Locomotion device control method, locomotion device, lawn mowing device, computer-readable storage medium, electronic device, and computer program product

Abstract

Disclosed in the present disclosure are a locomotion device control method, a locomotion device, a lawn mowing device, a computer-readable storage medium, an electronic device, and a computer program product. The control method is applied to a locomotion device. The locomotion device control method comprises: by means of iteration, acquiring boundary information of an actual boundary during traveling of a locomotion device, and by means of iteration, generating a motion path on the basis of the boundary information; controlling the locomotion device to move on the basis of the motion path; and acquiring instruction information of a user, and correcting the motion path on the basis of the instruction information.

Description

A control method for a walking device, a walking device, a lawnmower, a computer-readable storage medium, an electronic device, and a computer program product.

[0001] Cross-reference to related applications

[0002] This disclosure is based on and claims priority to Chinese Patent Application No. 202411196451.7, filed on August 28, 2024, entitled “A Control Method for a Walking Device, a Walking Device and a Lawn-Mowing Device”, the entire contents of which are hereby incorporated herein by reference. Technical Field

[0003] This disclosure relates to, but is not limited to, the field of automated walking technology, and particularly to a control method for a walking device, a walking device, a lawn mowing device, a computer-readable storage medium, an electronic device, and a computer program product. Background Technology

[0004] Walking devices can complete tasks through automatic movement, and are therefore widely used in industries such as industrial and home furnishing products. Walking devices can be electronic or intelligent devices that can move automatically, such as automatic lawn mowing robots and robotic vacuum cleaners. The corresponding application environments can be lawns, floors, and other environments suitable for automatic walking devices. Summary of the Invention

[0005] The control method for the walking device provided in this disclosure facilitates the walking device to perform corresponding and effective work according to the actual boundary.

[0006] In a first aspect, embodiments of this disclosure provide a control method for a walking device. The control method includes: iteratively acquiring boundary information of the actual boundary during the walking process of the walking device, and iteratively generating a motion path based on the boundary information; controlling the walking device to move based on the motion path; acquiring user instruction information, and correcting the motion path based on the instruction information.

[0007] The control method for a walking device provided in this disclosure iteratively acquires boundary information of the actual boundary during the walking device's movement. During the process of iteratively generating a motion path based on this boundary information, the motion path of the walking device is continuously adjusted according to the boundary information of the actual boundary, enabling the walking device to perform corresponding effective work on the actual boundary. Compared to related technologies where the walking device moves and works based on a pre-created map virtual boundary, in this disclosure, the motion path of the walking device does not need to be pre-set, and the walking device can continuously adjust its motion path based on the boundary information of the actual boundary during movement. Therefore, the control method for the walking device provided in this disclosure facilitates the walking device to perform corresponding effective work on the actual boundary. Furthermore, if there are errors in the boundary information of the actual boundary acquired by the walking device, the walking device can correct its motion path based on user instructions to reduce the error in the motion path generated by the walking device based on the boundary information, thereby improving the effectiveness of the walking device in working on the actual boundary. In addition, the walking device can correct its movement path according to the user's instructions, so that the corrected movement path is consistent with the path that meets the user's expectations. This enables the walking device to meet the different distance requirements of different users for the same actual boundary, as well as the different distance requirements of the same user for different types of actual boundaries, thereby improving the walking device's ability to set according to the user's personalized needs.

[0008] Another embodiment of this disclosure provides a control method for a walking device. In the step of acquiring user instruction information and correcting the movement path based on the instruction information, the control method includes: controlling the walking device to move based on first distance control information in the instruction information and correcting the movement path; wherein, the first distance control information is the movement distance of the walking device set by the user.

[0009] The control method for the walking device provided in this embodiment corrects the motion path based on instruction information. The process of the walking device moving directly based on the first distance control information is that the walking device directly executes the movement operation after receiving the first distance control information, which makes the process of executing the movement operation simpler. Therefore, it can shorten the execution time of the walking device and improve the walking efficiency of the walking device.

[0010] Another embodiment of this disclosure provides a control method for a walking device. In the steps of acquiring user instruction information and correcting the movement path based on the instruction information, the control method further includes: acquiring edge distance information between the walking device and the actual boundary; if the difference between the edge distance information and the first distance control information is less than a dangerous distance setting threshold, controlling the walking device to remain stationary and sending confirmation information to the user; or, controlling the walking device to move based on the dangerous distance setting threshold and sending confirmation information to the user; wherein, the dangerous distance setting threshold is a set minimum distance between the walking device and the actual boundary.

[0011] The control method for the walking device provided in this embodiment may cause the walking device to malfunction or even be damaged if the difference between the distance information from the edge and the first distance control information is less than a danger distance threshold, i.e., less than the minimum distance between the walking device and the actual boundary. Therefore, the walking device sends a confirmation message to the user before directly performing the movement operation, or sends a confirmation message to the user after moving to a position at the minimum distance from the actual boundary, so as to ensure that the walking device can work normally and to protect the walking device.

[0012] Another embodiment of this disclosure provides a control method for a walking device. In the steps of acquiring user instruction information and correcting the movement path based on the instruction information, the control method includes: acquiring edge distance information between the walking device and the actual boundary; and when there is a difference between the edge distance information and the second distance control information in the instruction information, controlling the walking device to move based on the difference and correcting the movement path; wherein the second distance control information is the distance between the walking device and the actual boundary set by the user.

[0013] The control method for the walking device provided in this embodiment corrects the movement path based on instruction information. This process involves the walking device modifying the distance between itself and the actual boundary based on second distance control information. The distance between the walking device and the actual boundary is modified to the distance set by the user. Therefore, it can meet the personalized setting needs of customers and facilitate users to send instruction information to make the walking device move in a normal state.

[0014] Another embodiment of this disclosure provides a control method for a walking device. In the step of iteratively acquiring boundary information of the actual boundary during the walking process of the walking device and iteratively generating a motion path based on the boundary information, the control method includes: iteratively acquiring the distance information between the walking device and the actual boundary in the boundary information, and iteratively generating a motion path when the distance information exceeds a set distance threshold range.

[0015] The control method for the walking device provided in this embodiment generates a new motion path iteratively based on the distance information when the distance information between the walking device and the actual boundary exceeds a set distance threshold range. This ensures that the distance between the walking device and the actual boundary is within the set distance threshold range, meaning that the distance between the walking device's motion path and the actual boundary remains within the set distance range, thereby enabling the walking device to perform corresponding effective work against the actual boundary.

[0016] Another embodiment of this disclosure provides a control method for a walking device. In the step of iteratively acquiring boundary information of the actual boundary during the walking process of the walking device and iteratively generating a motion path based on the boundary information, the control method includes: iteratively acquiring the type information of the actual boundary in the boundary information, and iteratively generating a motion path when the type information changes.

[0017] The control method for the walking device provided in this embodiment generates a new motion path iteratively based on the type information when the type information changes. This allows the walking device to adjust the distance between itself and the actual boundary according to the actual boundary of different types. In other words, the walking device can adjust the distance between itself and the actual boundary of different types according to the distance requirements of the actual boundary of different types, thereby enabling the walking device to perform corresponding effective work for the actual boundary of different types.

[0018] Another embodiment of this disclosure provides a control method for a walking device. In the step of iteratively acquiring the type information of the actual boundary in the boundary information, and iterating the motion path when the type information changes: a first motion path and a second motion path are generated based on the different types of actual boundaries to iterate the motion path, and the movement path of the walking device from the end point of the first motion path to the start point of the second motion path is a straight path.

[0019] The control method for the walking device provided in this embodiment of the present disclosure is such that the walking device moves along a straight path from the end of the first movement path to the start of the second movement path, so that the walking device can move along a straight path during the process of adjusting from the first movement path to the second movement path, that is, the adjustment distance during the process of adjusting from the first movement path to the second movement path is minimized, thereby reducing the time used for the path adjustment process and improving the walking efficiency of the walking device.

[0020] Another embodiment of this disclosure provides a control method for a walking device, the control method further including storing path information of a motion path corrected based on instruction information.

[0021] The control method for the walking device provided in this embodiment of the present disclosure can store path information of the corrected movement path based on instruction information after the walking device corrects the movement path based on instruction information. This allows the walking device to walk based on the stored path information in subsequent walking processes, making the subsequent movement path of the walking device more in line with the user's expected path. It also enables the walking device to perform deep algorithm learning based on the path information of multiple walks, so that the walking device can optimize and generate a movement path that is more in line with the user's expectations.

[0022] Secondly, embodiments of this disclosure provide a control method for a walking device. The control method includes: acquiring a user's operation command, generating command information based on the operation command, sending the command information to the walking device, and the walking device moving based on the control method for a walking device according to any one of the first aspects.

[0023] The control method for the walking device in this embodiment allows the walking device to generate a motion path based on the acquired boundary information of the actual boundary. During movement, the motion path is continuously adjusted according to the boundary information, enabling the walking device to perform effective work corresponding to the actual boundary. Furthermore, if there are errors in the boundary information acquired by the walking device, the user can send commands to control the walking device to correct the motion path based on the command information, thereby reducing the error in the motion path generated by the walking device based on the boundary information and improving the effectiveness of the walking device in working according to the actual boundary. Additionally, the user can send command information generated based on operation commands to the walking device, causing the walking device to move along a path that conforms to the user's expectations. That is, the user can remotely control the walking device to move according to the command information based on operation commands, thereby improving the walking device's ability to be customized according to user needs. Therefore, the control method for the walking device enables the walking device to perform effective work corresponding to the actual boundary and also improves the walking device's ability to be customized according to user needs.

[0024] Thirdly, embodiments of this disclosure provide a walking device and a control method for the walking device according to any of the first aspects. The walking device includes an acquisition unit and a processing unit, wherein the acquisition unit is configured to iteratively acquire boundary information and acquire instruction information; the processing unit is configured to iteratively generate a motion path based on the boundary information, control the walking device to move based on the motion path, and is configured to correct the motion path based on the instruction information.

[0025] The walking device provided in this embodiment has the same technical effect as the control method applied to the walking device, which enables the walking device to perform corresponding effective work according to the actual boundary and improves the ability of the walking device to be set according to the user's personalized needs.

[0026] Fourthly, embodiments of this disclosure provide a lawn mowing device, including the walking device and the mowing mechanism described in the third aspect, wherein the mowing mechanism is connected to the walking device.

[0027] The lawn mowing device provided in this embodiment of the present disclosure has the same technical effect as the walking device, since it includes a walking device. Even though the lawn mowing device performs effective lawn mowing work according to the actual boundary, it can also improve the setting capability of the lawn mowing device based on the user's personalized needs.

[0028] Fifthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processing module, implements the steps of the control method for the walking device of any one of the first aspects.

[0029] In a sixth aspect, embodiments of this disclosure provide an electronic device including a readable storage medium and a processing module. The readable storage medium stores a computer program that can run on the processing module. When the processing module executes the computer program, it implements the steps of the control method for a walking device according to any one of the first aspects.

[0030] In a seventh aspect, embodiments of this disclosure provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps in the control method of the walking device according to any one of the first aspects. Attached Figure Description

[0031] Figure 1 is one of the flowcharts of a control method for a walking device provided in an embodiment of this disclosure;

[0032] Figure 2 is a second flowchart of a control method for a walking device provided in an embodiment of this disclosure;

[0033] Figure 3 is a schematic diagram of the motion path of the walking device based on different types of actual boundaries in the control method of the walking device provided in the embodiments of this disclosure.

[0034] Figure 4 is a third flowchart of a control method for a walking device provided in an embodiment of this disclosure;

[0035] Figure 5 is a fourth flowchart of a control method for a walking device provided in an embodiment of this disclosure;

[0036] Figure 6 is a fifth flowchart of a control method for a walking device provided in an embodiment of this disclosure;

[0037] Figure 7 is a sixth flowchart of a control method for a walking device provided in an embodiment of this disclosure;

[0038] Figure 8 is a seventh flowchart of a control method for a walking device provided in an embodiment of this disclosure;

[0039] Figure 9 is another flowchart of the control method for the walking device provided in an embodiment of this disclosure;

[0040] Figure 10 is a schematic diagram of the hardware composition of the electronic device provided in the embodiments of this disclosure.

[0041] Reference numerals in the attached figures: 11-First actual boundary; 12-Second actual boundary; 21-First motion path; 211-End point; 22-Second motion path; 221-Start point. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the specific technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings of the embodiments of this disclosure. The following embodiments are used to illustrate this disclosure, but are not intended to limit the scope of this disclosure.

[0043] In the embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0044] Furthermore, in the embodiments of this disclosure, directional terms such as "up," "down," "left," and "right" are defined relative to the orientation in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation in which the components are placed in the accompanying drawings.

[0045] In the embodiments disclosed herein, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0046] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0047] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0048] Walking devices can complete tasks through automatic movement, and are therefore widely used in industries such as industrial and home furnishing products. Walking devices can be electronic or intelligent devices that can move automatically, such as automatic lawn mowing robots and robotic vacuum cleaners. The corresponding application environments can be lawns, floors, and other environments suitable for automatic walking devices.

[0049] In some technical solutions, lawnmowers navigate and operate based on pre-created virtual map boundaries. However, there is a significant discrepancy between these virtual and actual boundaries. For example, if a car is temporarily parked on the lawn, it creates a new boundary relative to the grass. Since the virtual map lacks information about the car's boundary, this discrepancy prevents the lawnmower from effectively working within the actual boundary. Furthermore, for the same actual boundary, different users expect different distances from the edge (the distance between the lawnmower and the actual boundary), making it difficult for the actual path to match these user expectations. Moreover, users expect different distances from the edge for different actual boundaries. For instance, if the actual boundary is a wall, users expect a gap between the lawnmower and the wall edge; if the actual boundary is a swimming pool, users expect the lawnmower to overlap with or slightly exceed the outer edge of the pool, resulting in a significant deviation between the actual path and the user's expected path.

[0050] Based on one or more of the above-mentioned technical problems, this disclosure provides a control method for a walking device. Referring to FIG1, the control method includes:

[0051] S100: Iteratively acquire the boundary information of the actual boundary during the movement of the walking device, and iteratively generate the motion path based on the boundary information;

[0052] S200: Controls the walking device to move based on a motion path;

[0053] S300: Obtains user command information and corrects the motion path based on the command information.

[0054] In this embodiment of the disclosure, the boundary information of the actual boundary includes at least the distance information between the walking device and the actual boundary and the type information of the actual boundary. Furthermore, the boundary information of the actual boundary can be automatically acquired by a detection device installed on the walking device.

[0055] For example, distance information can be obtained by measuring the distance from the edge using one or more of the following: distance sensor, angle sensor, or pressure sensor mounted on a swing mechanism (which can be the robotic arm of a lawnmower or robot vacuum). The swing mechanism swings the pressure sensor so that it contacts the actual boundary, and the magnitude of the pressure generated after the pressure sensor contacts the actual boundary is detected. Alternatively, the distance information can be obtained directly by measuring the distance using a camera, Time of Flight (ToF), lidar, millimeter-wave radar, or ultrasonic radar, or by calculating the distance using software algorithms.

[0056] For information on the types of actual boundaries, taking an automated walking device used for mowing as an example, the type of actual boundary is distinguished by using a camera to detect grassy and non-grassy areas within the working range, and by using depth sensors and radar sensors to identify areas above the ground (such as walls) or below the ground (such as swimming pools).

[0057] In this embodiment of the disclosure, when the walking device does not obtain boundary information of the actual boundary within its detection range, that is, when there is no boundary within the detection range of the walking device, the walking device can walk and work according to the set working mode until the actual boundary is detected, and then the walking device is controlled to move according to the steps in the control method of the walking device.

[0058] In this embodiment, the instruction information may be information sent by the user to the walking device through an interactive device such as a mobile phone with a corresponding APP (application) or a remote control; the instruction information may also be information directly input by the user to the walking device through voice input, manually pressing different function buttons on the walking device, etc. This embodiment does not specifically limit this.

[0059] In this embodiment of the disclosure, the instruction information can be distance numerical information. For example, sending instruction information via a mobile APP or remote control can directly send distance numerical information (e.g., 5cm). After receiving the distance numerical information, the walking device corrects its movement path based on the distance numerical information. The instruction information can also be distance numerical information corresponding to a gear position. For example, pressing a gear position button on the mobile APP or remote control, and the gear position button has corresponding distance numerical information (e.g., the distance value corresponding to gear 1 is 2cm, the distance value corresponding to gear 2 is 4cm, etc.), or the distance numerical information corresponding to the gear position button is a distance value added / subtracted from the previous distance value (e.g., gear 1 adds 1cm to the original distance, gear 0 subtracts 1cm from the original distance). After receiving the gear position information, the walking device corrects its movement path based on the distance numerical information corresponding to the gear position information.

[0060] The control method for a walking device provided in this disclosure iteratively acquires the boundary information of the actual boundary during the walking device's movement. In the process of iteratively generating a motion path based on the boundary information, the motion path of the walking device is generated iteratively based on the boundary information of the actual boundary. That is, the motion path of the walking device during its movement is synchronously adjusted according to the updated boundary information of the actual boundary, so that the walking device can perform corresponding effective work for the actual boundary. Compared with the related technologies where the walking device moves and works based on a pre-created map virtual boundary, in this disclosure, the motion path of the walking device does not need to be pre-set, and the walking device can continuously adjust its motion path based on the boundary information of the actual boundary during its movement. Therefore, the control method for the walking device provided in this disclosure facilitates the walking device to perform corresponding effective work for the actual boundary. Furthermore, if there are errors in the boundary information of the actual boundary acquired by the walking device, the walking device can correct its motion path based on user instructions to reduce the error of the motion path generated by the walking device based on the boundary information, thereby improving the effectiveness of the walking device in working for the actual boundary. In addition, the walking device can correct its movement path according to the user's instructions, so that the corrected movement path is consistent with the path that meets the user's expectations. This enables the walking device to meet the different distance requirements of different users for the same actual boundary, as well as the different distance requirements of the same user for different types of actual boundaries, thereby improving the walking device's ability to set according to the user's personalized needs.

[0061] Referring to Figure 2, in some embodiments of this disclosure, step S100 includes:

[0062] S110: Iteratively obtain the distance information between the walking device and the actual boundary in the boundary information. If the distance information exceeds the set distance threshold range, iterate the motion path.

[0063] In this embodiment of the disclosure, the distance threshold from the edge can be automatically set by the walking device according to the algorithm; the distance threshold from the edge can also be manually set by the user through the control program of the control device in the walking device, which can be set according to actual needs.

[0064] In this embodiment of the disclosure, "distance information from the edge exceeds the set distance threshold range" means that the distance information from the edge is less than the minimum value of the distance threshold range, or that the distance information from the edge is greater than the maximum value of the distance threshold range.

[0065] In this embodiment of the disclosure, during the movement of the walking device, errors may occur in the measurement and control of the distance from the edge. Therefore, an error range is allowed between the walking device and the actual boundary relative to the edge distance threshold. For example, if the edge distance threshold between the walking device and the actual boundary is set to 5 cm (centimeters), and the error range is controlled within ±0.1 cm, then the edge distance threshold range is 4.9 cm to 5.1 cm. During this process, the walking device will control its distance from the actual boundary to always remain between 4.9 cm and 5.1 cm, so that the walking device can always stay within the set edge distance threshold range relative to the actual boundary.

[0066] It should be noted that, under ideal conditions where the distance measurement error and walking control error are not considered, the distance between the walking device and the actual boundary is equal to the distance threshold. That is, during the movement, the distance between the walking device and the actual boundary is always equal to the distance threshold. For example, if the distance between the walking device and the actual boundary is always 5cm, the movement trajectory of the walking device is parallel to the actual boundary.

[0067] The control method for the walking device provided in this embodiment generates a new motion path iteratively based on the distance information when the distance information between the walking device and the actual boundary exceeds a set distance threshold range. This ensures that the distance between the walking device and the actual boundary is within the set distance threshold range, meaning that the distance between the walking device's motion path and the actual boundary remains within the set distance range, thereby enabling the walking device to perform corresponding effective work against the actual boundary.

[0068] Referring to Figure 2, in some embodiments of this disclosure, step S100 includes:

[0069] S120: Iteratively obtain the type information of the actual boundary in the boundary information, and iterate the motion path when the type information changes.

[0070] In this embodiment, the distance threshold between the walking device and different types of actual boundaries varies. Referring to Figure 3, taking two types of actual boundaries as examples, Figure 3 includes a first actual boundary 11 (e.g., a swimming pool) and a second actual boundary 12 (e.g., a wall). The walking device can automatically set the distance threshold between the walking device and the first actual boundary 11 to a first distance threshold, such as 2cm, or manually set by the user, and set the distance threshold between the walking device and the second actual boundary 12 to a second distance threshold, such as 3cm. This allows the walking device to generate a first motion path 21 within the first actual boundary 11 and a second motion path 22 within the second actual boundary 12. Furthermore, under ideal conditions where distance measurement errors and walking control errors are not considered, the first actual boundary 11 is parallel to the first motion path 21, and the second actual boundary 12 is parallel to the second motion path 22.

[0071] The control method for the walking device provided in this embodiment generates a new motion path iteratively based on the type information when the type information changes. This allows the walking device to adjust the distance between itself and the actual boundary according to the actual boundary of different types. In other words, the walking device can adjust the distance between itself and the actual boundary of different types according to the distance requirements of the actual boundary of different types, thereby enabling the walking device to perform corresponding effective work for the actual boundary of different types.

[0072] Referring to Figure 3, in some embodiments of this disclosure, in step S120:

[0073] The first motion path 21 and the second motion path 22 are generated based on different types of actual boundaries to iterate the motion path, and the movement path of the walking device from the end point 211 of the first motion path 21 to the start point 221 of the second motion path 22 is a straight path.

[0074] In this embodiment of the disclosure, during the process of the change of the type information of the actual boundary, the first motion path 21 is a motion path generated based on the actual boundary before the change, and the second motion path 22 is a motion path generated based on the actual boundary after the change. Therefore, the path between the end point 211 of the first motion path 21 and the start point 221 of the second motion path 22 is a transition path in the process of the walking device changing its motion path.

[0075] The control method for the walking device provided in this embodiment of the present disclosure is such that the movement path of the walking device from the end point 211 of the first movement path 21 to the start point 221 of the second movement path 22 is a straight path, so that the walking device can move along a straight path during the process of adjusting from the first movement path 21 to the second movement path 22, that is, the adjustment distance during the process of adjusting from the first movement path 21 to the second movement path 22 is minimized, thereby reducing the time used for path adjustment and improving the walking efficiency of the walking device.

[0076] Referring to Figure 4, in some embodiments of this disclosure, step S300 includes:

[0077] S310: Obtain user command information;

[0078] S320: Control the walking device to move based on the first distance control information in the instruction information, so as to correct the movement path.

[0079] In this embodiment of the disclosure, the first distance control information is the distance the walking device will move directly, as set by the user. For example, if the distance information in the first distance control information is +2cm, the walking device will move directly 2cm in a direction closer to the actual boundary; if the distance information in the first distance control information is -2cm, the walking device will move directly 2cm in a direction farther from the actual boundary.

[0080] The control method for the walking device provided in this embodiment corrects the motion path based on instruction information. The process of the walking device moving directly based on the first distance control information is that the walking device directly executes the movement operation after receiving the first distance control information, which makes the process of executing the movement operation simpler. Therefore, it can shorten the execution time of the walking device and improve the walking efficiency of the walking device.

[0081] Referring to Figure 5, in some embodiments of this disclosure, step S300 includes:

[0082] S310: Obtain user command information;

[0083] S330: Obtain information on the distance from the edge between the walking device and the actual boundary;

[0084] S340: Determine whether the difference between the distance from the edge information and the first distance control information is less than the dangerous distance setting threshold;

[0085] S350: If so, control the walking device to remain stationary and send a confirmation message to the user;

[0086] If not, proceed to step S320.

[0087] Alternatively, referring to Figure 6, step S300 includes:

[0088] S310: Obtain user command information;

[0089] S330: Obtain information on the distance from the edge between the walking device and the actual boundary;

[0090] S340: Determine whether the difference between the distance from the edge information and the first distance control information is less than the dangerous distance setting threshold;

[0091] S360: If so, control the walking device to move based on the threshold set by the danger distance and send a confirmation message to the user;

[0092] If not, proceed to step S320.

[0093] In this embodiment, the danger distance setting threshold is the minimum distance between the walking device and the actual boundary. Furthermore, the danger distance setting threshold differs for different types of actual boundaries. For example, when the actual boundary is a wall, the walking device's movement path cannot exceed the wall, so the minimum distance between the walking device and the wall is 0, meaning the danger distance setting threshold can be 0. When the actual boundary is a swimming pool, the walking device's movement path can exceed the outer edge of the pool, but to reduce the possibility of the walking device falling into the pool, the movement path must not exceed the inner edge of the pool. In this case, the minimum distance between the walking device and the pool can be set according to the pool wall thickness. For example, when the pool wall thickness is 5cm, the minimum distance between the walking device and the pool can be set to -3cm, meaning the danger distance setting threshold is -3cm.

[0094] In this embodiment, steps S330, S340, and S350 are added between steps S310 and S320, or steps S330, S340, and S360 are added between steps S310 and S320, to reduce the possibility that the walking device may fail to work or even be damaged due to path interference.

[0095] For example, when the actual boundary is a wall, and the danger distance threshold is set to 0, if the first distance control information is +3cm (meaning the walking device moves 3cm directly towards the actual boundary), and the distance from the boundary between the walking device and the actual boundary is 2cm, then the difference between the distance from the boundary and the first distance control information is -1cm. This means that if the walking device moves directly based on the first distance control information, its path will exceed the wall by 1cm. However, in actual operation, the walking device cannot exceed the wall. Therefore, moving directly based on the first distance control information will cause the walking device to collide with the wall, rendering it inoperable or even causing damage. Thus, when the difference between the distance from the boundary and the first distance control information is less than the danger distance threshold, moving based on the first distance control information in this instruction will cause the walking device to malfunction or even be damaged. To reduce this problem, the walking device can be kept stationary and a confirmation message can be sent to the user, or the walking device can be controlled to move based on the danger distance threshold (i.e., the walking device moves to the minimum distance between itself and the actual boundary) and a confirmation message can be sent to the user.

[0096] The control method for the walking device provided in this embodiment may cause the walking device to malfunction or even be damaged if the difference between the distance information from the edge and the first distance control information is less than a danger distance threshold, i.e., less than the minimum distance between the walking device and the actual boundary. Therefore, the walking device sends a confirmation message to the user before directly performing the movement operation, or sends a confirmation message to the user after moving to a position at the minimum distance from the actual boundary, so as to ensure that the walking device can work normally and to protect the walking device.

[0097] Referring to Figure 7, in some embodiments of this disclosure, step S300 includes:

[0098] S310: Obtain user command information;

[0099] S330: Obtain information on the distance from the edge between the walking device and the actual boundary;

[0100] S370: Determine if there is a difference between the distance information from the edge and the second distance control information in the instruction information;

[0101] S380: If so, control the walking device to move based on the difference to correct the movement path;

[0102] If not, proceed to step S200.

[0103] In this embodiment of the disclosure, the second distance control information is the distance between the walking device and the actual boundary set by the user. For example, if the distance between the walking device and the actual boundary set by the user is 5cm, that is, the second distance control information is 5cm, then if the distance from the edge between the walking device and the actual boundary is 3cm, the walking device moves 2cm away from the actual boundary to correct the distance between the walking device and the actual boundary to 5cm; if the distance from the edge between the walking device and the actual boundary is 6cm, the walking device moves 1cm closer to the actual boundary to correct the distance between the walking device and the actual boundary to 5cm; if the distance from the edge between the walking device and the actual boundary is 5cm, the walking device continues to move based on the movement path before receiving the second distance control information.

[0104] The control method for the walking device provided in this embodiment corrects the motion path based on instruction information. This process involves the walking device modifying the distance between itself and the actual boundary based on second distance control information. The distance between the walking device and the actual boundary is modified to the distance set by the user. Therefore, it can meet the personalized setting needs of customers and also facilitates users to send instruction information to make the walking device move in a normal state.

[0105] Referring to Figure 8, in some embodiments of this disclosure, the control method for the walking device further includes:

[0106] S400: Stores path information for motion paths corrected based on instruction information.

[0107] The control method for the walking device provided in this embodiment can store path information of the corrected movement path based on command information after the walking device corrects the movement path based on the command information. This allows the walking device to walk based on the stored path information in subsequent walking processes, making the subsequent movement path of the walking device more in line with the user's expected path. It also enables the walking device to perform deep algorithm learning based on the path information of multiple walks, so that the walking device can optimize and generate a movement path that is more in line with the user's expectations.

[0108] Referring to Figure 9, this disclosure also provides another control method for a walking device, the control method including:

[0109] S100: Iteratively acquire the boundary information of the actual boundary during the movement of the walking device, and iteratively generate the motion path based on the boundary information;

[0110] S200: Controls the walking device to move based on a motion path;

[0111] S500: Acquires user operation commands and generates command information based on the operation commands;

[0112] S600: Sends command information to the walking device so that the walking device can correct its movement path based on the command information.

[0113] In this embodiment, the operation command is an instruction issued by the user to an interactive device such as a mobile phone or remote control with a corresponding APP. The command information is information generated by the interactive device to control the walking device to correct its movement path. The walking device is equipped with a receiving device configured to receive the command information issued by the interactive device, so that the walking device can correct its movement path based on the command information.

[0114] In this embodiment of the disclosure, the walking device can be in automatic walking mode or remote control mode. When the walking device automatically acquires the boundary information of the actual boundary and moves automatically based on the boundary information, the walking device is in automatic walking mode; when the walking device receives instruction information and corrects the movement path based on the instruction information, the walking device is in remote control mode.

[0115] In this embodiment of the disclosure, a reset button can be set on interactive devices such as mobile phone APP and remote controller. After the movement path of the walking device is corrected by the command information, pressing the reset button can make the walking device return to the initial walking and working mode, so as to facilitate user operation.

[0116] In this embodiment of the disclosure, the buttons on the interactive device configured to generate instruction information include left and right buttons that move perpendicular to the actual boundary, and forward and backward buttons that move parallel to the actual boundary. Pressing the left and right buttons respectively causes the walking device to move towards or away from the actual boundary, and pressing the forward and backward buttons respectively causes the walking device to move forward and backward parallel to the actual boundary. Furthermore, the left and right buttons and the forward and backward buttons can be pressed simultaneously to make the walking device move diagonally relative to the actual boundary.

[0117] The control method for the walking device in this embodiment allows the walking device to generate a motion path based on the acquired boundary information of the actual boundary. During movement, the motion path is continuously adjusted according to the boundary information, enabling the walking device to perform effective work corresponding to the actual boundary. Furthermore, if there are errors in the boundary information acquired by the walking device, the user can send commands to control the walking device to correct the motion path based on the command information, thereby reducing the error in the motion path generated by the walking device based on the boundary information and improving the effectiveness of the walking device in working according to the actual boundary. Additionally, the user can send command information generated based on operation commands to the walking device, causing the walking device to move along a path that conforms to the user's expectations. That is, the user can remotely control the walking device to move according to the command information based on operation commands, thereby improving the walking device's ability to be customized according to user needs. Therefore, the control method for the walking device facilitates the walking device to perform effective work corresponding to the actual boundary and also improves the walking device's ability to be customized according to user needs.

[0118] This disclosure also provides a walking device and a control method for the walking device described above. The walking device includes an acquisition unit and a processing unit. The acquisition unit is configured to iteratively acquire boundary information and acquire instruction information. The processing unit is configured to iteratively generate a motion path based on the boundary information, control the walking device to move based on the motion path, and is configured to correct the motion path based on the instruction information.

[0119] The walking device provided in this embodiment has the same technical effect as the control method applied to the walking device, which enables the walking device to perform corresponding effective work according to the actual boundary and improves the ability of the walking device to be set according to the user's personalized needs.

[0120] This disclosure also provides a lawn mowing device, including the aforementioned walking device and a lawn mowing mechanism, wherein the lawn mowing mechanism is connected to the walking device.

[0121] In this embodiment of the disclosure, the mowing mechanism can be detachably connected to the walking device, and the mowing mechanism includes a variety of different specifications, so that the mowing device can replace the mowing mechanism of different specifications according to the actual situation of the grass to be mowed, thereby making the mowing device applicable to a variety of different grasses.

[0122] The lawn mowing device provided in this embodiment of the present disclosure has the same technical effect as the walking device, since it includes a walking device. Even though the lawn mowing device performs effective lawn mowing work according to the actual boundary, it can also improve the setting capability of the lawn mowing device based on the user's personalized needs.

[0123] This disclosure also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processing module, implements the steps in the control method of any of the above-described walking devices.

[0124] This disclosure also provides an electronic device, including a readable storage medium and a processing module. The readable storage medium stores a computer program that can run on the processing module. When the processing module executes the computer program, it implements the steps in the control method of any of the above-described walking devices.

[0125] This disclosure provides a computer program product, which includes a computer program or instructions, characterized in that when the computer program or instructions are executed by a processor, they implement some or all of the steps in the above-described method.

[0126] Computer program products can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0127] It should be noted that Figure 10 is a schematic diagram of the hardware composition of an electronic device provided in an embodiment of this disclosure. The hardware entity of the electronic device 300 includes: a processor 301, a communication interface 302, and a memory 303, wherein:

[0128] The processor 301 typically controls the overall operation of the electronic device 300.

[0129] Communication interface 302 enables electronic devices to communicate with other terminals or servers via a network.

[0130] The memory 303 is configured to store instructions and applications executable by the processor 301, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) in the processor 301 and various modules in the electronic device 300. It can be implemented using flash memory or random access memory (RAM). Data transfer between the processor 301, the communication interface 302, and the memory 303 can be performed via bus 304.

[0131] It should be noted that the descriptions of the storage medium and device embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0132] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0133] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0134] The above are some embodiments of this disclosure, and are not intended to limit the patent scope of this disclosure. Any equivalent structural or procedural changes made using the content of this disclosure and its drawings, or any direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this disclosure.

Claims

1. A control method for a walking device, the control method comprising: Iteratively acquire the boundary information of the actual boundary during the movement of the walking device, and iteratively generate the motion path based on the boundary information; Control the walking device to move based on the motion path; Obtain the user's instruction information and correct the motion path based on the instruction information.

2. The control method for the walking device according to claim 1, wherein, In the step of acquiring user instruction information and correcting the motion path based on the instruction information, the control method includes: The walking device is controlled to move based on the first distance control information in the instruction information, and the movement path is corrected. The first distance control information is the movement distance of the walking device set by the user.

3. The control method for the walking device according to claim 2, wherein, In the step of acquiring user instruction information and correcting the motion path based on the instruction information, the control method further includes: Obtain the edge distance information between the walking device and the actual boundary. If the difference between the edge distance information and the first distance control information is less than the danger distance setting threshold, control the walking device to remain stationary and send a confirmation message to the user; or, control the walking device to move based on the danger distance setting threshold and send a confirmation message to the user. The danger distance threshold is the minimum distance set between the walking device and the actual boundary.

4. The control method for the walking device according to any one of claims 1-3, wherein, In the step of acquiring user instruction information and correcting the motion path based on the instruction information, the control method includes: Obtain the distance information between the walking device and the actual boundary. If there is a difference between the distance information and the second distance control information in the instruction information, control the walking device to move based on the difference and correct the movement path. The second distance control information is the distance between the walking device and the actual boundary set by the user.

5. The control method for the walking device according to any one of claims 1-4, wherein, In the step of iteratively acquiring boundary information of the actual boundaries during the movement of the walking device, and iteratively generating a motion path based on the boundary information, the control method includes: The distance information between the walking device and the actual boundary is obtained iteratively from the boundary information. If the distance information exceeds the set distance threshold range, the motion path is iterated.

6. The control method for the walking device according to any one of claims 1-5, wherein, In the step of iteratively acquiring boundary information of the actual boundaries during the movement of the walking device, and iteratively generating a motion path based on the boundary information, the control method includes: Iteratively obtain the type information of the actual boundary in the boundary information, and iterate the motion path if the type information changes.

7. The control method for the walking device according to claim 6, wherein, In the step of iteratively obtaining the type information of the actual boundary in the boundary information, and iterating the motion path when the type information changes: A first motion path and a second motion path are generated based on different types of actual boundaries to iterate the motion paths, and the movement path of the walking device from the end point of the first motion path to the start point of the second motion path is a straight path.

8. The control method for the walking device according to any one of claims 1-7, wherein, The control method further includes: Store path information of the motion path corrected based on the instruction information.

9. A control method for a walking device, the control method comprising: Obtain the user's operation instructions and generate instruction information based on the operation instructions; The instruction information is sent to the walking device, and the walking device moves according to the control method of the walking device according to any one of claims 1-8.

10. A walking device, applied to a control method for the walking device according to any one of claims 1-8, the walking device comprising: The acquisition unit is configured to iteratively acquire the boundary information and acquire the instruction information; The processing unit is configured to iteratively generate a motion path based on the boundary information, control the walking device to move based on the motion path, and is configured to correct the motion path based on the instruction information.

11. A lawn mowing device, comprising: The walking device as described in claim 10; A lawn-mowing mechanism is connected to the walking device.

12. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processing module, implements the steps of the control method for the walking device according to any one of claims 1-8.

13. An electronic device comprising a readable storage medium and a processing module, the readable storage medium storing a computer program capable of running on the processing module, the processing module executing the computer program to implement the steps of the control method for a walking device according to any one of claims 1-8.

14. A computer program product comprising a computer program or instructions, which, when executed by a processor, implement the steps of the control method for the walking device according to any one of claims 1-8.

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