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

Abstract

A movement control method, a self-moving device, and a storage medium. The method comprises: in response to a movement control instruction, planning a movement path of a self-moving device on the basis of a current position and a target position of the self-moving device, wherein paths included in the movement path and located in an operation area all extend in a target direction, an operation path of the self-moving device for the operation area comprises a plurality of sub-paths, and the plurality of sub-paths extend in the target direction; and the self-moving device moving from the current position to the target position along the movement path. In the process of a self-moving device moving from a current position to a target position, irregular marks are not left in an operation area, so that the cleanliness and attractiveness of the operation area are maintained.

Description

Mobile control method, self-moving device, and storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese patent application No. 202410970426.3, filed on July 18, 2024, entitled “Mobile control method, self-moving device, and storage medium”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the field of self-moving devices, and relates to navigation technology, in particular to a mobile control method, a self-moving device, and a storage medium. BACKGROUND

[0004] With the continuous progress of technology and the rapid development of artificial intelligence, using self-moving devices (e.g., lawn mowing robots, cleaning robots, food delivery robots, etc.) to replace manual work can greatly improve work efficiency.

[0005] The self-moving device can work according to a pre-planned work path, but often needs to pause the current work and move from the current position to the target position. For example, the self-moving device needs to go to the charging position for charging due to insufficient power during work. In related technologies, the self-moving device often directly moves along the straight line path between the current position and the target position, and if the straight line path passes through the work area, it will leave marks in the work area, thereby affecting the neatness and aesthetics of the work area. SUMMARY

[0006] Therefore, the embodiments of the present application provide a mobile control method, a self-moving device, and a storage medium to solve the problem that the self-moving device leaves marks in the work area when moving along the straight line path between the current position and the target position, thereby affecting the neatness and aesthetics of the work area.

[0007] In a first aspect, the embodiments of the present application provide a mobile control method applied to a self-moving device, the method comprising: in response to a mobile control instruction, planning a moving path of the self-moving device according to a current position and a target position of the self-moving device, the moving path being located in a work area, and paths in the work area extending along a target direction, wherein a work path of the self-moving device for the work area comprises a plurality of sub-paths, and the plurality of sub-paths extend along the target direction; and moving the self-moving device from the current position to the target position along the moving path.

[0008] In a possible implementation, the work path is a path used by the self-moving device when the self-moving device last worked in the work area.

[0009] In a possible implementation, the method further includes: moving the self-moving device along the work path and performing a work task; and obtaining the movement control instruction while moving along the work path and performing the work task.

[0010] In a possible implementation, the plurality of sub-paths are parallel to each other and are arranged at intervals.

[0011] In a possible implementation, the sub-paths are straight-line paths or wavy-line paths.

[0012] In a possible implementation, the movement path includes a path located in the work area and extending in the target direction, and a path extending along a region boundary of the work area.

[0013] In a possible implementation, the planning of the movement path of the self-moving device includes: determining a path between the current position and at least one intermediate position, and a path between the at least one intermediate position and the target position, wherein the at least one intermediate position is located at a region boundary of the work area.

[0014] In a possible implementation, if the current position is located in the work area and the target position is located at the region boundary, the determining of the path between the current position and at least one intermediate position, and the path between the at least one intermediate position and the target position includes: determining a first intermediate position at which the current position extends to the region boundary in the target direction, determining a first path based on the current position and the first intermediate position; determining a second path based on the first intermediate position and the target position; and determining the movement path based on the first path and the second path.

[0015] In a possible implementation, if the current position and the target position are both located in the work area, the determining of the path between the current position and at least one intermediate position, and the path between the at least one intermediate position and the target position includes: determining a first intermediate position at which the current position extends to the region boundary in the target direction; determining a second intermediate position at which the target position extends to the region boundary in the target direction; determining a first path based on the current position and the first intermediate position, determining a second path based on the first intermediate position and the second intermediate position, determining a third path based on the second intermediate position and the target position, and determining the movement path based on the first path, the second path, and the third path.

[0016] In a possible implementation, if the current position is located in the work area and the target position is located outside the work area, the determining the path between the current position and at least one intermediate position and the path between the at least one intermediate position and the target position includes: determining a first intermediate position where the current position extends to the region boundary along the target direction; determining an intersection position of a connected path between the target position and the region boundary and the region boundary; determining a first path based on the current position and the first intermediate position, determining a second path based on the first intermediate position and the intersection position, and determining the movement path based on the first path, the second path and the connected path.

[0017] In a possible implementation, if the current position is located outside the work area and the target position is located in the work area, the determining the path between the current position and at least one intermediate position and the path between the at least one intermediate position and the target position includes: determining a first intermediate position where the target position extends to the region boundary along the target direction; determining an intersection position of a connected path between the current position and the region boundary and the region boundary; determining a first path based on the intersection position and the first intermediate position, determining a second path based on the first intermediate position and the target position, and determining the movement path based on the first path, the second path and the connected path.

[0018] In a possible implementation, if the current position is located at the region boundary and the target position is located in the work area, the determining the path between the current position and at least one intermediate position and the path between the at least one intermediate position and the target position includes: determining a first intermediate position where the target position extends to the region boundary along the target direction, and determining a first path based on the current position and the first intermediate position; determining a second path based on the first intermediate position and the target position; and determining the movement path based on the first path and the second path.

[0019] In a second aspect, an embodiment of the present application provides a movement control method applied to a self-moving device, the method comprising: in response to a movement control instruction, the self-moving device moving from a current position to a target position along a movement path; wherein the movement path located in a work area includes a first movement path extending along a target direction and a second movement path extending along a boundary of an obstacle; and a work path of the self-moving device for the work area includes a plurality of sub-paths, and the plurality of sub-paths extend along the target direction.

[0020] In a possible implementation, the work path is a path used by the self-moving device when the self-moving device last time performs work in the work area.

[0021] In a possible implementation, the moving path includes the first moving path, the second moving path, and a third moving path, and the third moving path extends along a region boundary of the work area.

[0022] In a third aspect, an embodiment of the present application provides a moving control method, applied to a self-moving device, and the method comprises the following steps: in response to a moving control instruction, the self-moving device moves in a target direction, wherein a work path of the self-moving device for the work area includes a plurality of sub-paths, and the plurality of sub-paths extend along the target direction; if the self-moving device reaches a first boundary during movement in the target direction, the self-moving device moves along the first boundary until the self-moving device satisfies a condition of moving in the target direction, and continues to move in the target direction after satisfying the condition; if the self-moving device reaches a second boundary during movement in the target direction, the self-moving device moves along the second boundary to a target position, or the self-moving device moves along the second boundary to an intermediate position, and then moves from the intermediate position to the target position in the target direction.

[0023] In a possible implementation, the work path is a path used by the self-moving device when the self-moving device last time performs work in the work area.

[0024] In a possible implementation, the first boundary is a boundary of an obstacle in the work area, and the self-moving device moves along the first boundary until the self-moving device satisfies the condition of moving in the target direction, including: the self-moving device moves along the first boundary to bypass the obstacle, and determines that the self-moving device satisfies the condition of moving in the target direction.

[0025] In a possible implementation, the second boundary is a boundary of the work area.

[0026] In a fourth aspect, an embodiment of the present application provides a mobile control method applied to a self-moving device, the method comprising: in response to a mobile control instruction, planning a moving path of the self-moving device from a current position to a target position according to the current position and the target position of the self-moving device, wherein the moving path is located in a path in a work area extending in a target direction, and a work path of the self-moving device for the work area comprises a plurality of sub-paths extending in the target direction; moving the self-moving device along the moving path; if the self-moving device determines that there is an obstacle in front of the self-moving device during the moving, moving based on a bypass path to bypass the obstacle; after the self-moving device bypasses the obstacle, re-planning a moving path of the self-moving device, and moving the self-moving device to the target position along the re-planned moving path, wherein the re-planned moving path is located in a path in the work area extending in the target direction.

[0027] In a possible implementation, the work path is a path used by the self-moving device during a last time of work in the work area.

[0028] In a possible implementation, the re-planning of the moving path of the self-moving device comprises: planning a moving path of the self-moving device from a position of the self-moving device after bypassing the obstacle to the target position according to the position and the target position.

[0029] In a fifth aspect, an embodiment of the present application provides a self-moving device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the mobile control method as described above when executing the computer program.

[0030] In a sixth aspect, an embodiment of the present application provides a computer readable storage medium, and 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 mobile control method as described above.

[0031] The mobile control method, the self-moving device and the storage medium provided by the embodiments of the present application make the extension direction of the moving path in the work area along the extension direction of the sub-path when the self-moving device moves from the current position to the target position, so that the extension direction of the indentation generated by the self-moving device during the moving is consistent with the extension direction of the indentation generated during the work, avoiding the generation of irregular indentations by the self-moving device during the moving, and effectively maintaining the neatness and aesthetics of the work area. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description only relate to the embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on the provided drawings without any creative effort.

[0033] FIG. 1 is a schematic diagram of a work area according to an embodiment of the present application.

[0034] FIG. 2 is a schematic diagram of a hardware structure of a self-moving device according to an embodiment of the present application.

[0035] FIG. 3 is a flowchart of a moving control method according to an embodiment of the present application.

[0036] FIG. 4 is another schematic diagram of a work area according to an embodiment of the present application.

[0037] FIG. 5 is another schematic diagram of a work area according to an embodiment of the present application.

[0038] FIG. 6 is a flowchart of planning a moving path of a self-moving device from a current position to a target position according to an embodiment of the present application.

[0039] FIG. 7 is a schematic diagram of a work area according to another embodiment of the present application.

[0040] FIG. 8 is a flowchart of planning a moving path of a self-moving device from a current position to a target position according to another embodiment of the present application.

[0041] FIG. 9 is a schematic diagram of a work area according to another embodiment of the present application.

[0042] FIG. 10 is a flowchart of planning a moving path of a self-moving device from a current position to a target position according to another embodiment of the present application.

[0043] FIG. 11 is a schematic diagram of a work area according to another embodiment of the present application.

[0044] FIG. 12 is a flowchart of planning a moving path of a self-moving device from a current position to a target position according to another embodiment of the present application.

[0045] FIG. 13 is a schematic diagram of a work area according to another embodiment of the present application.

[0046] FIG. 14 is a flowchart of planning a moving path of a self-moving device from a current position to a target position according to another embodiment of the present application.

[0047] FIG. 15 is a schematic diagram of a work area according to another embodiment of the present application.

[0048] FIG. 16 is a flowchart of a mobile control method according to another embodiment of the present application.

[0049] FIG. 17 is a flowchart of a mobile control method according to another embodiment of the present application.

[0050] FIG. 18 is a schematic diagram of a work area according to another embodiment of the present application. DETAILED DESCRIPTION

[0051] For the purposes of the present application, the technical solutions and advantages thereof are more clearly apparent from the following detailed description of the application, taken in conjunction with the accompanying drawings and specific embodiments.

[0052] It should be noted that “at least one” in the present application means one or more, and “multiple” means two or more than two. “And / or” describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms “first”, “second”, “third”, “fourth” and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0053] In the embodiments of the present application, the words “exemplary” or “for example” are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as “exemplary” or “for example” in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of “exemplary” or “for example” is intended to present concepts in a concrete manner. The embodiments described below and the features in the embodiments can be combined with each other as long as there is no conflict.

[0054] With the continuous progress of science and technology and the rapid development of artificial intelligence, using self-moving devices (such as lawn mowing robots, cleaning robots, food delivery robots, etc.) to replace manual work can greatly improve work efficiency.

[0055] The self-moving device can work according to a pre-planned work path, but often needs to pause the current work and move from the current position to the target position. For example, the self-moving device needs to go to the charging position for charging due to insufficient power during work. In the related art, the self-moving device often moves directly along the straight line path between the current position and the target position, and if the straight line path passes through the work area, it will leave a mark in the work area, thereby affecting the neatness and aesthetics of the work area.

[0056] Referring to FIG. 1, a schematic diagram of a work area is provided according to an embodiment of the present application. For example, the self-moving device is a mowing robot, and the work area is a lawn. When the mowing robot performs mowing work on the lawn, it will leave a trace on the lawn. In order to ensure the neatness and aesthetics of the lawn, the mowing robot usually performs mowing work according to a preset mowing path, so as to leave a regular trace on the lawn, for example, an "arch" trace as shown in FIG. 1, and at this time, the preset mowing path is also in the shape of an "arch". When the mowing robot needs to charge at a charging station due to insufficient power during work, or needs to park at a centralized parking area after completing the work, it needs to move from the current position to the target position. In the related art, the mowing robot usually moves along the straight path between the current position and the target position, that is, the shortest path. If the straight path passes through the lawn, the moving path of the mowing robot is different from the work path, and thus, irregular traces will be left on the lawn, thereby affecting the neatness and aesthetics of the lawn.

[0057] In order to avoid the self-moving device from moving along the straight path between the current position and the target position and leaving traces on the work area, thereby affecting the neatness and aesthetics of the work area, an embodiment of the present application provides a moving control method. When the self-moving device moves from the current position to the target position, the path of the moving path in the work area is extended along the extension direction of the sub-path, so that the extension direction of the trace generated by the self-moving device during the movement is consistent with the extension direction of the trace generated during the work, and irregular traces generated by the self-moving device during the movement are avoided, thereby effectively maintaining the neatness and aesthetics of the work area.

[0058] Referring to FIG. 2, a schematic diagram of the hardware structure of the self-moving device is provided according to an embodiment of the present application. The moving control method in the embodiment of the present application is applied to the self-moving device 1 as shown in FIG. 2. The self-moving device 1 includes a body, and a memory 11, a processor 12, a power supply 13, a sensor 14, a work mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18, and a bus 19 arranged on the body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the work mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19. The self-moving device 1 is an electronic device with a self-moving function, for example, a mowing robot, a cleaning robot, a food delivery robot, etc.

[0059] The memory 11 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly readable and writable by the processor 12, and can be used to store executable programs (e.g., machine instructions) of an operating system or other programs that are currently running, and can also be used to store data of users and applications, etc. The random access memory can include static random access memories (SRAMs), dynamic random access memories (DRAMs), synchronous dynamic random access memories (SDRAMs), double data rate synchronous dynamic random access memories (DDR SDRAMs), etc.

[0060] The non-volatile memory can also store executable programs and store data of users and applications, etc., and can be loaded in advance into the random access memory for direct reading and writing by the processor 12. The non-volatile memory can include disk storage devices, flash memories.

[0061] The memory 11 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions that, when executed by the processor 12, implement a path planning method performed on the self-moving device 1.

[0062] In other embodiments, the self-moving device 1 further includes an external memory interface for connecting an external memory to achieve the expansion of the storage capacity of the self-moving device 1.

[0063] The processor 12 can include one or more processing units, for example: the processor 12 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0064] The processor 12 provides computing and control capabilities, for example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the path planning method described above.

[0065] The power supply 13 is used to supply power for the self-moving device. In an embodiment of the present application, the power supply 13 can include any one or more of the following types of power supply devices: a battery, a fuel generator, a solar power module, a wind power module, etc.

[0066] The sensor 14 is used to obtain information for the self-moving device 1, such as obtaining environmental information for the self-moving device 1 and movement information of the self-moving device 1. In an embodiment of the present application, the sensor 14 can include one or more of the following types of sensors: a laser radar, a camera, an infrared sensor, an encoder, etc.

[0067] The working mechanism 15 is used to perform corresponding work tasks, for example, mowing, patrolling, cleaning, and spraying pesticides, etc. In some embodiments of the present application, the working mechanism 15 can include a motor, a transmission mechanism, and a cutter head, etc. In some embodiments of the present application, the motor can drive the cutter head to rotate through the transmission mechanism to realize the mowing function. The motor can also control the movement of the cutter blade to adjust the mowing height and mowing area.

[0068] The communication module 16 is used to realize the communication between the self-moving device and other devices. In an embodiment of the present application, the communication module 16 can interact with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or a combination of the following communication modes: Bluetooth communication, Wi-Fi communication, Near Field Communication (NFC), etc.

[0069] The positioning module 17 is configured to determine the position of the self-moving device. In some embodiments of the present application, the positioning module 17 can include one or more of a Global Positioning System (GPS), an inertial navigation system, a Real-time kinematic (RTK) carrier phase differential system, and the like.

[0070] The driving wheel 18 is configured to enable the self-moving device to move. In some embodiments of the present application, the driving wheel 18 can enable the self-moving device to move according to the control of the processor 12. In some embodiments of the present application, the driving wheel 18 can include a left driving wheel and a right driving wheel.

[0071] The bus 19 is configured to provide a communication channel between the memory 11, the processor 12, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 in the self-moving device 1.

[0072] In other embodiments of the present application, the self-moving device 1 can further include an anti-collision part and a steering assembly, etc. The anti-collision part can be configured to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly can be configured to enable the driving wheel 18 to adjust the driving direction.

[0073] It can be understood that the structure shown in the embodiments of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0074] Referring to FIG. 3, a flowchart of a moving control method according to an embodiment of the present application is shown. The moving control method can be applied to the self-moving device 1 shown in FIG. 2. The moving control method includes the following steps:

[0075] S101, in response to a moving control instruction, a moving path of the self-moving device is planned according to a current position and a target position of the self-moving device. The moving path is a path within the working area that extends in the target direction.

[0076] In an embodiment of the present application, the work path is first acquired from the mobile device, the mobile device moves along the work path in the work area and performs the work task, and the movement control instruction is acquired while moving along the work path and performing the work task. The work path covers the work area, thereby ensuring that the mobile device covers the work area to perform work. The work path is the path used by the mobile device when it last performed work in the work area. Here, the last time refers to the time closest to the time when the movement control instruction is acquired. If the mobile device acquires the movement control instruction in the process of performing the work task, the path used by the mobile device when it last performed work in the work area is the path used when the work task is currently performed.

[0077] In an embodiment of the present application, the work path includes a plurality of sub-paths, the plurality of sub-paths are parallel to each other and are arranged at intervals, and extend along the target direction. The sub-paths can be straight-line paths or wavy-line paths. For example, as shown in FIG. 1, the plurality of sub-paths extend along the horizontal direction in the shape of an “arch”. Embodiments of the present application do not limit the shape and extension direction of the work path. For example, the target direction can also be perpendicular to, parallel to, or at a certain angle to the region boundary of the work area.

[0078] In an embodiment of the present application, the region boundary is a range within a preset threshold distance from the boundary of the work area defined in the work map. The movement path within the region boundary does not belong to the path within the work area. For example, the preset threshold can be 20 cm, 25 cm, 30 cm, or other distance values. The work map is used to store and represent the region information of the mobile device that needs to work, and the region information includes, but is not limited to, the boundary of the work area, the movement path, the obstacle information, the terrain feature, and the environmental feature, which can assist the mobile device to work efficiently and accurately in the work area.

[0079] In another embodiment of the present application, the work area can also include a plurality of sub-work areas, and the mobile device uses different work paths in each sub-work area. Thus, the work area refers to one of the sub-work areas, and at this time, the region boundary is the boundary corresponding to the sub-work area, rather than the boundary of the work area. For example, referring to FIG. 4, another schematic diagram of a work area provided by an embodiment of the present application is shown. The sub-work area within the dashed line box uses the work path in the shape of an “arch”, and the sub-area outside the dashed line box uses the work path in the shape of a “loop”. The work area can be the sub-work area within the dashed line, and the dashed line can be the boundary of the sub-work area.

[0080] In an embodiment of the present application, the movement path comprises a path extending along the target direction within the work area and a path extending along the boundary of the work area. If the work area is a lawn, the lawn is less affected when the self-moving device moves along the path extending along the boundary of the work area. The movement path of the self-moving device is planned by determining the path between the current position and at least one intermediate position and the path between the at least one intermediate position and the target position. The at least one intermediate position is located on the boundary of the work area.

[0081] Referring to FIG. 5, another schematic diagram of a work area is provided in an embodiment of the present application. In an embodiment of the present application, the current position A is located within the work area and the target position B is located on the boundary of the work area. For example, the target position is the position of a charging station of the self-moving device.

[0082] Referring to FIG. 6, a flowchart of planning a movement path of the self-moving device from a current position to a target position is provided in an embodiment of the present application.

[0083] S201, determining a first intermediate position along the target direction extending to the boundary of the work area, and determining a first path based on the current position and the first intermediate position.

[0084] In an embodiment of the present application, the first intermediate position C along the target direction extending to the boundary of the work area is determined, and the path between the current position A and the first intermediate position C is determined as the first path L1. The path between the current position A and the first intermediate position C can be the shortest path between the current position A and the first intermediate position C.

[0085] S202, determining a second path based on the first intermediate position and the target position.

[0086] In an embodiment of the present application, the path between the first intermediate position C and the target position B is determined as the second path L2. The path between the first intermediate position C and the target position B is the shortest path along the boundary of the work area between the first intermediate position C and the target position B.

[0087] S203, determining the movement path based on the first path and the second path.

[0088] In an embodiment of the present application, the first path L1 and the second path L2 constitute the movement path of the self-moving device from the current position to the target position.

[0089] It can be understood that if the target position B and the current position A can be connected to form a path extending along the target direction, that is, the target position B is the same as the first intermediate position C, the movement path of the self-moving device from the current position to the target position along the target direction is the first path L1.

[0090] Referring to FIG. 7, a schematic diagram of a work area is provided according to another embodiment of the present application. The current position A and the target position B are both located in the work area. For example, the target position is the position of a charging station of the self-moving device or another work position in the work area.

[0091] Referring to FIG. 8, a flowchart of planning a moving path of the self-moving device from the current position to the target position is provided according to another embodiment of the present application.

[0092] S301, determining a first intermediate position of the current position extending to the boundary of the work area along the target direction.

[0093] In an embodiment of the present application, the first intermediate position C of the current position extending to the boundary of the work area along the target direction.

[0094] S302, determining a second intermediate position of the target position extending to the boundary of the work area along the target direction.

[0095] In an embodiment of the present application, the second intermediate position D of the target position extending to the boundary of the work area along the target direction.

[0096] S303, determining a first path based on the current position and the first intermediate position, determining a second path based on the first intermediate position and the second intermediate position, determining a third path based on the second intermediate position and the target position, and determining the moving path based on the first path, the second path and the third path.

[0097] In an embodiment of the present application, the path between the current position A and the first intermediate position C is determined as the first path L1. The path between the first intermediate position C and the second intermediate position D is determined as the second path L2. The path between the second intermediate position D and the target position B is determined as the third path L3. The first path L1, the second path L2 and the third path L3 constitute the moving path of the self-moving device from the current position to the target position.

[0098] It can be understood that if the target position B and the current position A can be connected to form a path extending along the target direction, the self-moving device can directly move from the current position A to the target position B along the target direction without moving along the boundary of the work area.

[0099] Referring to FIG. 9, a schematic diagram of a work area is provided according to another embodiment of the present application. The current position A is located in the work area, and the target position B is located outside the work area. For example, the target position is the position of a charging station of the self-moving device.

[0100] Referring to FIG. 10, a flowchart of planning a moving path of the self-moving device from the current position to the target position is provided according to another embodiment of the present application.

[0101] S401, determine a first intermediate position of the current position extending to the region boundary along the target direction.

[0102] In an embodiment of the present application, the first intermediate position C of the target position extending to the region boundary along the target direction.

[0103] S402, determine an intersection position of the connected path between the target position and the region boundary and the region boundary.

[0104] In an embodiment of the present application, the intersection position of the connected path L between the target position B and the region boundary and the region boundary is position E as shown in FIG. 9.

[0105] S403, determine a first path based on the current position and the first intermediate position, determine a second path based on the first intermediate position and the intersection position, and determine a moving path based on the first path, the second path and the connected path.

[0106] In an embodiment of the present application, determine a path between the current position A and the first intermediate position C as the first path L1. Determine a path between the first intermediate position C and the intersection position E as the second path L2. The first path L1, the second path L2 and the connected path between the intersection position E and the target position B constitute a moving path of the self-moving device moving from the current position to the target position.

[0107] It can be understood that if the target position B and the intersection position E can be connected to form a path extending along the target direction, that is, the intersection position E is the same as the first intermediate position C, then the self-moving device does not need to move along the region boundary, and directly moves from the intersection position E to the target position B along the path extending along the target direction.

[0108] Referring to FIG. 11, a schematic diagram of a work region provided by another embodiment of the present application is shown. The current position A is located outside the work region, and the target position B is located inside the work region. For example, the current position is the position of a charging station of the self-moving device or a work end point of another work region.

[0109] Referring to FIG. 12, a flowchart of planning a moving path of the self-moving device moving from the current position to the target position provided by another embodiment of the present application is shown.

[0110] S501, determine a first intermediate position of the target position extending to the region boundary along the target direction.

[0111] In an embodiment of the present application, the first intermediate position C of the target position extending to the region boundary along the target direction.

[0112] S502, determine an intersection position of the connected path between the current position and the region boundary and the region boundary.

[0113] In an embodiment of the present application, the intersection position of the connecting path L between the current position A and the region boundary is position E as shown in Fig. 11.

[0114] S503, determining a first path based on the intersection position and the first intermediate position, determining a second path based on the first intermediate position and the target position, and determining the moving path based on the first path, the second path and the connecting path.

[0115] In an embodiment of the present application, a path between the intersection position E and the first intermediate position C is determined as the first path L1. A path between the first intermediate position C and the target position B is determined as the second path L2. The first path L1, the second path L2 and the connecting path between the current position A and the intersection position E constitute the moving path of the self-moving device from the current position to the target position.

[0116] It can be understood that if the target position B and the intersection position E can be connected to form a path extending along the target direction, that is, the intersection position E is the same as the first intermediate position C, the self-moving device does not need to move along the region boundary, but directly moves from the intersection position E to the target position B along the path extending along the target direction.

[0117] Referring to Fig. 13, a schematic diagram of a work region provided by another embodiment of the present application is shown. The current position A is located at the region boundary, and the target position B is located in the work region. For example, the current position is the position of the charging station of the self-moving device.

[0118] Referring to Fig. 14, a flowchart of planning a moving path of a self-moving device from a current position to a target position provided by another embodiment of the present application is shown.

[0119] S601, determining a first intermediate position of the target position extending to the region boundary along a target direction, and determining a first path based on the current position and the first intermediate position.

[0120] In an embodiment of the present application, the first intermediate position C of the target position extending to the region boundary along the target direction is determined. A path between the current position A and the first intermediate position C is determined as the first path L1.

[0121] S602, determining a second path based on the first intermediate position and the target position.

[0122] In an embodiment of the present application, a path between the first intermediate position C and the target position B is determined as the second path L2.

[0123] S603, determining a moving path based on the first path and the second path.

[0124] In an embodiment of the present application, the first path L1 and the second path L2 constitute a moving path of the self-moving device from the current position to the target position.

[0125] It can be understood that if the current position A and the target position B can be connected to form a path extending along the target direction, that is, the current position A is the same as the first intermediate position C, the moving path of the self-moving device from the current position to the target position is the second path L2.

[0126] S102, the self-moving device moves from the current position to the target position along the moving path.

[0127] In an embodiment of the present application, after the moving path is planned, the moving path is loaded to a working map of the self-moving device, and the self-moving device moves from the current position to the target position along the moving path based on the working map.

[0128] In an embodiment of the present application, the method further comprises: planning a plurality of moving paths of the self-moving device from the current position to the target position according to the current position and the target position, determining a moving path with the shortest distance in the plurality of moving paths as a target moving path, and moving the self-moving device from the current position to the target position along the target moving path. Wherein, the plurality of moving paths are paths extending along the target direction in the working area.

[0129] For example, the target position is located at the boundary of the area, and the current position of the self-moving device is located in the working area, so that two moving paths can be determined, one of which moves from the current position to the boundary of the area along the target direction, and then moves to the target position along the boundary of the area, and the other of which moves from the current position to the boundary of the area along the target direction, and then moves to the target position along the boundary of the area.

[0130] In the above embodiment of the present application, during the process of the self-moving device moving from the current position to the target position, the part of the moving path located in the working area extends along the target direction, that is, the extension direction of the moving path is the same as the extension direction of the sub-path, so that the self-moving device will not leave irregular marks in the working area, effectively maintaining the cleanliness and aesthetics of the working area. For example, when the working area is a lawn, the self-moving device will not leave irregular stripes on the lawn, maintaining the cleanliness and aesthetics of the lawn.

[0131] In another embodiment of the present application, the path of the moving path located in the working area includes a first moving path extending along the target direction and a second moving path extending along the boundary of the obstacle. The moving path can further include a third moving path extending along the boundary of the working area.

[0132] In an embodiment of the present application, if an obstacle is detected during the movement of the mobile device from the current position to the target position along the movement path, the mobile device moves along the boundary of the obstacle to bypass the obstacle. The mobile device moves along the boundary of the obstacle at a preset distance from the obstacle. For example, the preset distance is 5 cm, 8 cm, 10 cm, or other distance values. In this way, the movement path in the work area can also extend along the boundary of the obstacle. After bypassing the obstacle, the mobile device continues to move along the movement path to the target position.

[0133] Referring to FIG. 15, a schematic diagram of a work area provided by another embodiment of the present application is shown. For example, when an obstacle is detected during the movement of the mobile device in the target direction, the mobile device moves along the boundary of the obstacle to bypass the obstacle. At the same time, the indentation generated by the movement of the mobile device along the boundary of the obstacle is in line with the boundary of the obstacle, avoiding affecting the aesthetics of the work area. The line between the position of the mobile device after bypassing the obstacle and the position when the obstacle is detected can extend along the target direction (as shown in FIG. 15), or can not extend along the target direction (as shown in FIG. 18). After bypassing the obstacle, the mobile device continues to move along the target direction to the boundary of the area, moves along the boundary of the area to the target position, and extends to the position of the boundary of the area along the target direction, and then moves along the target direction to the target position.

[0134] In an embodiment of the present application, if the mobile device reaches the target position during the movement, the mobile device stops moving. For example, the current position or the target position of the mobile device is located in the work area, and the mobile device moves in the target direction. If the mobile device reaches the target position during the movement in the target direction, the mobile device stops moving.

[0135] In an embodiment of the present application, if the mobile device reaches the boundary of the area during the movement in the target direction, the mobile device turns. For example, when the mobile device moves in the target direction to the boundary of the area, the mobile device turns to move along the boundary of the area until it can continue to move in the target direction to the target position, or until it moves to the target position (in the case where the target position is located at the boundary of the area). For example, the current position and the target position of the mobile device are located in the work area, and the mobile device moves in the target direction to the boundary of the area, and then turns to move along the boundary of the area to the target position. The position of the boundary of the area extends to the target direction, and then turns again to move in the target direction to the target position. For another example, the current position of the mobile device is located in the work area, and the target position is located at the boundary of the area. The mobile device moves in the target direction to the boundary of the area, and then turns to move along the boundary of the area to the target position.

[0136] In an embodiment of the present application, if the mobile device detects an obstacle during the movement, the mobile device turns. For example, the mobile device detects an obstacle during the movement along the target direction, the mobile device turns to move along the boundary of the obstacle until the mobile device bypasses the obstacle and continues to move along the target direction.

[0137] In the above embodiment of the present application, during the movement of the mobile device from the current position to the target position, the part of the movement path in the work area extends along the target direction when no obstacle is detected, that is, the extension direction of the movement path is the same as the extension direction of the sub-path, so that the mobile device does not leave irregular marks in the work area, effectively maintaining the neatness and aesthetics of the work area. When the mobile device detects an obstacle, the movement path extends along the boundary of the obstacle, thereby bypassing the obstacle and avoiding damage caused by collision with the obstacle. At the same time, the marks generated by the movement of the mobile device along the boundary of the obstacle fit the boundary of the obstacle, avoiding affecting the aesthetics of the work area.

[0138] Referring to FIG. 16, a flowchart of a movement control method provided by another embodiment of the present application is shown. The movement control method can be applied to the mobile device 1 shown in FIG. 2. The movement control method includes the following steps:

[0139] S701, in response to the movement control instruction, the mobile device moves along the target direction.

[0140] S702, if the mobile device reaches the first boundary during the movement along the target direction, the mobile device moves along the first boundary until the mobile device satisfies the condition for moving along the target direction, and continues to move along the target direction after satisfying the condition.

[0141] In an embodiment of the present application, the first boundary is the boundary of an obstacle in the work area. The mobile device moves along the first boundary to bypass the obstacle, and determines that the mobile device satisfies the condition for moving along the target direction.

[0142] S703, if the mobile device reaches the second boundary during the movement along the target direction, the mobile device moves along the second boundary to the target position, or the mobile device moves along the second boundary to an intermediate position, and then moves from the intermediate position to the target position along the target direction.

[0143] In an embodiment of the present application, the second boundary is the boundary of the work area. If the target position is located at the boundary of the work area, the mobile device can move along the second boundary to the target position. If the target position is located in the work area, the mobile device moves along the second boundary to an intermediate position, and then moves from the intermediate position to the target position along the target direction.

[0144] Referring to FIG. 17, a flowchart of a mobile control method according to another embodiment of the present application is shown. The mobile control method can be applied to the mobile device 1 shown in FIG. 2. The mobile control method includes the following steps:

[0145] S801, in response to the mobile control instruction, planning a movement path of the mobile device according to a current position of the mobile device and a target position, the paths in the work area of the movement path all extend in the target direction.

[0146] S802, the mobile device moves along the movement path.

[0147] The specific implementation of S801-S802 is the same as that of S101-S102, and will not be repeated here.

[0148] S803, if the mobile device determines that there is an obstacle in front of the mobile device during the movement, the mobile device moves along a detour path to bypass the obstacle.

[0149] In an embodiment of the present application, if the mobile device detects an obstacle during the movement, a preset obstacle avoidance algorithm is used to determine the detour path, and the mobile device moves along the detour path to bypass the obstacle. For example, the preset obstacle avoidance algorithm can be a Detour obstacle avoidance algorithm, a rapid search random tree algorithm, a model predictive control algorithm, a sensor-based obstacle avoidance algorithm, etc.

[0150] S804, after the mobile device bypasses the obstacle, the movement path of the mobile device is re-planned, and the mobile device moves along the re-planned movement path to the target position, the paths in the work area of the re-planned movement path all extend in the target direction.

[0151] In an embodiment of the present application, after the mobile device bypasses the obstacle, the position of the mobile device after bypassing the obstacle is obtained, and the movement path of the mobile device from the position after bypassing the obstacle to the target position is planned according to the position after bypassing the obstacle and the target position.

[0152] Referring to FIG. 18, a schematic diagram of a working area provided by another embodiment of the present application is shown. When the self-moving device moves along the target direction from the current position A to the position where the obstacle is detected, the line between the position A' where the self-moving device is located after bypassing the obstacle based on the bypass path and the position A does not extend along the target direction. Thus, the moving path of the self-moving device needs to be re-planned, that is, the moving path of the self-moving device from the position where the self-moving device is located after bypassing the obstacle to the target position is planned according to the position where the self-moving device is located after bypassing the obstacle and the target position. The method of planning the moving path of the self-moving device from the position where the self-moving device is located after bypassing the obstacle to the target position is the same as the method of planning the moving path of the self-moving device from the current position to the target position in the above-mentioned embodiments of the present application, and thus is not described herein.

[0153] In the above-mentioned embodiments of the present application, when no obstacle is detected during the process of moving the self-moving device from the current position to the target position, the part of the moving path in the working area extends along the target direction, that is, the extension direction of the moving path is the same as the extension direction of the sub-path. Thus, the self-moving device will not leave irregular marks in the working area, and the neatness and the aesthetic appearance of the working area are effectively maintained. When the self-moving device detects the obstacle, the self-moving device bypasses the obstacle based on the bypass path, and the moving path is re-planned. The part of the re-planned moving path in the working area also extends along the target direction, thereby maintaining the neatness and the aesthetic appearance of the working area.

[0154] The embodiments of the present application also provide a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program includes program instructions, and the method implemented by executing the program instructions can refer to the method in the above-mentioned embodiments of the present application.

[0155] The computer readable storage medium can be the internal memory of the self-moving device, for example, the hard disk or the memory of the self-moving device. The computer readable storage medium can also be the external storage device of the self-moving device, for example, the plug-in hard disk, the smart media card (SMC), the secure digital (SD) card, the flash card and the like.

[0156] In an embodiment of the present application, the computer readable storage medium can include a storage program area and a storage data area. The storage program area can store the operating system, the application program required by at least one function and the like; and the storage data area can store the data created according to the use of the self-moving device and the like.

[0157] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0158] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0159] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / terminal device and method can be implemented by other ways. For example, the apparatus / terminal device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection between each other can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0160] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0161] The above described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A mobile control method applied to a self-moving device, characterized in that, The method comprises: in response to a movement control instruction, planning a movement path of the self-moving device according to a current position and a target position of the self-moving device, the movement path being a path in the work area extending in a target direction, wherein the work path of the self-moving device for the work area comprises a plurality of sub-paths extending in the target direction; the self-moving device moves along the movement path from the current position to the target position.

2. The mobile control method of claim 1, wherein, The work path is a path used by the self-moving device when it last worked in the work area.

3. The mobile control method according to claim 1 or 2, characterized by, The method further comprises: the self-moving device moves along the work path and performs a work task; obtaining the movement control instruction while moving along the work path and performing the work task.

4. The mobile control method of claim 1, wherein, The plurality of sub-paths are parallel to each other and arranged at intervals.

5. The mobile control method of claim 4, wherein, The sub-path is a straight line path or a wavy line path.

6. The mobile control method according to any one of claims 1 to 5, wherein The movement path comprises a path in the work area extending in the target direction and a path extending along the area boundary of the work area.

7. The mobile control method according to any one of claims 1 to 6, wherein The planning of the movement path of the self-moving device comprises: determining a path between the current position and at least one intermediate position and a path between the at least one intermediate position and the target position, wherein the at least one intermediate position is located on the area boundary of the work area.

8. The mobile control method of claim 7, wherein, If the current position is located in the work area and the target position is located on the area boundary, the determination of the path between the current position and at least one intermediate position and the path between the at least one intermediate position and the target position comprises: determining a first intermediate position of the current position extending to the area boundary in the target direction, determining a first path based on the current position and the first intermediate position; determining a second path based on the first intermediate position and the target position; determining the movement path based on the first path and the second path.

9. The mobile control method of claim 7, wherein, If the current position and the target position are both located in the work area, the determination of the path between the current position and at least one intermediate position and the path between the at least one intermediate position and the target position comprises: determining a first intermediate position of the current position extending to the area boundary in the target direction; determining a second intermediate position of the target position extending to the area boundary in the target direction; determining a first path based on the current position and the first intermediate position, determining a second path based on the first intermediate position and the second intermediate position, determining a third path based on the second intermediate position and the target position, and determining the movement path based on the first path, the second path and the third path.

10. The mobile control method of claim 7, wherein, If the current position is located in the work area and the target position is located outside the work area, the determination of the path between the current position and at least one intermediate position and the path between the at least one intermediate position and the target position comprises: determining a first intermediate position of the current position extending to the area boundary in the target direction; determining an intersection position of a connected path between the target position and the region boundary and the region boundary; determining a first path based on the current position and the first intermediate position, determining a second path based on the first intermediate position and the intersection position, and determining the movement path based on the first path, the second path and the connected path.

11. The mobile control method of claim 7, wherein, If the current position is outside the work region and the target position is inside the work region, the determining of the paths between the current position and at least one intermediate position and between the at least one intermediate position and the target position comprises: determining a first intermediate position of the target position extending to the region boundary along the target direction; determining an intersection position of a connected path between the target position and the region boundary and the region boundary; determining a first path based on the intersection position and the first intermediate position, determining a second path based on the first intermediate position and the target position, and determining the movement path based on the first path, the second path and the connected path.

12. The mobile control method of claim 7, wherein, If the current position is on the region boundary and the target position is inside the work region, the determining of the paths between the current position and at least one intermediate position and between the at least one intermediate position and the target position comprises: determining a first intermediate position of the target position extending to the region boundary along the target direction, and determining a first path based on the current position and the first intermediate position; determining a second path based on the first intermediate position and the target position; determining the movement path based on the first path and the second path.

13. A mobile control method applied to a self-moving device, characterized in that, The method comprises: in response to a movement control instruction, moving the self-moving device from a current position to a target position along a movement path; wherein the movement path in the work region comprises a first movement path extending along the target direction and a second movement path extending along a boundary of an obstacle, and the work path of the self-moving device for the work region comprises a plurality of sub-paths extending along the target direction.

14. The mobile control method of claim 13, wherein, The work path is a path used by the self-moving device when the self-moving device last performed work in the work region.

15. The mobile control method according to claim 13 or 14, characterized by, The movement path comprises the first movement path, the second movement path and a third movement path extending along a region boundary of the work region. 16.A mobile control method applied to a self-moving device, the method comprising: The method comprises: in response to a movement control instruction, moving the self-moving device along a target direction, wherein the work path of the self-moving device for a work region comprises a plurality of sub-paths extending along the target direction; if the self-moving device reaches a first boundary during movement along the target direction, the self-moving device moves along the first boundary until the self-moving device satisfies a condition for moving along the target direction, and continues to move along the target direction after satisfying the condition; If the self-moving device reaches a second boundary during movement in the target direction, the self-moving device moves along the second boundary to a target position, or the self-moving device moves along the second boundary to an intermediate position and then moves from the intermediate position to the target position in the target direction.

17. The mobile control method of claim 16, wherein, The work path is a path used by the self-moving device during a last time when the self-moving device performs work in the work area.

18. The mobile control method of claim 16 or 17, wherein, The first boundary is a boundary of an obstacle in the work area, and the self-moving device moves along the first boundary until the self-moving device satisfies a condition for moving in the target direction, including: The self-moving device moves along the first boundary to bypass the obstacle, and determines that the self-moving device satisfies the condition for moving in the target direction.

19. The mobile control method of any one of claims 16 to 18, wherein, The second boundary is a region boundary of the work area.

20. A mobile control method applied to a self-moving device, the method comprising: The method includes: In response to a movement control instruction, planning a movement path of the self-moving device according to a current position and a target position of the self-moving device, the movement path being a path in the work area that extends in a target direction, wherein a work path of the self-moving device for the work area includes a plurality of sub-paths, and the plurality of sub-paths extend in the target direction; The self-moving device moves along the movement path; If the self-moving device determines that there is an obstacle in front of the self-moving device during movement, moving based on a bypass path to bypass the obstacle; After the self-moving device bypasses the obstacle, re-planning a movement path of the self-moving device, and the self-moving device moves to the target position along the re-planned movement path, the re-planned movement path being a path in the work area that extends in the target direction.

21. The mobile control method of claim 20, wherein, The work path is a path used by the self-moving device during a last time when the self-moving device performs work in the work area.

22. The mobile control method of claim 20 or 21, wherein, The re-planning of the movement path of the self-moving device includes: Planning a movement path of the self-moving device from a position of the self-moving device after bypassing the obstacle to the target position according to the position of the self-moving device after bypassing the obstacle and the target position.

23. A self-moving device, characterized by The self-moving device includes a memory, a processor, and a computer program stored on 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 22.

24. 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 the self-moving device to implement the movement control method according to any one of claims 1 to 22.

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