving path, and the computer program is configured to implement the following steps: when it is determined that the angle relationship is a second preset angle relationship, directly controlling the self-moving device to perform a backward action at a preset backward speed according to distance information corresponding to the moving path and adjusting the position of the self-moving device to a historical moving position point corresponding to the moving path.

20. The computer-readable storage medium of claim 16, wherein, The control of the self-moving device performing a backward action at the first turning position point, and moving the self-moving device to a second target position point in the large area, and the computer program is configured to implement the following steps: when it is determined that the angle relationship corresponding to the first target position point is a first preset angle relationship, controlling the self-moving device to perform a backward action at the target historical moving position point towards the first target position point; when it is determined that the self-moving device moves to a target completion point in the large area, controlling the self-moving device to perform a forward action after completing a turning action at the target completion point, and moving the self-moving device to a second target position point in the large area; after completing the turning action at the target completion point, the orientation of the self-moving device is consistent with the orientation of the self-moving device at the first turning position point.

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