Movement control method, self-moving device, and computer-readable storage medium

Abstract

Embodiments of the present application provide a movement control method, a self-moving device, and a computer-readable storage medium. The method comprises: in response to a movement control instruction, a self-moving device moves along a boundary of a first operation area to an intersection position of a first communication path and the boundary of the first operation area, the first communication path being connected between the first operation area and a second operation area; and the self-moving device moves from the intersection position to the second operation area along the first communication path. In the embodiments of the present application, when a self-moving device needs to pass through another operation area to a target operation area for operation, the self-moving device first moves along a boundary of the another operation area to an intersection position of a communication path and the another operation area, and then moves from the intersection position to the target operation area along the communication path, thereby preventing the self-moving device from leaving an indentation in the another operation area, and effectively maintaining the cleanliness and esthetics of the another operation area.

Description

Mobile control methods, self-moving devices, and computer-readable storage media

[0001] This application claims priority to Chinese Patent Application No. 2024109714903, filed on July 18, 2024, entitled "Mobile Control Method, Self-Moving Equipment and Computer-Readable Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of automatic navigation technology, and in particular to a motion control method, a self-moving device, and a computer-readable storage medium. Background Technology

[0003] With the continuous advancement of technology and the rapid development of artificial intelligence, using self-moving devices (such as lawnmowers, cleaning robots, and food delivery robots) to replace manual labor can greatly improve work efficiency.

[0004] Self-moving equipment often operates in different work areas, and sometimes needs to pass through another work area when heading to a target work area. In related technologies, the passage of self-moving equipment through another work area often results in the self-moving equipment leaving indentations, thus affecting the cleanliness and aesthetics of that work area. Summary of the Invention

[0005] In view of this, embodiments of this application provide a mobile control method, a self-moving device, and a computer-readable storage medium to solve the problem that when a self-moving device needs to pass through another work area to reach a target work area for work, it leaves indentations in the other work area, thereby affecting the cleanliness and aesthetics of the other work area.

[0006] In a first aspect, embodiments of this application provide a motion control method applied to a self-moving device. The method includes: in response to a motion control command, the self-moving device moves along the boundary of a first working area to the intersection of a first connecting path and the boundary of the first working area, wherein the first connecting path connects the first working area and a second working area; and the self-moving device moves from the intersection along the connecting path to the second working area.

[0007] In one possible implementation, the method further includes: the self-moving device moving from its current location to the boundary of the first working area.

[0008] In one possible implementation, the self-moving device moving from its current position to the boundary of the first work area includes: the self-moving device moving from its current position to the boundary of the first work area along a second connecting path, the second connecting path connecting the current position and the boundary of the first work area.

[0009] In one possible implementation, the self-moving device moves along the boundary of the first working area to the intersection of the first connecting path and the boundary of the first working area, including: the self-moving device moves along the boundary of the first working area and at a distance from the boundary of the first working area to the intersection.

[0010] In one possible implementation, the distance between the self-moving device and the boundary of the first working area is determined by generating a random number less than or equal to a preset threshold.

[0011] In one possible implementation, if the self-moving device needs to move to the second working area multiple times, the distance between the self-moving device and the boundary of the first working area is different at least twice when the self-moving device moves along the boundary of the first working area, and is less than or equal to a preset threshold.

[0012] In one possible implementation, the method further includes: in response to the movement control command, the self-moving device moves along the boundary of the first working area and at a first distance from the boundary of the first working area to the intersection position; if the self-moving device returns to a preset position and needs to move to the second working area again, the self-moving device moves along the boundary of the first working area and at a second distance from the boundary of the first working area to the intersection position, the second distance being different from the first distance.

[0013] In one possible implementation, if the self-moving device needs to move to the second working area multiple times, the movement directions of the self-moving device along the boundary of the first working area to the intersection point are different on two consecutive occasions.

[0014] In one possible implementation, the method further includes: in response to the movement control command, the self-moving device moves along the boundary of the first work area to the intersection position based on a first direction; if the self-moving device returns to a preset position and needs to move to the second work area again, the self-moving device moves along the boundary of the first work area to the intersection position based on a second direction, the second direction being different from the first direction.

[0015] In one possible implementation, the step of moving the self-moving device along the boundary of the first work area to the intersection position in response to a motion control command includes: planning multiple movement paths for the self-moving device to move along the boundary of the first work area to the intersection position in response to the motion control command; determining the movement path with the shortest movement distance among the multiple movement paths; and moving the self-moving device along the boundary of the first work area to the intersection position based on the movement path with the shortest movement distance.

[0016] In one possible implementation, the method further includes: after the self-mobile device moves to the second work area, it performs work in the second work area.

[0017] Secondly, embodiments of this application provide a self-moving device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the mobile control method described above.

[0018] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor in a self-moving device, causes the self-moving device to implement the mobility control method described above.

[0019] The mobile control method, self-moving device, and computer-readable storage medium provided in this application embodiment allow the self-moving device to first move along the boundary of the other working area to the intersection of the connecting path and the other working area when the self-moving device needs to pass through another working area to go to the target working area. Then, the self-moving device moves from the intersection to the target working area along the connecting path. In this way, the self-moving device avoids leaving indentations in the other working area and effectively maintains the cleanliness and aesthetics of the other working area. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 is a schematic diagram of the working area provided in an embodiment of this application.

[0022] Figure 2 is a schematic diagram of the hardware structure of a self-moving device provided in an embodiment of this application.

[0023] Figure 3 is a flowchart of a motion control method provided in an embodiment of this application.

[0024] Figure 4 is a schematic diagram of a first working area and a second working area provided in an embodiment of this application.

[0025] Figure 5 is a schematic diagram showing the position of the self-moving device and the boundary of the first working area provided in an embodiment of this application.

[0026] Figure 6 is a schematic diagram of another location of the self-moving device and the boundary of the first working area provided in an embodiment of this application.

[0027] Figure 7 is a schematic diagram of another location of the self-moving device and the boundary of the first working area provided in an embodiment of this application.

[0028] Figure 8 is a schematic diagram of another location of the self-moving device and the boundary of the first working area provided in an embodiment of this application.

[0029] Figure 9 is a flowchart of a motion control method provided in another embodiment of this application.

[0030] Figure 10 is a schematic diagram of the movement path of a self-moving device provided in another embodiment of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0033] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner. Unless otherwise specified, the following embodiments and features described herein can be combined with each other.

[0034] With the continuous advancement of technology and the rapid development of artificial intelligence, using self-moving devices (such as lawnmowers, cleaning robots, and food delivery robots) to replace manual labor can greatly improve work efficiency.

[0035] Self-propelled mobile devices often operate in different work areas, and sometimes need to pass through another work area when heading to a target work area. In related technologies, self-propelled mobile devices often move directly along the shortest path to the connecting path between the other work area and the target work area, and then move along the connecting path to the target work area. This causes the wheels of the self-propelled mobile device to leave tracks in the other work area, thus affecting the cleanliness and aesthetics of the other work area.

[0036] Referring to Figure 1, which is a schematic diagram of a working area provided in an embodiment of this application. For example, taking a lawnmower robot as an example, in a park, courtyard, or green belt, there are two separate lawns, A and B. When performing lawnmowing operations on one of the lawns, B, the lawnmower robot starts from the charging station, needs to pass through the closer lawn A, and then it can reach the lawn B where it needs to be mowed. Thus, when the lawnmower robot passes through lawn A, it will leave tire tracks on lawn A, thereby affecting the aesthetics of lawn A. In addition, since the location of the charging station is fixed, the intersection of the connecting path between the two lawns and lawn A is also fixed. Based on the principle of the shortest distance between two points, the lawnmower robot needs to move along the same path on lawn A every time it goes to lawn B to mow, which can easily lead to the grass on lawn A being damaged over time.

[0037] To address the issue that when a self-moving device needs to travel from one work area to a target work area, it leaves indentations in the other work area along the connecting path between the two areas, thus affecting the cleanliness and aesthetics of the other work area, this application provides a motion control method. When a self-moving device needs to travel from one work area to a target work area, it first moves along the boundary of the other work area to the intersection of the connecting path and the other work area, and then moves from the intersection along the connecting path to the target work area. In this way, the self-moving device avoids leaving indentations in the other work area, effectively maintaining the cleanliness and aesthetics of the other work area.

[0038] Referring to Figure 2, this is a schematic diagram of the hardware structure of a self-moving device provided in an embodiment of this application. The mobility control method in this embodiment is applied to the self-moving device 1 shown in Figure 2. The self-moving device 1 includes a main body and a memory 11, a processor 12, a power supply 13, a sensor 14, a working mechanism 15, a communication module 16, a positioning module 17, a drive wheel 18, and a bus 19 disposed on the main body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the drive wheel 18 via the bus 19. The self-moving device 1 is an electronic device with self-movement function, such as a lawnmower robot, a cleaning robot, or a food delivery robot.

[0039] Memory 11 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 12, and can be used to store executable programs (e.g., machine instructions) of the operating system or other running programs, as well as user and application data. The RAM may include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0040] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 12. Non-volatile memory can include disk storage devices and flash memory.

[0041] Memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by processor 12. The one or more computer programs include multiple instructions that, when executed by processor 103, can implement a path planning method executed on the self-moving device 1.

[0042] In other embodiments, the self-moving device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-moving device 1.

[0043] Processor 12 may include one or more processing units, such as: application processor (AP), modem processor, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (DSP), baseband processor, and / or neural network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0044] The processor 12 provides computing and control capabilities; for example, the processor 12 is used to execute computer programs stored in the memory 11 to implement the path planning method described above.

[0045] The power source 13 is used to power the self-moving device. In one embodiment of this application, the power source 13 may include any one or more power supply devices of the type such as a battery, a fuel generator, a solar power generation module, or a wind power generation module.

[0046] Sensor 14 is used to acquire information for the self-moving device 1, such as environmental information and movement information of the self-moving device 1. In one embodiment of this application, sensor 14 may include one or more sensors of the type such as lidar, camera, infrared sensor, encoder, etc.

[0047] The working mechanism 15 is used to perform corresponding work tasks, such as mowing, patrolling, sweeping, and spraying pesticides. In some embodiments of this application, the working mechanism 15 may include a motor, a transmission mechanism, and a blade disc. In some embodiments of this application, the motor can drive the blade disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blades to adjust the mowing height and the mowing area.

[0048] The communication module 16 is used to enable communication between the self-moving device and other devices. In one embodiment of this application, the communication module 16 can interact with other devices via wired and / or wireless communication. The aforementioned wireless communication may include one or more combinations of communication methods such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0049] The positioning module 17 is used to determine the location of the self-moving device. In some embodiments of this application, the positioning module 17 may include one or more of the following types of positioning modules: Global Positioning System (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0050] The drive wheel 18 is used to enable movement of the self-moving device. In some embodiments of this application, the drive wheel 18 can realize the movement function of the self-moving device according to the control of the processor 12. In some embodiments of this application, the drive wheel 18 may include a left drive wheel and a right drive wheel.

[0051] Bus 19 is used at least to provide a channel for communication between the memory 11, processor 12, power supply 13, sensor 14, working mechanism 15, communication module 16, positioning module 17, and drive wheel 18 in the self-moving device 1.

[0052] In other embodiments of this application, the self-moving device 1 may further include a collision avoidance component and a steering assembly. The collision avoidance component can be used to prevent the drive wheels 18 from colliding with obstacles in front of the self-moving device. The steering assembly can be used to adjust the driving direction of the drive wheels 18.

[0053] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the self-moving device 1. In other embodiments of this application, the self-moving device 1 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0054] Referring to Figure 3, a flowchart of a motion control method provided in an embodiment of this application is shown. The motion control method can be applied to the self-moving device 1 shown in Figure 2. The motion control method includes the following steps:

[0055] S101, in response to a movement control command, the mobile device moves along the boundary of the first work area to the intersection of the first connecting path and the boundary of the first work area. The first connecting path connects the first work area and the second work area.

[0056] Referring to Figure 4, this is a schematic diagram of a first working area and a second working area provided in an embodiment of this application. The first working area A includes a first preset position a, and the second working area B includes a second preset position b. For example, the first preset position a is located at the boundary of the first working area A, which is the location of the charging station for the self-moving device, and the second preset position b is the starting point for the self-moving device to operate in the second working area B.

[0057] In one embodiment of this application, the first connecting path and the intersection point c of the first connecting path and the boundary of the first working area can be preset in the working map of the self-moving device. Thus, the self-moving device can move along the first connecting path based on the working map. The working map stores and represents information about the area where the self-moving device needs to work. This information includes, but is not limited to, area boundaries, movement paths, obstacle information, terrain features, and environmental features, which can assist the self-moving device in performing efficient and accurate work within the working area.

[0058] In one embodiment of this application, if the current location of the self-moving device is at a first preset location, and the first preset location is located at the boundary of a first working area, in response to a movement control command, the self-moving device moves along the boundary of the first working area to an intersection location. The movement control command is an instruction to control the self-moving device to move to a second working area for work. The boundary of the first working area is pre-set in the working map of the self-moving device, and the self-moving device can move along the boundary of the first working area based on the working map.

[0059] In another embodiment of this application, if the current location is not located at the boundary of the first working area, in response to a movement control command, the self-moving device moves from its current location to the boundary of the first working area, and then moves along the boundary of the first working area to the intersection location. For example, the self-moving device can move from its current location to the boundary of the first working area along a second connecting path, which connects the current location and the boundary of the first working area. In this case, the current location can be the location of the self-moving device's charging station, and the second connecting path can also be preset in the working map. Therefore, the self-moving device can move from its current location to the boundary of the first working area along the second connecting path based on the working map.

[0060] In one embodiment of this application, during the movement of the self-moving device along the boundary of the first working area, the self-moving device is spaced apart from the boundary of the first working area by a distance. This prevents the self-moving device from pressing against the boundary of the first working area during movement. The distance between the self-moving device and the first working area is less than or equal to a preset threshold, for example, the preset threshold may be 20cm, 25cm, 30cm, or other distance values.

[0061] In another embodiment of this application, if the self-moving device needs to move to the second working area multiple times, the distance between the self-moving device and the boundary of the first working area is different at least twice when the self-moving device moves along the boundary of the first working area. For example, the distance between the self-moving device and the boundary of the first working area is different in two adjacent moves along the boundary of the first working area. Thus, the route taken by the self-moving device from the boundary of the first working area to the intersection of the connecting path and the boundary of the first working area is not fixed, which can effectively prevent the boundary area from being damaged by the self-moving device, for example, preventing the lawn in the boundary area from being damaged by the lawnmower robot. In other embodiments of this application, the distance between the self-moving device and the boundary of the first working area is different each time the self-moving device moves along the boundary of the first working area.

[0062] Referring to Figure 5, this is a schematic diagram showing the position of the self-moving device relative to the boundary of the first working area according to an embodiment of this application. In response to a movement control command, the self-moving device moves along the boundary of the first working area, at a first distance from the boundary, to the intersection point. For example, the first distance is 10 cm.

[0063] Referring to Figure 6, this is a schematic diagram of another location between the self-moving device and the boundary of the first working area according to an embodiment of this application. Assuming the first preset location is the location of the self-moving device's charging station, after completing its work in the second working area, or when its battery is low during the work process, the self-moving device returns to the first preset location for charging. When the self-moving device needs to move back to the second working area after charging, it moves along the boundary of the first working area, at a second distance from the boundary, to the intersection point. The second distance is different from the first distance; for example, the first distance is 10cm and the second distance is 15cm. In other embodiments of this application, the first preset location can also be a centralized parking area for self-moving devices; this embodiment does not limit this.

[0064] In one embodiment of this application, the distance between the self-moving device and the first working area can be determined based on a random number generator. A function is defined that accepts a parameter `threshold` (i.e., a preset threshold), representing the upper limit of the random number. Internally, the function uses a random number generator to generate an integer between 1 and `threshold` (inclusive of 1 but excluding `threshold+1`). Thus, the generated random number is less than or equal to the preset threshold. For example, the code for the random number generator could be: `import random def generate_random_number(threshold): return random.randint(1,threshold) # Example usage: threshold = 20 random_number = generate_random_number(threshold) print(random_number)`

[0065] In one embodiment of this application, if the mobile device needs to move to the second working area multiple times, the movement directions of the mobile device moving to the intersection point along the boundary of the first working area on two consecutive occasions are different.

[0066] Referring to Figure 7, this is a schematic diagram showing another position of the self-moving device and the boundary of the first working area according to an embodiment of this application. In response to a movement control command, the self-moving device moves along the boundary of the first working area to the intersection position based on a first direction. For example, the first direction is to the right, as shown in Figure 7, in a horizontal rightward direction. Using the first direction as the initial movement direction of the self-moving device, it moves along the boundary of the first working area to the intersection position starting from the first direction.

[0067] Referring to Figure 8, which shows another position of the self-moving device and the boundary of the first working area according to an embodiment of this application. Assuming the first preset position is the location of the self-moving device's charging station, after completing its work in the second working area, or when its battery is low during the work process, the self-moving device returns to the first preset position for charging. When the self-moving device needs to move back to the second working area after charging, it moves along the boundary of the first working area to the intersection position based on a second direction, which is different from the first direction. For example, the second direction is to the left, as shown in Figure 8, a horizontal leftward direction. Using the second direction as the initial moving direction of the self-moving device, it moves along the boundary of the first working area to the intersection position.

[0068] When the self-moving device needs to move to the second work area for the third time, it again moves along the boundary of the first work area to the intersection point based on the first direction. In this way, the first and second directions alternate in a cycle, reducing the number of times each boundary of the first work area is pressed by the self-moving device, and further avoiding damage to the boundary areas by the self-moving device.

[0069] In another embodiment of this application, in response to a motion control command, multiple motion paths are planned for the self-moving device to move along the boundary of the first working area to the intersection position, the motion path with the shortest moving distance among the multiple motion paths is determined, and the self-moving device moves along the boundary of the first working area to the intersection position based on the motion path with the shortest moving distance.

[0070] As shown in Figure 4, in response to movement control commands, multiple movement paths are planned for the self-moving device to move along the boundary of the first work area to the intersection point. These include paths moving left along the boundary of the first work area to the intersection point and paths moving right along the boundary of the first work area to the intersection point. The self-moving device compares the movement distances of the left and right paths along the boundary of the first work area to the intersection point, determines the path with the shortest movement distance, and moves along the boundary of the first work area to the intersection point based on the path with the shortest movement distance. In this way, the time for the self-moving device to reach the intersection point can be reduced, the boundary area crushed by the self-moving device can be reduced, and the boundary area can be further prevented from being damaged by the self-moving device.

[0071] S102, the self-moving device moves from the intersection position along the first connecting path to the second working area.

[0072] In one embodiment of this application, after the mobile device reaches the intersection location, it moves from the intersection location to the second working area along the first connecting path.

[0073] In this embodiment, when the self-moving device moves to another work area, it moves along the boundary of the other work area to the intersection of the connecting path and the boundary of the other work area, and then moves from the intersection to the target work area along the connecting path, thus avoiding leaving wheel tracks in the work area and effectively ensuring the cleanliness and aesthetics of the work area.

[0074] In one embodiment of this application, multiple signal transceivers (not shown) are provided on the boundary and connecting path of the first working area. Guided by wireless signals transmitted and received between the lidar and the multiple signal transceivers, the self-moving device moves along the boundary and the first connecting path of the first working area. During the movement, the self-moving device detects obstacles in real time through a camera device, and when an obstacle is detected, it bypasses the obstacle based on a preset obstacle avoidance algorithm and continues to move along the boundary and the first connecting path of the first working area until it reaches the second working area.

[0075] Referring to Figure 9, a flowchart of a motion control method provided in another embodiment of this application is shown. The motion control method can be applied to the self-moving device 1 shown in Figure 1. The motion control method includes the following steps:

[0076] S201, in response to a motion control command, the mobile device moves along the boundary of the first work area to the intersection position.

[0077] S202, the self-moving device moves from the intersection location along the connecting path to the second work area.

[0078] The specific implementation methods of S201-S202 are the same as those of S101-S102, and will not be described in detail here.

[0079] S203, after the mobile device moves to the second work area, the work is carried out in the second work area.

[0080] In one embodiment of this application, after the self-moving device arrives at the second work area, it moves within the second work area according to a preset work path, or it can move randomly within the second work area. For example, the self-moving device is a lawnmower robot. The lawnmower robot moves within the lawn of the second work area to mow the lawn according to a preset mowing path, or it can move randomly within the lawn of the second work area to mow the lawn. The self-moving device can perform the mowing operation within the second work area based on the same preset movement path each time. In this way, when the self-moving device moves on the lawn, the wheels will not leave stripes in different directions, maintaining the cleanliness and aesthetics of the lawn.

[0081] In this embodiment, when the self-moving device moves to another work area while traveling to the target work area, it moves along the boundary of the other work area to the intersection of the connecting path and the boundary of the other work area. From the intersection, it moves along the connecting path to the target work area, avoiding leaving wheel tracks in the other work area and effectively ensuring its cleanliness and aesthetics. Simultaneously, after moving to the other work area, the self-moving device moves along the connecting path to the second work area, shortening the time it takes to reach the target work area and allowing for timely work commencement upon arrival, thus improving the operational efficiency of the self-moving device.

[0082] Referring to Figure 10, which is a schematic diagram of the movement path of a self-moving device according to another embodiment of this application, after the self-moving device completes its work in the second work area, or when its battery is low during work in the second work area, it generates a movement control command. This movement control command is used to control the self-moving device to return to a first preset position. The self-moving device moves from the second preset position along the first connecting path to the intersection of the first connecting path and the first work area, and then moves from the intersection along the boundary of the first work area to the first preset position.

[0083] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to the methods in the above embodiments of this application.

[0084] The computer-readable storage medium can be the internal storage of the self-moving device described in the above embodiments, such as the hard disk or memory of the self-moving device. Alternatively, the computer-readable storage medium can be an external storage device of the self-moving device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the self-moving device.

[0085] In one embodiment of this application, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, etc.; and the data storage area may store data created based on the use of the mobile device, etc.

[0086] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0087] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0088] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0089] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0090] 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. A mobile control method applied to a self-moving device, characterized in that, The method comprises: in response to the movement control instruction, the self-moving device moves along the boundary of the first work area to a position of intersection of the first communication path and the boundary of the first work area, the first communication path being connected between the first work area and the second work area; the self-moving device moves from the position of intersection to the second work area along the first communication path.

2. The mobile control method of claim 1, wherein, The method further comprises: the self-moving device moves from a current position to the boundary of the first work area.

3. The mobile control method of claim 2, wherein, The self-moving device moves from a current position to the boundary of the first work area, comprising: the self-moving device moves from the current position to the boundary of the first work area along a second communication path, the second communication path being connected between the current position and the boundary of the first work area.

4. The mobile control method according to any one of claims 1 to 3, characterized by, The self-moving device moves along the boundary of the first work area to the position of intersection of the first communication path and the boundary of the first work area, comprising: the self-moving device moves along the boundary of the first work area and at a distance from the boundary of the first work area to the position of intersection.

5. The mobile control method of claim 4, wherein, The distance at which the self-moving device is spaced from the boundary of the first work area is determined by generating a random number less than or equal to a preset threshold value.

6. The mobile control method of claim 4, wherein, If the self-moving device needs to move to the second work area multiple times, the distance at which the self-moving device is spaced from the boundary of the first work area is different at least twice when the self-moving device moves along the boundary of the first work area, and is less than or equal to a preset threshold value.

7. The mobile control method of claim 6, wherein, The method further comprises: in response to the movement control instruction, the self-moving device moves along the boundary of the first work area and at a first distance from the boundary of the first work area to the position of intersection; if the self-moving device returns to a preset position and needs to move to the second work area again, the self-moving device moves along the boundary of the first work area and at a second distance from the boundary of the first work area to the position of intersection, the second distance being different from the first distance.

8. The mobile control method of claim 1, wherein, If the self-moving device needs to move to the second work area multiple times, the moving direction of the self-moving device is different between two adjacent times when the self-moving device moves along the boundary of the first work area to the position of intersection.

9. The mobile control method of claim 8, wherein, The method further comprises: in response to the movement control instruction, the self-moving device moves along the boundary of the first work area to the position of intersection based on a first direction; if the self-moving device returns to a preset position and needs to move to the second work area again, the self-moving device moves along the boundary of the first work area to the position of intersection based on a second direction, the second direction being different from the first direction.

10. The mobile control method of claim 1, wherein, The self-moving device moves along the boundary of the first work area to the position of intersection in response to the movement control instruction, comprising: in response to the movement control instruction, a plurality of movement paths of the self-moving device moving along the boundary of the first work area to the position of intersection are planned; determining a movement path with the shortest movement distance among the plurality of movement paths, and moving to the intersection position along the boundary of the first work area based on the movement path with the shortest movement distance.

11. The mobile control method of claim 1, wherein, The method further includes: performing work in the second work area after the self-moving device moves to the second work area.

12. A self-moving device, characterized by The self-moving device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to enable the self-moving device to implement the movement control method according to any one of claims 1 to 11.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor in a self-moving device to implement the movement control method according to any one of claims 1 to 11.

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