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

Methods for large-area movement of self-moving devices, self-moving devices and storage media Technical Field

[0001] This application relates to the field of mobile technology for self-moving devices, and more particularly to a method for large-area movement of a self-moving device, a self-moving device, and a storage medium. Background Technology

[0002] In the field of smart yard management, self-moving devices, especially lawnmowers, have brought tremendous changes to yard maintenance with their autonomous working capabilities. For example, lawnmowers can complete mowing work within a specific work area. Their core working principle lies in the fact that, based on pre-set work area boundaries, the lawnmower can autonomously plan its path and execute corresponding tasks. However, the inventors realized that in practical applications, overly large work areas can cause the lawnmower to miss areas or cut incompletely during normal movement or turning. This means that the lawn cannot be guaranteed to remain neatly trimmed after the work area is finished, thus affecting the user's overall visual experience of the work area.

[0003] Therefore, the inventors realized that there was an urgent need to find a new technical solution to solve the above-mentioned technical problems. Technical issues

[0004] Therefore, it is necessary to provide a method for moving a self-moving device over a large area, a self-moving device, and a storage medium to address the aforementioned technical problems, so as to solve the technical problem that the moving process of the self-moving device affects the overall visual effect in the prior art. Technical solutions

[0005] To achieve the above objectives, a method for large-area movement of a self-operated mobile device is provided, the method comprising:

[0006] When the self-mobile device is determined to have moved to the first target location point in a large area using the positioning information of the self-mobile device, the self-mobile device is controlled to perform a backward action according to a preset movement strategy, and the self-mobile device is moved to the historical movement location point.

[0007] The self-moving device is controlled to perform a large-angle turn at the historical moving position point according to a preset turning strategy, and the self-moving device is moved to the first turning position point in a large area.

[0008] [Correction 01.12.2025 according to Rule 91] Control the self-moving device to perform a reverse action at the first turning position point, and move the self-moving device to the second target position point in the large area; both the second target position point and the first target position point are located at the turning position in the large area;

[0009] The self-moving device is controlled to continue moving at the second target location until the movement of the large area is completed.

[0010] [Correction 01.12.2025 based on Detailed Rule 91] To achieve the above objective, a self-moving device is also provided, including a controller and a memory. The memory stores a large-area movement program for the self-moving device, and the controller controls the execution of the large-area movement program of the self-moving device to perform the following steps:

[0011] When the self-mobile device is determined to have moved to the first target location point in a large area using the positioning information of the self-mobile device, the self-mobile device is controlled to perform a backward action according to a preset movement strategy, and the self-mobile device is moved to the historical movement location point.

[0012] The self-moving device is controlled to perform a large-angle turn at the historical moving position point according to a preset turning strategy, and the self-moving device is moved to the first turning position point in a large area.

[0013] [Correction 01.12.2025 according to Rule 91] Control the self-moving device to perform a reverse action at the first turning position point, and move the self-moving device to the second target position point in the large area; both the second target position point and the first target position point are located at the turning position in the large area;

[0014] The self-moving device is controlled to continue moving at the second target location until the movement of the large area is completed.

[0015] [Correction 01.12.2025 based on Rule 91] To achieve the above objectives, a computer-readable storage medium is also provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps:

[0016] When the self-mobile device is determined to have moved to the first target location point in a large area using the positioning information of the self-mobile device, the self-mobile device is controlled to perform a backward action according to a preset movement strategy, and the self-mobile device is moved to the historical movement location point.

[0017] The self-moving device is controlled to perform a large-angle turn at the historical moving position point according to a preset turning strategy, and the self-moving device is moved to the first turning position point in a large area.

[0018] [Correction 01.12.2025 according to Rule 91] Control the self-moving device to perform a reverse action at the first turning position point, and move the self-moving device to the second target position point in the large area; both the second target position point and the first target position point are located at the turning position in the large area;

[0019] The self-moving device is controlled to continue moving at the second target location until the movement of the large area is completed. Beneficial effects

[0020] [Correction 01.12.2025 based on Details 91] The method for moving a self-moving device over a large area provided in this application includes: when the self-moving device determines, based on its positioning information, that it has moved to a first target location point in a large area; controlling the self-moving device to perform a backward movement according to a preset movement strategy, moving the self-moving device to a historical movement location point; controlling the self-moving device to perform a large-angle turn at the historical movement location point according to a preset turning strategy, moving the self-moving device to a first turning location point in the large area; controlling the self-moving device to perform a backward movement at the first turning location point, moving the self-moving device to a second target location point in the large area; both the second target location point and the first target location point are located at turning positions in the large area; controlling the self-moving device to continue performing movement at the second target location point until the movement work in the large area is completed. Thus, by controlling the self-moving device to perform relevant actions, the probability of the self-moving device missing work in a large area can be reduced, or the processing completeness of the self-moving device in a large area can be improved, thereby ensuring the neatness of the completed work in the large area and satisfying the overall visual effect.

[0021] Details of one or more embodiments of this application are set forth in the following drawings and description, and other features and advantages of this application will become apparent from the specification, drawings and claims. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 is a flowchart illustrating an embodiment of the mobile device large-area movement method of this application.

[0024] Figure 2 is a schematic diagram of an embodiment of the self-moving method for large-area movement of the self-moving device according to this application.

[0025] Figure 3 is a schematic diagram of an embodiment of the self-moving method for large-area movement of the self-moving device according to this application.

[0026] Figure 4 is a schematic diagram of an embodiment of the self-moving method for large-area movement of the self-moving device according to this application.

[0027] Figure 5 is a schematic diagram of an embodiment of the self-moving method for large-area movement of the mobile device according to this application.

[0028] Figure 6 is a schematic block diagram of an embodiment of the mobile device of this application.

[0029] In Figures 3 and 4, A and C represent the first preset angle relationship, and B and D represent the second preset angle relationship. The dashed lines in Figures 4 and 5 represent the planned path of the self-moving device. The best embodiment of the present invention

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] [Correction 01.12.2025 based on Rule 91] As shown in Figures 1 and 2, an embodiment of this application provides a method for large-area operation of a self-moving device, which can be applied to the controller in a self-moving device. The controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function. The method includes the following steps:

[0032] S10, when the self-moving device is determined to have moved to the first target location point in the large area through the positioning information of the self-moving device, the self-moving device is controlled to perform a backward action according to the preset movement strategy, and the self-moving device is moved to the historical movement location point.

[0033] [Correction 01.12.2025 based on Rule 91] Understandably, the self-moving device may be equipped with a variety of sensors or components for positioning, including one or more of RTK positioning sensors, wheel speed sensors, IMU sensors, and vision sensors. Thus, positioning information can be obtained through the above-mentioned sensors or components. The positioning information may include one or more of GPS information, rotation speed information, horizontal information, or image information. The large area refers to a working area with a large area, in which various plants such as grass may grow. The first target location point may refer to a location point in the large area that needs to be processed. This location point may be a location point where the self-moving device is turning. When the self-moving device moves to the first target location point, the self-moving device needs to perform a slow deceleration movement. The preset movement strategy may refer to the backward speed of the self-moving device, the location point reached after backward movement, etc. The historical movement location point may refer to the location points that the self-moving device has passed through during the forward movement according to the planned path.

[0034] S20, control the self-moving device to perform a 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.

[0035] Understandably, a preset turning strategy can refer to the self-moving device turning at a large angle. During the turning process, the self-moving device is involved in forward and backward movements, as well as acceleration and deceleration. The specific requirement is to ensure that the self-moving device does not create an excessively 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 a large area.

[0036] [Correction 01.12.2025 according to Rule 91] S30, control the self-moving device to perform a backward action at the first turning position point, and move the self-moving device to the 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] [Correction 01.12.2025 based on Rule 91] Understandably, the second target location point can refer to another location point in a large area that needs to be processed. This location point can be a location point where the self-moving device is turning. That is, the first target location point and the second target location point are both located at the turning position in the large area. In addition, this point can be understood as an area point that the self-moving device cannot process during the turning process.

[0038] S40, control the self-moving device to continue performing the movement action at the second target location point until the movement work of the large area is completed.

[0039] [Corrected according to Rule 91, 01.12.2025] Understandably, a movement action can refer to the self-moving device moving forward in a straight line according to a planned path. By moving forward, grass in missed areas can be cleared. In addition, the trajectory in the planned path can be parallel to the boundary of the large area. Moving in a parallel relationship can ensure that each area in the large area presents a uniform cleaning effect. The width between paths can be exactly equal to the cutting diameter of the grass-cutting blade in the self-moving device. Completing the movement work in the large area is equivalent to the self-moving device performing forward, turning, and backward movements according to the planned path. The movement path can be like a bow-shaped path. The completion of the movement is marked as the self-moving device completing the movement work in the entire large area.

[0040] In the embodiments where steps S10 to S40 are located, the self-moving device performs automatic movement in a large area. After the first target position point in the large area is moved back to the historical movement position point, a large-angle turn is performed at the historical movement position point. Finally, a backward movement is performed at the first turning position point after the turn is completed. After the backward movement is completed, forward movement continues. In this way, the probability of the self-moving device missing work in a large area can be reduced or the processing completeness of the self-moving device in a large area can be improved. This can ensure the neatness of the work after completion in a large area and meet the overall visual effect.

[0041] It should be noted that the mobile work of a self-moving device can be equated to the self-moving device walking forward.

[0042] In some embodiments, 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 location, includes:

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

[0044] The movement path of the self-moving device is determined based on the location adjustment information;

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

[0046] [Correction 01.12.2025 based on Rule 91] Understandably, position adjustment information is the pose adjustment information of the self-moving device determined based on positioning information. Specifically, the pose adjustment information generated during the movement of the self-moving device from a historical moving position point to a first target position point is recorded by sensors or components used for positioning in the self-moving device. For example, a slight turn is performed at a certain position, specifically, the normal direction of movement is changed by a hard object on the ground. The above-mentioned position adjustment information is obtained from the recorded pose adjustment information. The movement path may refer to the path taken by the self-moving device to the historical moving position point. In this process, the path can be the same as the forward path of the self-moving device from the historical moving position to the first target position; the preset backward speed can be automatically adjusted. When the distance is long enough, the backward speed can be higher, and when the distance is short, the backward speed can be lower. The lower speed can prevent the self-moving device from failing to move to the correct position. The last position of the self-moving device is equivalent to the current position of the self-moving device after it stops moving. By comparing the position data of the current position with the recorded historical moving position, once the data is the same, it can be determined that the last position coincides with the recorded historical moving position.

[0047] In this embodiment, by reversing to and aligning with a historical movement point, the self-moving device can accurately return to its previous position, improving the accuracy of navigation. In addition, controlling the self-moving device to reverse to the historical movement point where it previously worked provides sufficient space for the self-moving device to perform large-angle turning maneuvers in the next step.

[0048] In some embodiments, as shown in FIG3, controlling the self-moving device to perform a backward action at a preset backward speed according to the movement path includes:

[0049] Obtain the angular relationship corresponding to the first target location point; the angular relationship refers to the angle formed by the boundary where the location point is located;

[0050] When the angular relationship is determined to be the first preset angular relationship, the wheel speed of the left and right wheels in the self-moving device is controlled and a backward movement at a preset backward speed is executed, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

[0051] [Correction 01.12.2025 based on Rule 91] Understandably, the angle relationship can refer to the angle formed by the two boundaries in the turning position where the first position point is located. This angle can vary with the shape of the working area. When the working area is rectangular, the angle can be 90 degrees. In other shapes, the angle relationship can be obtuse or acute. The first preset angle relationship can refer to the angle of an 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. The backward movement is achieved by adjusting the speed difference between the two motors. The preset backward speed can refer to the 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 backward speed. The current output of the motor is adjusted through the closed-loop control algorithm so that the actual speed gradually approaches the preset backward speed.

[0052] In this embodiment, after determining the angular relationship as the first preset angular relationship (at the acute angle, the space is relatively narrow, and the self-moving device needs to accurately control the wheel speed corresponding to the backward movement), by adjusting the wheel speed of the left and right wheels and the backward movement, 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 FIG3, controlling the self-moving device to perform a backward action at a preset backward speed according to the movement path includes:

[0054] When the angular relationship is determined to be the second preset angular relationship, the self-moving device is directly controlled to perform a backward action at a preset backward speed according to the distance information corresponding to the movement path, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

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

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

[0057] [Correction 01.12.2025 based on Rule 91] In some embodiments, as shown in FIG3, controlling the self-moving device to perform a backward movement at the first turning position point to move the self-moving device to the second target position point in the large area includes:

[0058] [Correction 01.12.2025 according to detailed rule 91] When the angular relationship corresponding to the first target position point is determined to be the first preset angular relationship, the self-moving device is controlled to perform a backward movement towards the first target position point at the historical movement position point;

[0059] [Correction 01.12.2025 based on Rule 91] After determining that the self-moving device has moved to the target completion point in the large area, the self-moving device is controlled to perform a forward movement after completing a turning action at the target completion point, moving 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.

[0060] [Correction 01.12.2025 based on detailed rule 91] Understandably, the first preset angle relationship is consistent with the content mentioned above, and will not be repeated here; the first target position point is located at the turning position, and the self-moving device moving towards the first position point is equivalent to the self-moving device moving towards the turning position; the target completion point is also a position point located at the turning position, and its position is spaced apart from the first target position point. The turning action is completed at the target completion point because the missed working area is in the bottom corner area near the turning position, and it is necessary to adjust the working direction of the self-moving device by turning. Thus, the self-moving device needs to first move backward in a straight line to the turning completion point, and then perform the backward processing work by turning; the second target position point is the position point mentioned above, and it is necessary to control the self-moving device to move backward to this position point in the future;

[0061] In this embodiment, by controlling the self-moving device to perform two backward movements towards the turning position, the missed areas caused by the self-moving device turning can be processed, thereby ensuring the neatness of the large area after the work is completed and guaranteeing the overall visual effect.

[0062] In some embodiments, as shown in FIG4, controlling the self-moving device to continue performing a movement action at the second target location point until the movement of the large area is completed includes:

[0063] When it is determined that the self-moving device is not located at the bottom corner of the large area, the self-moving device is controlled to move to the second turning position point corresponding to the second target position point;

[0064] After controlling the self-moving device to accelerate and move a preset distance from the second turning position point within a first preset time, the self-moving device is then controlled to decelerate and move to the third target position point in the large area within a second preset time.

[0065] [Correction 01.12.2025 based on Rule 91] When the angular relationship corresponding to the third target location is determined to be either the first preset angular relationship or the second preset angular relationship, the self-moving device is controlled to perform a preset shape turning action at the third target location until the movement work is completed in the large area.

[0066] [Correction 01.12.2025 based on Details 91] Understandably, a bottom corner position not located in a large area is equivalent to a 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, in this embodiment, the self-moving device moves along a bow-shaped planned path. The second turning position point is also located in a turning position area of ​​the planned path. The self-moving device can turn at the second target position point and then move to the second turning position point (the turning process is as mentioned above, controlling the differential speed of the left and right wheels). The acceleration at the second turning position point is to move a preset distance in order to move to the next position point - the third target position point. The acceleration speed can be calculated based on the vehicle distance, such as... Acceleration is completed with a distance of 3 car lengths; the third target position is located in another turning position area on the planned path. In the planned path, the movement sequence of the third target position is after the second target position (the third target position is just a position point after the second target position, and can be considered as not being the same position point as the first target position, which is a position point before the second target position). The deceleration and movement to the third target position in the large area is to move the self-moving device to the boundary of the large area; the preset shape of the turn can refer to a U-turn or other shape of turn, specifically a turn is performed with a shorter movement distance. During the turn, the rotation speed of one wheel is higher than that of the other wheel.

[0067] In this embodiment, by acquiring the second turning point corresponding to the second target location and controlling the self-moving device to accelerate and decelerate within a preset time, the device can move more efficiently over a large area, helping to reduce unnecessary path deviations and time waste, and improving overall work efficiency. By controlling the self-moving device to move a preset distance within a specific time and combining deceleration and turning actions, it can be ensured that the device accurately reaches the target location. This control method helps to reduce positioning errors and ensures that the device can work according to the predetermined path and plan. When the angular relationship corresponding to the third target location is determined to be either the first preset angular relationship or the second preset angular relationship, the self-moving device can automatically execute a turning action of a preset shape. The flexible turning strategy enables the self-moving device to adapt to the needs of different angles and directions, increasing the applicability of the self-moving device in different environments and scenarios.

[0068] In some embodiments, as shown in FIG5, after controlling the self-moving device to decelerate and move to the third target location point in the large area within a second preset time, the method further includes:

[0069] When the angular relationship corresponding to the third target location point is determined to be a third preset angular relationship, the self-moving device is controlled to accelerate at the third target location point until the movement is completed in the large area.

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

[0071] In this embodiment, when the turning position of the self-moving device is determined to be a right angle, that is, when the movement 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 the turn, thereby improving the overall work efficiency.

[0072] [Correction 01.12.2025 based on Details 91] This application provides a method for large-area movement of a self-moving device, belonging to the field of self-moving device technology. When the self-moving device's positioning information determines that it has moved to a first target location point within a large area, the method controls the self-moving device to perform a backward movement according to a preset movement strategy, moving the self-moving device to a historical movement location point; the method controls the self-moving device to perform a large-angle turn at the historical movement location point according to a preset turning strategy, moving the self-moving device to a first turning location point within the large area; the method controls the self-moving device to perform a backward movement at the first turning location point, moving the self-moving device to a second target location point within the large area; both the second target location point and the first target location point are located at turning positions within the large area; the method controls the self-moving device to continue performing movement at the second target location point until the large-area movement is completed. In this way, the self-moving device can automatically move within a large area. After regressing to the previous moving position from the first target position in the large area, it can then perform a large-angle turn at the previous moving position. Finally, it can perform a backward movement at the first turning position after the turn, and then continue to move forward after the backward movement. This can reduce the probability of the self-moving device missing work in a large area or improve the processing completeness of the self-moving device in a large area, thereby ensuring the neatness of the completed work in the large area and meeting the overall visual effect.

[0073] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0074] [Correction 01.12.2025 based on Details 91] As shown in Figure 6, a self-moving device is also provided, including a controller and a memory. The memory stores a large-area movement program for the self-moving device, and the controller controls the execution of the large-area movement program to implement the steps of the above-described large-area movement method for the self-moving device. The self-moving device can be a lawnmower used in weeding scenarios, which can be detached into a front and a body. Weeding blades can be installed at the bottom of the front.

[0075] The execution functions of this controller correspond one-to-one with the large-area movement method of the self-moving device in the above embodiments. Specific limitations of the controller can be found in the limitations of the large-area movement method of the self-moving device described above, and will not be repeated here. The execution process of each sub-module in the controller can be found in the limitations of the large-area movement method of the self-moving device described above, and will not be repeated here. It can be implemented wholly or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in the controller in hardware form or independent of the controller, or it can be stored in the controller's memory in software form, so that the controller can call and execute the operations corresponding to each of the above sub-modules.

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

[0077] [Correction 01.12.2025 based on Details 91] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), etc.

[0078] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the self-moving device can be divided into different functional units or modules to complete all or part of the functions described above.

[0079] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. [Corrected from Rule 91, 01.12.2025] A method for large-area movement of a self-operated device, wherein, The method includes: When the self-mobile device is determined to have moved to the first target location point in a large area using the positioning information of the self-mobile device, the self-mobile device is controlled to perform a backward action according to a preset movement strategy, and the self-mobile device is moved to the historical movement location point. The self-moving device is controlled to perform a large-angle turn at the historical moving position point according to a preset turning strategy, and the self-moving device is moved to the first turning position point in a large area. The self-moving device is controlled to perform a backward movement at the first turning position point, moving the self-moving device to a second target position point in the large area; both the second target position point and the first target position point are located at turning positions in the large area; The self-moving device is controlled to continue moving at the second target location until the movement of the large area is completed.

2. The method for large-area movement of a self-moving device as described in claim 1, wherein, The step of controlling the self-moving device to perform a backward action according to a preset movement strategy, moving the self-moving device to a historical movement position, includes: Obtain the position adjustment information of the self-moving device from the historical moving position point to the first target position point; The movement path of the self-moving device is determined based on the location adjustment information; The self-moving device is controlled to perform a backward movement at a preset backward speed according to the movement path until it is determined that the last position of the self-moving device coincides with the historical movement position.

3. The method for large-area movement of a self-moving device as described in 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 includes: Obtain the angular relationship corresponding to the first target location point; the angular relationship refers to the angle formed by the boundary where the location point is located; When the angular relationship is determined to be the first preset angular relationship, the wheel speed of the left and right wheels in the self-moving device is controlled and a backward movement at a preset backward speed is executed, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

4. The method for large-area movement of a self-moving device as described in 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 includes: When the angular relationship is determined to be the second preset angular relationship, the self-moving device is directly controlled to perform a backward action at a preset backward speed according to the distance information corresponding to the movement path, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

5. [Correction 01.12.2025 according to Rule 91] The method for large-area movement of a self-moving device as described in claim 4, wherein, The first preset angle relationship is the size of an acute angle, and the second preset angle relationship is the size of an obtuse angle.

6. The method for large-area movement of a self-moving device as described in claim 1, wherein, The step of controlling the self-moving device to perform a large-angle turn at the historical movement position point according to a preset turning strategy, and moving the self-moving device to the first turning position point in a large area, includes: After controlling the wheel speed of the left and right wheels of the self-moving device, a steering action with a preset steering speed is performed at the historical movement position point to move the self-moving device to the first turning position point in the large area.

7. [Correction 01.12.2025 according to Rule 91] The method for large-area movement of a self-moving device as described in claim 1, wherein, The step of controlling the self-moving device to perform a 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: When the angular relationship corresponding to the first target position point is determined to be a first preset angular relationship, the self-moving device is controlled to perform a backward movement towards the first target position point from the historical movement position point; After determining the target completion point of the self-moving device in the large area, the self-moving device is controlled to perform a forward movement after completing a turning action at the target completion point, 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 method for large-area movement of a self-moving device as described in claim 1, wherein, The control of the self-moving device to continue moving at the second target location until the large area movement is completed includes: When it is determined that the self-moving device is not located at the bottom corner of the large area, the self-moving device is controlled to move to the second turning position point corresponding to the second target position point; After controlling the self-moving device to accelerate and move a preset distance from the second turning position point within a first preset time, the self-moving device is then controlled to decelerate and move to the third target position point in the large area within a second preset time. When the angular relationship corresponding to the third target location is determined to be either the first preset angular relationship or the second preset angular relationship, the self-moving device is controlled to perform a preset shape turning action at the third target location until the movement work is completed in the large area.

9. The method for large-area movement of a self-moving device as described in claim 8, wherein, After controlling the self-moving device to decelerate and move to the third target location point in the large area within a second preset time, the method further includes: When the angular relationship corresponding to the third target location point is determined to be a third preset angular relationship, the self-moving device is controlled to accelerate at the third target location point until the movement is completed in the large area.

10. The method for large-area movement of a self-moving device as described in claim 9, wherein, The third preset angle relationship is the size of a right angle.

11. [Correction 01.12.2025 based on Rule 91] A self-moving device, wherein, The system includes a controller and a memory. The memory stores a large-area movement program for the self-moving device. The controller controls the large-area movement program of the self-moving device to perform the following steps: When the self-mobile device is determined to have moved to the first target location point in a large area using the positioning information of the self-mobile device, the self-mobile device is controlled to perform a backward action according to a preset movement strategy, and the self-mobile device is moved to the historical movement location point. The self-moving device is controlled to perform a large-angle turn at the historical moving position point according to a preset turning strategy, and the self-moving device is moved to the first turning position point in a large area. The self-moving device is controlled to perform a backward movement at the first turning position point, moving the self-moving device to a second target position point in the large area; both the second target position point and the first target position point are located at turning positions in the large area; The self-moving device is controlled to continue moving at the second target location until the movement of the large area is completed.

12. The self-moving device as claimed in claim 11, wherein, The self-moving device is controlled to perform a backward action according to a preset movement strategy, moving the self-moving device to a historical movement position. The large-area movement program of the self-moving device is configured to implement 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; The movement path of the self-moving device is determined based on the location adjustment information; The self-moving device is controlled to perform a backward movement at a preset backward speed according to the movement path until it is determined that the last position of the self-moving device coincides with the historical movement position.

13. The self-moving device as claimed in claim 12, wherein, The self-moving device is controlled to perform a backward movement at a preset backward speed according to the movement path. The large-area movement program of the self-moving device is configured to implement the following steps: Obtain the angular relationship corresponding to the first target location point; the angular relationship refers to the angle formed by the boundary where the location point is located; When the angular relationship is determined to be the first preset angular relationship, the wheel speed of the left and right wheels in the self-moving device is controlled and a backward movement at a preset backward speed is executed, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

14. The self-moving device as claimed in claim 13, wherein, The self-moving device is controlled to perform a backward movement at a preset backward speed according to the movement path. The large-area movement program of the self-moving device is configured to implement the following steps: When the angular relationship is determined to be the second preset angular relationship, the self-moving device is directly controlled to perform a backward action at a preset backward speed according to the distance information corresponding to the movement path, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

15. [Correction 01.12.2025 according to Rule 91] The self-moving device as claimed in claim 11, wherein, The self-moving device is controlled to perform a backward movement at the first turning position point, moving the self-moving device to the second target position point in the large area. The large area movement program of the self-moving device is configured to implement the following steps: When the angular relationship corresponding to the first target position point is determined to be a first preset angular relationship, the self-moving device is controlled to perform a backward movement towards the first target position point from the historical movement position point; After determining the target completion point of the self-moving device in the large area, the self-moving device is controlled to perform a forward movement after completing a turning action at the target completion point, 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.

16. [Correction 01.12.2025 based on Rule 91] A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by the processor, it performs the following steps: When the self-mobile device is determined to have moved to the first target location point in a large area using the positioning information of the self-mobile device, the self-mobile device is controlled to perform a backward action according to a preset movement strategy, and the self-mobile device is moved to the historical movement location point. The self-moving device is controlled to perform a large-angle turn at the historical moving position point according to a preset turning strategy, and the self-moving device is moved to the first turning position point in a large area. The self-moving device is controlled to perform a backward movement at the first turning position point, moving the self-moving device to a second target position point in the large area; both the second target position point and the first target position point are located at turning positions in the large area; The self-moving device is controlled to continue moving at the second target location until the movement of the large area is completed.

17. The computer-readable storage medium of claim 16, wherein, The computer program is configured to control the self-moving device to perform a backward action according to a preset movement strategy, moving the self-moving device to a historical movement position. The steps include: Obtain the position adjustment information of the self-moving device from the historical moving position point to the first target position point; The movement path of the self-moving device is determined based on the location adjustment information; The self-moving device is controlled to perform a backward movement at a preset backward speed according to the movement path until it is determined that the last position of the self-moving device coincides with the historical movement position.

18. The computer-readable storage medium of claim 17, wherein, The computer program is configured to perform the following steps: To control the self-moving device to perform a backward movement at a preset backward speed according to the movement path. Obtain the angular relationship corresponding to the first target location point; the angular relationship refers to the angle formed by the boundary where the location point is located; When the angular relationship is determined to be the first preset angular relationship, the wheel speed of the left and right wheels in the self-moving device is controlled and a backward movement at a preset backward speed is executed, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

19. The computer-readable storage medium of claim 18, wherein, The computer program is configured to perform the following steps: To control the self-moving device to perform a backward movement at a preset backward speed according to the movement path. When the angular relationship is determined to be the second preset angular relationship, the self-moving device is directly controlled to perform a backward action at a preset backward speed according to the distance information corresponding to the movement path, and the position of the self-moving device is adjusted to the historical movement position point corresponding to the movement path.

20. [Correction 01.12.2025 according to Rule 91] The computer-readable storage medium as claimed in claim 16, wherein, The computer program is configured to perform the following steps to control the self-moving device to perform a backward movement at the first turning position point and move the self-moving device to the second target position point in the large area: When the angular relationship corresponding to the first target position point is determined to be a first preset angular relationship, the self-moving device is controlled to perform a backward movement towards the first target position point from the historical movement position point; After determining the target completion point of the self-moving device in the large area, the self-moving device is controlled to perform a forward movement after completing a turning action at the target completion point, 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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