WO2024179481A1

WO2024179481A1 - Self-moving device, control method, and autonomous working system

Info

Publication number: WO2024179481A1
Application number: PCT/CN2024/078871
Authority: WO
Inventors: 陈亚扣; 朱宏杰; 杨晓琪
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2023-02-28
Filing date: 2024-02-28
Publication date: 2024-09-06

Abstract

The present disclosure provides a self-moving device, a control method, and an autonomous working system. The self-moving device moves and works in a working area, and comprises: a driving module, configured to drive, according to a driving instruction, the self-moving device to move; a satellite positioning module, configured to generate satellite positioning information, wherein the satellite positioning information comprises signal quality information of the self-moving device at each location; and a control module, connected to the driving module and the satellite positioning module and configured to control, according to the satellite positioning information, the driving module to drive the self-moving device to move along a preset path; and in the process of controlling, according to the satellite positioning information, the driving module to drive the self-moving device to move along the preset path, if a preset condition is detected, control the self-moving device to accelerate once or multiple times, so that the self-moving device quickly passes through a shadow area on the preset path, wherein when the self-moving device is in the shadow area, the satellite positioning information does not meet a preset signal quality requirement.

Description

Self-contained equipment and control method, and autonomous working system

Technical Field

The present invention relates to the technical field of control of a self-moving device, and in particular to a self-moving device, a control method and an autonomous working system.

Background Art

With the development of science and technology, self-driving devices with automatic driving functions are widely used, such as automatic lawn mowers, automatic snow blowers, etc. Self-driving devices can automatically complete related tasks according to pre-set programs, thereby saving users' time and labor, and bringing convenience to users' lives.

In the related technology, the self-moving device can use positioning technology (for example, global positioning system (GPS) navigation, Beidou signal navigation and other positioning technologies) to achieve navigation, so that the self-moving device can automatically drive along the preset path. However, during the navigation process using positioning technology, the self-moving device may enter the shadow area, resulting in the blocking of the positioning signal and inaccurate positioning. If the self-moving device is in the shadow area for a long time, the self-moving device may not work properly. Taking the self-moving device as an automatic lawn mower as an example, if the automatic lawn mower is in the shadow area for a long time, it may cause the automatic lawn mower to drive to a dangerous area or cause the automatic lawn mower to miss grass during mowing.

Summary of the invention

In view of this, the embodiments of the present disclosure are directed to providing a self-moving device and a control method, as well as an autonomous working system, to solve the problem that the self-moving device cannot work normally when it is in a shadow area for a long time.

In a first aspect, a self-moving device is provided, which moves and works in a working area, and includes: a driving module, configured to drive the self-moving device to move according to a driving instruction; a satellite positioning module, configured to output satellite positioning information, the satellite positioning information including signal quality information of the self-moving device at each position; a control module, connected to the driving module and the satellite positioning module, and configured to control the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information; during the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if a preset condition is detected, the control module controls the self-moving device to accelerate once or multiple times so that the self-moving device quickly passes through a shadow area on the preset path; wherein, when the self-moving device is in the shadow area, the satellite positioning information output by the satellite positioning module does not meet the preset signal quality requirement.

In a second aspect, an autonomous working system is provided, wherein the autonomous working system comprises the autonomous moving device as described in the first aspect.

In a third aspect, a control method for a self-moving device is provided, wherein the self-moving device moves and works in a working area, the self-moving device includes a driving module and a satellite positioning module, the driving module is configured to drive the self-moving device to move according to a driving instruction, and the satellite positioning module is configured to output satellite positioning information, and the satellite positioning information includes signal quality information of the self-moving device at each position; the control method includes: controlling the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information; in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if a preset condition is detected, controlling the self-moving device to accelerate once or multiple times so that the self-moving device quickly passes through a shadow area on the preset path; wherein, when the self-moving device is in the shadow area, the satellite positioning information output by the satellite positioning module does not meet the preset signal quality requirement.

In a fourth aspect, a computer-readable storage medium is provided, on which executable code is stored. When the executable code is executed, the method described in the third aspect can be implemented.

According to a fifth aspect, a computer program product is provided, comprising an executable code, which, when executed, can implement the method described in the third aspect.

In the disclosed embodiment, when the self-moving device moves to the shadow area, the control module can, under preset conditions, control the self-moving device to accelerate once or multiple times, so as to ensure that the self-moving device quickly passes through the shadow area by increasing the moving speed of the self-moving device, thereby helping to solve the problem that the self-moving device cannot work normally when it is in the shadow area for a long time.

An embodiment of the present invention also provides a self-moving device, which, in a first aspect, moves and works in a working area, and includes: a driving module, configured to drive the self-moving device to move according to a driving instruction; a satellite positioning module, configured to generate satellite positioning information, the satellite positioning information including signal quality information of the self-moving device at each position; a control module, connected to the driving module and the satellite positioning module, and configured to control the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information; in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if the control module detects that the satellite positioning information meets a preset condition, the control module controls the self-moving device to accelerate once or multiple times so that the self-moving device quickly passes through a shadow area on the preset path; wherein, when the self-moving device is in the shadow area, the satellite positioning information generated by the satellite positioning module does not meet the preset signal quality requirement.

In a third aspect, a control method for a self-moving device is provided, wherein the self-moving device moves and works in a working area, the self-moving device includes a driving module and a satellite positioning module, the driving module is configured to drive the self-moving device to move according to a driving instruction, and the satellite positioning module is configured to generate satellite positioning information, and the satellite positioning information includes signal quality information of the self-moving device at each position; the control method includes: controlling the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information; in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if it is detected that the satellite positioning information meets a preset condition, controlling the self-moving device to accelerate once or multiple times so that the self-moving device quickly passes through a shadow area on the preset path; wherein, when the self-moving device is in the shadow area, the satellite positioning information generated by the satellite positioning module does not meet the preset signal quality requirement.

In the disclosed embodiment, when the self-moving device moves to a shadow area, the control module can control the self-moving device to accelerate once or multiple times if the satellite positioning information of the self-moving device meets preset conditions, so as to ensure that the self-moving device quickly passes through the shadow area by increasing the moving speed of the self-moving device, thereby helping to solve the problem that the self-moving device cannot work normally when it is in a shadow area for a long time.

The embodiment of the present invention further provides a self-moving device, which moves within a working area defined by a boundary, and the self-moving device comprises: a satellite positioning module, which determines the position of the self-moving device by receiving a positioning signal, and when the positioning signal does not meet a preset quality requirement, the self-moving device is in a shadow area; a control module, which is configured to: store a signal recovery point set, the signal recovery point set records the position of the signal recovery point of the self-moving device, and the priority of the signal recovery point, the priority representing the signal recovery point. The probability that a signal recovery point is selected as a target signal recovery point, wherein the signal recovery point is a position where the positioning signal meets a preset quality requirement; when the self-mobile device is in the shadow area, based on the priority, the target signal recovery point is selected from the signal recovery point set; the self-mobile device is controlled to move to the target signal recovery point to perform positioning signal recovery at the target signal recovery point.

In one embodiment, the priority corresponding to the target signal recovery point is higher than the priority corresponding to the current position of the mobile device.

In one embodiment, the target signal recovery point is a location point with the highest priority within a first preset range of the current location of the mobile device.

In one embodiment, the target signal recovery point is the position point with the highest priority in the signal recovery point set.

In one embodiment, selecting a target signal recovery point from the signal recovery point set based on the priority includes: selecting a target signal recovery point from the signal recovery point set based on the priority and a distance between the current position of the mobile device and the signal recovery point.

In one embodiment, when the signal recovery point set includes the signal recovery points with the same priority, the signal recovery point closest to the current position of the mobile device is selected as the target signal recovery point.

In one embodiment, the signal recovery point set includes a first type of signal recovery point, and the priority corresponding to the first type of signal recovery point is represented by the distance between the first type of signal recovery point and the boundary.

In one embodiment, the greater the distance between the first-type signal recovery point and the boundary, the higher the priority corresponding to the first-type signal recovery point.

In one embodiment, the target signal recovery point is a position point with the largest distance from the boundary; or, the target signal recovery point is a position point with the largest distance from the boundary within a second preset range of the current position of the self-mobile device.

In one embodiment, the signal recovery point set includes a second type of signal recovery point, and the second type of signal recovery point is a position point where the signal quality recorded by the mobile device during movement is greater than a first threshold, and the priority corresponding to the second type of signal recovery point is represented by an evaluation value of the distance information evaluation.

In one embodiment, in the signal recovery point set, the second type of signal recovery points include a portion of position points where the signal quality recorded by the mobile device during movement is greater than a first threshold.

In one embodiment, the distance between the second type of recovery points is greater than a second threshold.

In one embodiment, the distance information includes one or more of the following: the distance between the second type of signal recovery point and the boundary, and the distance between the second type of signal recovery point and the current position of the self-mobile device.

In one embodiment, the evaluation value is positively correlated with the distance between the second type of signal recovery point and the boundary; the evaluation value is negatively correlated with the distance between the second type of signal recovery point and the current position of the self-mobile device.

In one embodiment, the target signal recovery point is a position point with a maximum evaluation value within the boundary, or the target signal recovery point is a position point with a maximum evaluation value within a third preset range of the current position of the self-mobile device.

In one embodiment, the signal recovery point set includes a third type of signal recovery point, which is a location point recorded by the self-moving device during movement. The priority corresponding to the third type of signal recovery point is expressed by a signal recovery probability, and the signal recovery probability is updated based on the signal quality when the self-moving device passes through the third type of signal recovery point again.

In one embodiment, the signal recovery probability currently corresponding to the third type of signal recovery point is the first probability. The control module is also configured to: when the self-mobile device passes through the third-class signal recovery point again, if the signal quality of the third-class signal recovery point is greater than a third threshold, update the signal recovery probability corresponding to the third-class signal recovery point to a second probability, and the second probability is greater than the first probability; or, when the self-mobile device passes through the third-class signal recovery point again, if the signal quality of the third-class signal recovery point is less than or equal to the third threshold, update the signal recovery probability corresponding to the third-class signal recovery point to a third probability, and the third probability is less than the first probability.

In one embodiment, the signal recovery point set includes a first type of signal recovery point and a second type of signal recovery point, the priority corresponding to the first type of signal recovery point is expressed by the distance between the first type of signal recovery point and the boundary, and the priority corresponding to the second type of signal recovery point is expressed by an evaluation value of the distance information; selecting a target signal recovery point from the signal recovery point set based on the priority includes: based on the priority, preferentially selecting a target signal recovery point from the first type of signal recovery point.

In one embodiment, the control module is further configured to: if the positioning signal does not meet the preset quality requirements when the self-mobile device is at the first target signal recovery point, then based on the priority, select a second target signal recovery point from the second type of signal recovery point; and control the self-mobile device to move to the second target signal recovery point.

In one embodiment, when the positioning result of the positioning signal is a fixed solution and the discreteness of multiple positions determined based on the positioning signal is less than or equal to a threshold, the positioning signal meets the preset quality requirement.

In one embodiment, the dispersion degree is determined by the longitude standard deviation and the latitude standard deviation between the plurality of locations.

An embodiment of the present invention also provides a method for controlling a self-moving device, wherein the self-moving device moves within a working area defined by a boundary, the self-moving device includes a positioning system, the positioning system determines the position of the self-moving device by receiving a positioning signal, and when the positioning signal does not meet a preset quality requirement, the self-moving device is in a shadow area, the method comprising: storing a signal recovery point set, the signal recovery point set recording the position of the signal recovery point of the self-moving device and the priority of the signal recovery point, the priority representing the probability of the signal recovery point being selected as a target signal recovery point, the signal recovery point being a position where the positioning signal meets the preset quality requirement; when the self-moving device is in the shadow area, selecting the target signal recovery point from the signal recovery point set based on the priority; and controlling the self-moving device to move to the target signal recovery point to perform positioning signal recovery at the target signal recovery point.

It can be seen that the present application can determine the target signal recovery point based on the priority. Compared with the mobile device arbitrarily changing the moving direction, the mobile device moves to the target signal recovery point, and the probability of signal quality recovery of the positioning signal of the mobile device is higher and the security is better. Therefore, based on this solution, the mobile device can restore the quality of the positioning signal faster, so that it can work normally more safely and continuously.

An embodiment of the present invention also provides a self-moving device, including: a satellite positioning module, determining the position of the self-moving device through a received positioning signal, and when the positioning signal does not meet a preset quality requirement, the self-moving device is in a shadow area; a control module, the control module being configured to: in response to a first parameter of the self-moving device moving in the shadow area being greater than a first threshold, control the self-moving device to change the moving direction; and in response to a first parameter of the self-moving device moving in the shadow area being greater than a second threshold, control the self-moving device to stop working and/or alarm; wherein the first parameter is a parameter characterizing the duration of time the self-moving device remains in the shadow area, and the first threshold is less than the second threshold.

In one embodiment, the control module is further configured to: in response to the first parameter of the self-moving device moving in the shadow area being less than or equal to the first threshold, control the self-moving device to move along the planned working route. move.

In one embodiment, in response to the first parameter of the self-moving device moving in the shadow area being less than or equal to the first threshold, controlling the self-moving device to move along the planned working route includes: in response to the first parameter of the self-moving device moving in the shadow area being less than or equal to a third threshold and the movement direction of the self-moving device changing, controlling the self-moving device to continue moving along the working route from the position after the movement direction changes.

In one embodiment, in response to the first parameter of the self-moving device moving in the shadow area being less than or equal to the first threshold, controlling the self-moving device to move along the planned working route includes: in response to the first parameter of the self-moving device moving in the shadow area reaching a third threshold and the movement direction of the self-moving device not changing, controlling the self-moving device to change the movement direction and move along the working route.

In one embodiment, the working route is a pre-planned path, or the working route is a re-planned path based on the current position.

In one embodiment, in response to a first parameter of the self-moving device moving in the shadow area being greater than a first threshold, controlling the self-moving device to change the moving direction includes: in response to a first parameter of the self-moving device moving in the shadow area being greater than a first threshold, controlling the self-moving device to move toward a signal recovery point.

In one embodiment, controlling the self-moving device to move toward the signal recovery point includes: controlling the self-moving device to move toward a first signal recovery point; if the self-moving device is in the shadow area at the first signal recovery point, controlling the self-moving device to move from the first signal recovery point to a second signal recovery point.

In one embodiment, before moving to the second signal recovery point, the control module is further configured to: control the self-mobile device to wait for a preset time at the first signal recovery point; if the positioning signal does not meet the preset quality requirements within the preset time, control the self-mobile device to move from the first signal recovery point to the second signal recovery point.

In one embodiment, the control module is further configured to: detect the positioning signal during the movement toward the signal recovery point; if the positioning signal meets a preset quality requirement, control the mobile device to move toward the planned working route.

In one embodiment, controlling the self-moving device to move toward the signal recovery point includes: searching for an artificially set signal recovery point within a preset range of the current position; and controlling the self-moving device to move from the current position to the artificially set signal recovery point.

In one embodiment, the manually set signal recovery point includes a position point preset by a user.

In one embodiment, the first threshold is related to the movement mode of the self-moving device, wherein the corresponding first threshold is different in the edge mode and the non-edge mode.

In one embodiment, it also includes: a timer and/or a rangefinder; the control module is configured to: in response to the self-moving device entering the shadow area, control the timer to start recording the movement duration and/or control the rangefinder to start recording the movement distance, and in response to the positioning signal at the location of the self-moving device meeting the preset quality requirements, control the timer and/or the rangefinder to perform a zeroing operation.

An embodiment of the present invention also provides a method for controlling a self-moving device, wherein the self-moving device includes a satellite positioning module, and the satellite positioning module determines the position of the self-moving device through a received positioning signal. When the positioning signal does not meet a preset quality requirement, the self-moving device is in a shadow area; the method includes: in response to a first parameter of the self-moving device moving in the shadow area being greater than a first threshold, controlling the self-moving device to change a moving direction; and in response to a first parameter of the self-moving device moving in the shadow area being greater than a second threshold, controlling the self-moving device to stop working and/or alarm; wherein the first parameter is a parameter characterizing the duration of time the self-moving device stays in the shadow area, and the first threshold is less than the second threshold.

In the embodiment of this specification, by changing the moving direction, the probability of the mobile device moving to the non-shadow area may be increased. The positioning signal quality can be restored so that the self-moving device can continue to move along the planned working route. If the positioning signal quality continues to be poor, the present application further limits the moving time of the self-moving device in the shadow area, thereby avoiding the self-moving device from being unable to work or having accidents.

An embodiment of the present invention provides a method for controlling a self-moving device, comprising: acquiring a positioning signal received during the movement of the self-moving device; controlling the self-moving device to move along a preset working path according to the positioning signal; if the positioning signal does not meet a preset quality condition, controlling the self-moving device to move to a recovery position, the recovery position being a position where the positioning signal quality meets the preset quality condition; if during the process of controlling the self-moving device to move to the recovery position, it is detected that the positioning signal quality meets the preset quality condition, controlling the self-moving device to move to the preset working path.

In one embodiment, controlling the self-moving device to move toward the preset working path includes: counting the duration during which the positioning signal quality does not meet the preset quality condition during the process of the self-moving device moving toward the preset working path; if the self-moving device returns to the preset working path before the duration reaches a first duration threshold, controlling the self-moving device to move along the preset working path.

In one embodiment, if the self-moving device has not reached the preset operation path when the duration reaches the first duration threshold, the self-moving device is controlled to move to another recovery position.

In one embodiment, controlling the self-moving device to move toward the preset working path includes: controlling the self-moving device to move toward a target position on the preset working path.

In one embodiment, controlling the self-moving device to move to the target position on the preset working path includes: controlling the self-moving device to move to a first target position on the preset working path; if the positioning signal does not meet a preset condition during the movement of the self-moving device to the first target position, controlling the self-moving device to move to a recovery position; and controlling the self-moving device to move to the first target position if the positioning signal quality meets a preset quality condition during the movement of the self-moving device to the recovery position.

In one embodiment, controlling the self-moving device to move to the target position on the preset working path includes: controlling the self-moving device to move to a first target position on the preset working path; if the positioning signal does not meet a preset quality condition during the movement of the self-moving device to the first target position, controlling the self-moving device to move to a recovery position; if the positioning signal quality meets the preset quality condition during the movement of the self-moving device to the recovery position, controlling the self-moving device to move to a second target position; wherein the second target position is a position in front of the first target position, and the front is determined based on taking the moving direction of the self-moving device on the preset working path as the positive direction.

In one embodiment, the first target position includes a position on the preset operation path that the self-moving device has passed.

In one embodiment, the first target position includes a position located in front of an original position, the original position being the position corresponding to when the self-moving device leaves the preset working path, and the front is determined based on taking the moving direction of the self-moving device on the preset working path as the positive direction.

In one embodiment, the process of determining the second target position includes: counting the number of times the self-moving device moves toward the preset working path; determining the second target position based on the original position, the number of movements and a preset adjustment step; wherein the original position is the position corresponding to when the self-moving device leaves the preset working path.

In one embodiment, the method further includes: counting the number of times the mobile device moves toward the preset operation path or the duration for which the positioning signal does not meet the preset quality condition; if the number of times reaches a preset number threshold Or the duration reaches a second duration threshold, and the self-moving device is controlled to shut down.

In one embodiment, in the case where multiple recovery positions are included, before controlling the self-moving device to move to the recovery position, it includes: determining that the recovery position closest to the current position of the self-moving device among the multiple recovery positions is the target recovery position; and controlling the self-moving device to move to the target recovery position.

An embodiment of the present invention also provides a self-moving device control device, including: an acquisition unit, used to acquire a positioning signal received during the movement of the self-moving device; a first control unit, used to control the self-moving device to move along a preset working path according to the positioning signal; a second control unit, used to control the self-moving device to move to a recovery position if the positioning signal does not meet the preset quality condition, and the recovery position is a position where the positioning signal quality meets the preset quality condition; a third control unit, used to control the self-moving device to move to the preset working path if it is detected that the positioning signal quality meets the preset quality condition during the process of controlling the self-moving device to move to the recovery position.

Based on the above content, through the self-moving device control method provided by the present application, in the process of obtaining the positioning signal received during the movement of the self-moving device and controlling the self-moving device to move along the preset working path according to the positioning signal, if the positioning signal does not meet the preset quality condition, the self-moving device is controlled to move to the recovery position, and if the positioning signal quality meets the preset quality condition during the movement to the recovery position, the self-moving device is controlled to move to the preset working path. This method adjusts the position of the self-moving device when the positioning signal quality does not meet the preset quality condition, so that the self-moving device can obtain the positioning signal that meets the preset quality condition again, thereby ensuring that the self-moving device can accurately know its position in the working map, which helps to improve working efficiency, while avoiding working accidents caused by moving path errors and improving working safety.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in describing the embodiments of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these drawings without creative work.

FIG1 is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present disclosure.

FIG2 is a schematic diagram of a flow chart of executing a shadow strategy according to an embodiment of the present disclosure.

FIG. 3 is an example diagram of changing the movement mode of a mobile device provided by an embodiment of the present disclosure.

FIG. 4 is a schematic diagram of the application process of the embodiment of the present disclosure in different scenarios.

FIG. 5 is a schematic diagram of a process of a mobile device passing through a shadow area provided by an embodiment of the present disclosure.

FIG. 6 is an example diagram of a mobile device passing through a shadow area provided by an embodiment of the present disclosure.

FIG. 7 is an example diagram of a mobile device passing through a shadow area provided by another embodiment of the present disclosure.

FIG8 is a schematic flow chart of a method for controlling a self-moving device provided in an embodiment of the present disclosure.

FIG. 9 is an example diagram of a working area division method provided in an embodiment of the present application.

FIG. 10 is an example diagram of the distance between a grid and a boundary.

FIG. 11 is an example diagram of a first type of signal recovery point provided in an embodiment of the present application.

FIG12 is an example diagram of the second type of signal recovery points provided in an embodiment of the present application.

FIG. 13 is an example diagram of a shadow map provided in an embodiment of the present application.

FIG. 14 is an example diagram of the fourth type of signal recovery point provided in an embodiment of the present application.

FIG. 15 is a schematic flowchart of a method for controlling a self-moving device provided in an embodiment of the present application.

FIG. 16 is an example of a method for determining whether a positioning signal meets a preset quality requirement provided by an embodiment of the present application. Intentional flow chart.

FIG. 17 is a schematic structural diagram of a self-moving device provided in an embodiment of the present application.

FIG. 18 is a schematic flowchart of another method for controlling a self-moving device provided in an embodiment of the present application.

FIG. 19 is an example diagram of an edge-type route.

FIG. 20 is an example diagram of a bow-shaped route.

FIG. 21 is a schematic diagram of a route for movement of a mobile device provided in an embodiment of the present application.

FIG. 22 is a schematic diagram of another route for movement of a mobile device provided in an embodiment of the present application.

FIG. 23 is a schematic diagram of a route for a self-mobile device to move based on signal points provided in an embodiment of the present application.

FIG. 24 is a schematic structural diagram of another self-moving device provided in an embodiment of the present application.

FIG. 25 is a schematic flowchart of a method for controlling a self-moving device provided in an embodiment of the present application.

FIG. 26 is a schematic flowchart of a method for controlling a self-moving device provided in Embodiment 1 of the present application.

FIG. 27 is a schematic flowchart of a method for controlling a self-moving device provided in Embodiment 2 of the present application.

FIG. 28 is a schematic diagram of an application scenario provided by an embodiment of the present invention.

FIG. 29 is a flow chart of a method for controlling a self-moving device provided in an embodiment of the present invention.

FIG30 is a schematic diagram of a moving trajectory of a self-moving device provided in an embodiment of the present invention.

FIG. 31 is a flowchart of another method for controlling a self-moving device provided in an embodiment of the present invention.

FIG. 32 is a schematic diagram of the moving trajectory of another self-moving device provided in an embodiment of the present invention.

FIG. 33 is a flowchart of yet another method for controlling a self-moving device provided in an embodiment of the present invention.

FIG. 34 is a schematic diagram of a moving trajectory of another self-moving device provided in an embodiment of the present invention.

FIG. 35 is a schematic diagram of a moving trajectory of another self-moving device provided in an embodiment of the present invention.

FIG. 36 is a schematic diagram of the moving trajectory of another self-moving device provided in an embodiment of the present invention.

FIG. 37 is a schematic diagram of the moving trajectory of another self-moving device provided in an embodiment of the present invention.

FIG38 is a structural block diagram of a self-moving equipment control device provided in an embodiment of the present invention.

Figure 39 is a schematic diagram of a self-moving system provided by an embodiment of the present invention.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments.

With the rapid development of science and technology, intelligent control technology is increasingly used in people's lives. As a smart product derived from intelligent control technology, self-mobile devices can bring convenience and speed to people's lives. Therefore, self-mobile devices are frequently used in people's lives.

The types (or categories) of the self-moving device may include many, and the embodiments of the present disclosure are not limited thereto. For example, the self-moving device may be an automatic lawn mower, an automatic snow sweeper, an automatic watering machine, an automatic sweeper, a mopping robot, a sweeping and mopping robot, etc.

The self-moving device can perform work tasks in the working area, for example, perform one or more work tasks. For example, when the self-moving device is an automatic lawn mower, it can perform mowing tasks in the working area, or it can also perform other tasks such as charging tasks in the working area. For another example, when the self-moving device is an automatic snow sweeper, it can perform snow sweeping tasks or other tasks in the working area. For another example, when the self-moving device is an automatic watering machine, it can perform watering tasks or other tasks in the working area.

Self-driving equipment generally has an automatic driving function, which can perform work tasks during the automatic driving process, or in other words, the self-driving equipment can move and work in the work area. As an implementation method, the self-driving equipment can Navigation is achieved by using satellite positioning technology (for example, GPS navigation, Beidou signal navigation and other positioning technologies) so that the self-moving device can automatically drive along a preset path, thereby having an automatic driving function.

However, during navigation using satellite positioning technology, the self-mobile device may enter a shadow area. Once the self-mobile device enters the shadow area, the positioning signal of the self-mobile device will be blocked, which may cause inaccurate positioning of the self-mobile device. It should be understood that in the embodiment of the present disclosure, the shadow area refers to an area that will affect (or block) the positioning signal of the self-mobile device. In other words, in the embodiment of the present disclosure, when the self-mobile device is in a shadow area, the positioning signal of the self-mobile device will be blocked. For example, when the self-mobile device moves near an obstacle (such as a house, a tree, a bush, etc.), such as moving along an obstacle, the obstacle may block the positioning signal of the self-mobile device, resulting in inaccurate positioning of the self-mobile device. In this case, the area where the obstacle blocks the positioning signal of the self-mobile device can be called a shadow area.

As a result, if the self-moving device is in the shadow area for a long time, it may cause the self-moving device to not work properly. For example, if the self-moving device is an automatic lawn mower, if the automatic lawn mower is in the shadow area for a long time, it may cause the automatic lawn mower to drive into a dangerous area (for example, drive out of the boundary) or cause the automatic lawn mower to miss grass during mowing.

In order to solve the above problems, the embodiments of the present disclosure provide a self-moving device and a control method thereof, and an autonomous working system. The embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings.

In the first aspect, the embodiment of the present disclosure provides a self-moving device. FIG1 is a schematic diagram of the structure of the self-moving device 10 provided by the embodiment of the present disclosure. As shown in FIG1, the self-moving device 10 may include a driving module 101, a satellite positioning module 102, and a control module 103. The following introduces these modules (or components, parts, sensors, chips, etc.) included in the self-moving device 10.

The driving module 101 may be configured to drive the self-moving device 10 to move according to the driving instruction. For example, the driving module 101 may drive the self-moving device 10 to move within the working area. In some embodiments, the driving module 101 may also drive the self-moving device 10 to move outside the working area, which may be specifically set according to actual conditions.

In some embodiments, the driving module 101 may include an electric motor, etc., for providing driving power.

In some embodiments, the driving module 101 may further include a moving component. As an implementation, the driving module 101 driving the self-moving device 10 to move according to the driving instruction may include: the driving module 101 may drive the moving component to move according to the driving instruction to drive the self-moving device 10 to move.

The moving assembly can be installed at the bottom of the self-moving device 10. The moving assembly can also be called a traveling assembly, a moving mechanism, a moving component, etc., which is not limited in the embodiment of the present disclosure.

The moving component may be, for example, a wheel body, such as a universal wheel, a driving wheel, etc. When the moving component includes a universal wheel, it can be used to change the direction of travel of the self-moving device 10. The universal wheel may be installed at the bottom front end of the self-moving device 10 (the front end of the forward direction of the self-moving device 10). When the moving component includes a driving wheel, it can be used to drive the self-moving device 10 to move. The driving wheel may be installed at the bottom side of the self-moving device 10.

The satellite positioning module 102 may be configured to generate satellite positioning information, or in other words, the satellite positioning module 102 may be configured to generate location information (or current location information, etc.) from the mobile device 10 .

As an implementation manner, the satellite positioning module 102 may include, for example, a satellite navigation device or a satellite positioning chip. The satellite navigation device may be configured to receive satellite signals and output satellite positioning information from the mobile device 10 .

The satellite positioning information generated by the satellite positioning module 102 may include the signal quality information of the mobile device at each location, or it can be understood that the satellite positioning information may include the signal quality information corresponding to the positioning signal of the mobile device at each location. The signal quality information of the mobile device at each location can be used to indicate the accuracy of the positioning of the mobile device at that location. For example, the signal quality information of the mobile device at a certain location is good, which can indicate that the mobile device is The positioning of the mobile device at the location is relatively accurate; if the signal quality information of the mobile device at a certain location is poor, it can be explained that the positioning of the mobile device at the location is relatively inaccurate.

It should be noted that the signal quality information generated by the satellite positioning module 102 at different locations may be different. For example, the signal quality information may vary as the working environment of the self-mobile device 10 changes. Exemplarily, when the self-mobile device 10 is in a relatively open working area, the satellite positioning module 102 can receive navigation signals from multiple satellites, and the communication signal between the satellite positioning module 102 and the satellite will not be blocked. Therefore, the signal quality information generated by the satellite positioning module 102 is relatively good, and the positioning result is relatively accurate; when the self-mobile device 10 is in a shadow area, the satellite positioning module 102 is blocked by obstacles (such as houses, trees, etc.), and can only receive navigation signals from a few satellites or no navigation signals from satellites, resulting in the communication signal between the satellite positioning module 102 and the satellite being blocked. Therefore, the signal quality information generated by the satellite positioning module 102 is relatively poor, and the positioning result is relatively inaccurate.

The control module (or controller, control component, etc.) 103 is connected to the drive module 101 and the satellite positioning module 102, for example, by communication connection. It should be understood that the communication connection mentioned in the embodiments of the present disclosure should be understood in a broad sense, that is, the control module 103 and the drive module 101, or the control module 103 and the satellite positioning module 102 can communicate, and the specific connection methods may include multiple. For example, the control module 103 and the drive module 101 and the satellite positioning module 102 may be fixedly connected or detachably connected; may be mechanically connected or electrically connected; may be directly connected or indirectly connected through an intermediate medium, or may be internally connected to the components, etc.

In some embodiments, the connection mode between the control module 103 and the driving module 101 and the connection mode between the control module 103 and the satellite positioning module 102 may be the same, for example, both are electrically connected. In some embodiments, the connection mode between the control module 103 and the driving module 101 and the connection mode between the control module 103 and the satellite positioning module 102 may be different, for example, the control module 103 and the driving module 101 are mechanically connected, and the control module 103 and the satellite positioning module 102 are electrically connected, etc.

In the disclosed embodiment, the control module 103 can be implemented by a processor, for example, and the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

In the embodiment of the present disclosure, the control module 103 may be configured to control the driving module 101 to drive the mobile device 10 to move along a preset path according to the satellite positioning information generated by the satellite positioning module 102 .

The embodiments of the present disclosure do not specifically limit the preset path. For example, the preset path may be a walking path preset for the self-moving device to perform a work task; or, the preset path may be an approach path or an exit path preset for the self-moving device; or, the preset path may be a transition path or a detour path preset for the self-moving device.

The embodiment of the present disclosure does not specifically limit the method for generating the preset path. For example, the preset path can be generated manually, or can be generated by a path planning algorithm.

In the embodiment of the present disclosure, the mobile device 10 may pass through a shadow area while moving along a preset path, or in other words, a shadow area may exist on the preset path. When the mobile device 10 is in the shadow area, the satellite positioning information generated by the satellite positioning module 102 does not meet the preset signal quality requirement. Correspondingly, when the mobile device 10 is in a non-shadow area, the satellite positioning information generated by the satellite positioning module 102 meets the preset signal quality requirement.

The embodiment of the present disclosure does not specifically limit the expression form of the preset signal quality requirement, and may be expressed in a specific manner according to actual conditions. As an implementation, the preset signal quality requirement may be reflected in accordance with the signal quality level. For example, the signal quality level may include multiple levels such as good signal quality, general signal quality, and poor signal quality. If the signal quality level of the satellite positioning information is poor signal quality, it can be considered that the satellite positioning information does not meet the preset signal quality requirement, or if the signal quality level of the satellite positioning information is poor signal quality or general signal quality, it can be considered that the satellite positioning information does not meet the preset signal quality requirement. As another implementation, the preset signal quality requirement may be reflected in accordance with the number of satellites of the positioning signal that the satellite positioning module 102 can receive. For example, if the number of satellites of the positioning signal that the satellite positioning module 102 can receive is less than or equal to 2, it can be considered that the satellite positioning information does not meet the preset signal quality requirement, or if the number of satellites of the positioning signal that the satellite positioning module 102 can receive is less than or equal to 4, it can be considered that the satellite positioning information does not meet the preset signal quality requirement.

In the disclosed embodiment, when the control module 103 controls the driving module 101 to drive the self-moving device 10 to move along a preset path according to the satellite positioning information, if a preset condition is detected, the control module 103 can control the self-moving device 10 to accelerate (or speed up) one or more times (twice or more than twice) so that the self-moving device 10 can quickly pass through the shadow area on the preset path.

In some embodiments, the self-mobile device 10 may also include a timer (not shown in the figure), which can be used to record the duration of the satellite positioning information of the self-mobile device 10 not meeting the preset signal quality requirement (in the shadow area), so that when the self-mobile device 10 cannot rush out of the shadow area within the specified time, the control module 103 can control the self-mobile device 10 to stop moving, so as to avoid the problem that the self-mobile device 10 cannot work normally due to the self-mobile device 10 being in the shadow area for a long time; or, when the self-mobile device 10 does not rush out of the shadow area within the specified time, the control module 103 can control the self-mobile device to accelerate, so that the self-mobile device can rush out of the shadow area as soon as possible. Further, in the case where the self-mobile device is continuously in the shadow area where the positioning signal quality is continuously poor, how to limit the moving time of the self-mobile device in the shadow area to avoid the problem that it cannot work or has an accident can refer to the relevant embodiments of the subsequent solution of this application, which will not be repeated here.

The disclosed embodiment does not specifically limit the timing duration of the timer (the specific value of the above-mentioned specified time), and can be flexibly set according to actual conditions. For example, when the timer is used to control the self-moving device 10 to stop moving when it cannot rush out of the shadow area within the specified time, the value of the timer can be set to be slightly longer, such as 60s, 90s, etc. Alternatively, when the timer is used to control the self-moving device 10 to accelerate when it does not rush out of the shadow area within the specified time, the value of the timer can be set to be slightly shorter, such as 10s, 15s, etc.

In the disclosed embodiment, when the self-moving device moves to the shadow area on the preset path, the control module can control the self-moving device to accelerate once or multiple times under the preset conditions, so as to ensure that the self-moving device quickly passes through the shadow area by increasing the moving speed of the self-moving device, thereby helping to solve the problem that the self-moving device cannot work normally when it is in the shadow area for a long time. The reason why the self-moving device can pass through the shadow area quickly by acceleration without affecting the normal operation of the self-moving device is that the shadow fusion algorithm used by the satellite positioning module has a small error accumulation in a short time, and the deviation (or position offset) of the satellite positioning information is within an acceptable range, but the accumulated error will diverge rapidly with the increase of time, so that the satellite positioning information does not meet the preset signal quality requirements. The disclosed embodiment increases the moving speed of the self-moving device so that the self-moving device can quickly rush out of the shadow area while the deviation of the satellite positioning information is still within an acceptable range, and arrive at a place with good signal to wait for signal recovery.

In some embodiments, the preset conditions mentioned in the embodiments of the present disclosure may be associated with satellite positioning information (e.g., signal quality information of satellite positioning information). For example, the preset conditions may include: the satellite positioning information does not meet the preset signal quality requirements, and/or the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or preset distance. Among them, the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or preset distance in this application refers to the period since the mobile device has been in the shadow area where the satellite positioning information does not meet the preset signal quality requirements for a long time. Move for a preset time, or continuously move a preset distance.

In some embodiments, the preset condition may be associated with other information in addition to the satellite positioning information. For example, the preset condition may be associated with the speed information of the self-moving device. The preset condition is described in detail below.

In some embodiments, the preset conditions mentioned in the embodiments of the present disclosure may include a first condition and a second condition, wherein the first condition may be associated with the speed information of the self-moving device, and the second condition may be associated with the satellite positioning information of the self-moving device.

In some embodiments, the first condition may include that the current moving speed of the self-moving device is less than a preset safety speed threshold. The safety speed threshold is set to avoid safety accidents caused by excessive moving speed of the self-moving device. The embodiment of the present disclosure does not limit the specific size of the safety speed threshold, and it can be set according to specific circumstances. For example, the safety speed threshold can be set according to the safety regulations of the relevant industry.

In some embodiments, the second condition may include one or more of the following: detecting that the satellite positioning information does not meet the preset signal quality requirements (i.e., when the self-mobile device enters the shadow area); detecting that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time period and/or a preset distance (i.e., when the self-mobile device enters the shadow area for a period of time); the self-mobile device moves from a position where the satellite positioning information does not meet the preset signal quality requirements to a position where the satellite positioning information meets the preset signal quality requirements (i.e., when the self-mobile device searches for a signal recovery point); and the self-mobile device returns to the preset path from the position where the satellite positioning information meets the preset signal quality requirements (i.e., when the self-mobile device returns to the shadow area from the signal recovery point), etc.

As a specific example, the above-mentioned preset condition (e.g., the second condition) may include: the satellite positioning information does not meet the preset signal quality requirement. That is, when the control module detects that the satellite positioning information does not meet the preset signal quality requirement, the control module may control the mobile device to accelerate once or multiple times.

As another specific example, the above-mentioned preset condition (e.g., the second condition) may include: the satellite positioning information does not meet the preset signal quality requirement and continues for a preset time and/or a preset distance. That is, when the control module detects that the satellite positioning information does not meet the preset signal quality requirement and continues for a preset time and/or a preset distance, the control module may control the mobile device to accelerate once or multiple times.

In some embodiments, when the preset conditions include that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or a preset distance, the control module controls the self-mobile device to accelerate once or multiple times, which may include one or more of the following acceleration situations: when the control module detects that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or a preset distance, the control module controls the self-mobile device to accelerate; when the control module detects that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or a preset distance, the control module controls the self-mobile device to move to a position where the satellite positioning information meets the preset signal quality requirements and accelerates during the movement; and, when the control module controls the self-mobile device to accelerate when returning to a preset path from a position where the satellite positioning information meets the preset signal quality requirements.

The disclosed embodiments do not specifically limit the implementation method of the control module controlling the self-mobile device to move to a location where the satellite positioning information meets the preset signal quality requirement. As an example, the control module can control the self-mobile device to change the moving direction and move to the signal recovery point, thereby controlling the self-mobile device to move to a location where the satellite positioning information meets the preset signal quality requirement.

In some embodiments, when the control module controls the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information, if a preset condition is detected, the self-moving device is controlled to accelerate once or multiple times, including: when the control module controls the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if it is detected that the satellite positioning information does not meet the preset signal quality requirements, the self-moving device is controlled to accelerate once; and if it is detected that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset period of time and/or a preset period of time, the self-moving device is controlled to accelerate once; If the distance is set, the mobile device is controlled to accelerate again.

In some embodiments, if the control module detects that the satellite positioning information does not meet the preset signal quality requirements and the self-mobile device continues to move in the shadow area for a preset time and/or a preset distance, the control module controls the self-mobile device to change the moving direction to move toward the signal recovery point, and accelerates again in the process of moving toward the signal recovery point, where the signal recovery point is the position where the satellite positioning information output by the satellite positioning module meets the preset signal quality requirements; and, if it is detected that the satellite positioning information meets the preset signal quality requirements, the self-mobile device is controlled to move to the preset path at a first speed (returning from the signal recovery point to the preset path), wherein the first speed is the speed at which the self-mobile device moves along the preset path before entering the shadow area. A detailed description of how the control module controls the self-mobile device to accelerate once or multiple times according to the satellite positioning information can be found later, and will not be repeated here.

It should be understood that the first condition and/or the second condition (i.e., the preset condition) listed above are only preferred solutions, and the first condition and/or the second condition of the embodiment of the present disclosure are not limited to the listed conditions, as long as the first condition is associated with the speed information of the self-moving device and the second condition is associated with the satellite positioning information of the self-moving device. Exemplarily, the second condition may also include: the self-moving device recognizes a preset time and/or preset distance from the shadow area, etc.

It should be noted that the embodiments of the present disclosure do not limit the specific values of the preset duration and/or preset distance, and can be flexibly set according to actual conditions. It should also be noted that in different application scenarios, the values of the preset duration and/or preset distance mentioned in the embodiments of the present disclosure may be different or the same. For example, the values of the preset duration and/or preset distance corresponding to the working mode and the transition mode may be different or the same.

In some embodiments, the control module controls the moving speed of the mobile device (moving speed after acceleration) to be less than or equal to the safety speed threshold after the mobile device is accelerated once or multiple times. That is, in order to avoid safety accidents caused by excessively high moving speed of the mobile device, in the embodiments of the present disclosure, no matter how many times the mobile device is accelerated, its moving speed at any time during the moving process will not exceed the safety speed threshold.

In some embodiments, the control module can control the self-moving device to decelerate according to the driving condition of the self-moving device in the process of controlling the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information, so as to extend the service life of the self-moving device or avoid accidents. For example, when the control module controls the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information, if it is detected that the self-moving device is in a bumpy section, the self-moving device can be controlled to decelerate. As a specific example, when the control module controls the self-moving device to move at a high speed according to the satellite positioning information (for example, the self-moving device is controlled to accelerate once or more and is moving at the accelerated speed), if it is detected that the self-moving device is in a bumpy section, the control module can control the self-moving device to decelerate in order to extend the service life of the self-moving device or avoid accidents.

The disclosed embodiment does not specifically limit the method for detecting whether the self-moving device is on a bumpy road section. As an implementation method, a detection sensor can be provided on the self-moving device, and when the self-moving device moves, the sensor can determine whether the self-moving device is on a bumpy road section according to the degree of shaking of the self-moving device. Furthermore, the sensor can send the detection result to the control module, so that the control module controls the moving speed of the self-moving device according to the detection result.

In the embodiment of the present disclosure, the control module controls the self-moving device to accelerate once or multiple times when the satellite positioning information meets the preset conditions (for example, the satellite positioning information does not meet the signal quality requirements, the satellite positioning information does not meet the signal quality requirements and continues for a preset time and/or preset distance, etc.). In some embodiments, during the process of the control module controlling the self-moving device to move along a preset path, if the satellite positioning information does not meet the above preset conditions (for example, the satellite positioning information meets the signal quality requirements), the control module can control the self-moving device to move at a first speed, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area. That is, when the satellite positioning information meets the signal quality requirements, the control module can control the self-moving device to move at a normal speed and will not control the self-moving device to accelerate. Furthermore, if it is detected that the self-moving device When driving from the shadow area to the non-shadow area, the self-moving device is controlled to reduce the speed to the first speed.

As described above, when the control module controls the self-moving device to move along the preset path, the control module can control the self-moving device to move along the preset path according to the satellite positioning information. However, the disclosed embodiments are not limited thereto. In some embodiments, when the control module controls the self-moving device to move along the preset path, the control module can also control the self-moving device to move along the preset path according to the non-satellite positioning information.

The embodiments of the present disclosure do not limit the specific types of non-satellite positioning information. Exemplarily, the non-satellite positioning information may be, for example, positioning information generated based on magnetic signals, positioning information generated based on radar signals, positioning information generated based on inertial navigation units, positioning information generated based on cameras, etc. The non-satellite positioning information is output by a position sensor different from the satellite positioning module as described above, such as a geomagnetic sensor that outputs a magnetic field signal or a magnetic induction sensor that outputs an electromagnetic signal, a radar that outputs a radar signal, an inertial navigation sensor, a camera, etc.

In some embodiments, when the control module controls the self-moving device to move along the preset path according to the non-satellite positioning information, the control module can control the self-moving device to move along the preset path at a first speed, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area. In other words, when the control module controls the self-moving device to move along the preset path according to the non-satellite positioning information, the control module can control the self-moving device not to accelerate and move along the preset path at the normal speed of the self-moving device (such as the first speed).

In the embodiment of the present disclosure, depending on whether the shadow strategy is considered, there may be differences in the situation where the control module controls the mobile device to perform one or more accelerations, which is described in detail below.

To facilitate understanding, the shadow strategy is introduced first.

The shadow strategy is a strategy set to ensure that the signal quality information of the self-moving device in the shadow area can meet the requirements when the self-moving device is in the shadow area. Specifically, when the control module controls the driving module to drive the self-moving device to move along the preset path, the control module can also be configured to execute the shadow strategy.

The process of the control module executing the shadow strategy can be seen in Figure 2. As shown in Figure 2, the control module can execute the shadow strategy by executing steps S210 and S220.

In step S210, it is determined whether the satellite positioning information output by the satellite positioning module meets a preset requirement.

The preset requirement may include: the satellite positioning information does not meet the preset signal quality requirement and continues for a preset time and/or preset distance. The description of whether the satellite positioning information meets the preset signal quality requirement can be found in the above text and will not be repeated here.

In step S220, if the satellite positioning information meets the preset requirement, the mobile device is controlled to change the moving mode so that the satellite positioning information generated by the satellite positioning module at the moved position meets the preset signal quality requirement.

In some embodiments, the control module may control the self-moving device to change the moving mode by controlling the self-moving device to change the moving direction.

In some embodiments, the location point where the satellite positioning information meets the preset signal quality requirements can be called a signal recovery point (or recovery position). In this case, the shadow strategy can be understood as that when the satellite positioning information meets the preset requirements (for example, the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or preset distance), the control module can control the mobile device to find a signal recovery point. There can be one or more signal recovery points, and they are stored in a signal recovery point set. The signal recovery point set also stores the priority of the signal recovery point, and the priority represents the probability that the signal recovery point is selected as the target signal recovery point; when the mobile device is in a shadow area, the target signal recovery point is selected from the signal recovery point set based on the priority; the mobile device is controlled to move to the target signal recovery point to restore the satellite positioning information to meet the preset signal quality requirements. The method of finding the target signal recovery point can refer to the subsequent embodiments of this application to solve how to restore the positioning signal quality of the mobile device as soon as possible.

A method for implementing a self-moving device to search for a signal recovery point, wherein the positions of several signal recovery points can be stored in the self-moving device, and a control module selects one of the several signal recovery points as the signal recovery point by judging the distance between the position of the stored signal recovery point and the current position of the self-moving device, and controls the self-moving device to move to the position of the selected signal recovery point. Specifically, as an example, the control module can control the self-moving device to move to a signal recovery point that is closest to the current position of the self-moving device. However, the embodiments of the present disclosure are not limited to this. For example, the distance range between the signal recovery point and the current position of the self-moving device can also be set, and the control module can control the self-moving device to move to any signal recovery point within the distance range.

It should be noted that in the disclosed embodiment, the signal quality of the signal recovery point is not necessarily good, but a direction with good signal quality can be determined through the signal recovery point. In other words, a location point with good signal quality can be found in the direction of the signal recovery point.

An example of executing the shadow strategy from the mobile device is given below in conjunction with Figure 3. As shown in Figure 3, when the control module identifies that the satellite positioning information does not meet the preset signal quality requirement, it can move along the preset path for a preset time (for example, time T). If the satellite positioning information still does not meet the preset signal quality requirement after moving along the preset path for the preset time, the control module can control the mobile device to move to the signal recovery point, so that when the mobile device moves to the signal recovery point, the satellite positioning information generated by the mobile device meets the preset signal quality requirement.

In some embodiments, the process of executing the shadow strategy by the self-moving device also includes: the control module controls the self-moving device to return to the preset path from the signal recovery point. Specifically, the control method of the target position reached when returning to the preset path can refer to the relevant embodiments in the subsequent embodiments to solve the problem of avoiding operation accidents caused by moving path errors and improving operation safety, and the present application will not repeat them here. In one embodiment, the method of returning the self-moving device to the preset position is shown in Figure 3. After the self-moving device moves to the signal recovery point, it can return to the preset path from the signal recovery point.

It should be noted that Figure 3 is only an example diagram of changing the moving mode of a mobile device provided in an embodiment of the present disclosure. The specific path for changing the moving mode of a mobile device can be flexibly selected. For example, after the mobile device moves to a signal recovery point, it may not immediately return to the preset path, but re-plan the path, etc.

It should also be noted that the shadow strategy may be executed once or multiple times while the self-mobile device moves along the preset path, and the embodiments of the present disclosure are not limited to this. In other words, the signal recovery point may be searched multiple times while the self-mobile device moves along the preset path to ensure that the satellite positioning information meets the preset signal quality requirements.

Based on the shadow strategy introduced in the previous article, the process of controlling a mobile device to perform one or more accelerations when the shadow strategy is not considered and when the shadow strategy is considered is introduced below.

Embodiment 1: Not considering shadow strategy

Without considering the shadow strategy, when the control module controls the driving module to drive the self-moving device to move along a preset path, if it is detected that the satellite positioning information and the speed information meet the preset conditions, the self-moving device is controlled to accelerate once or multiple times, including: when the control module controls the driving module to drive the self-moving device to move along the preset path, if it is detected that the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-moving device is less than the preset safety speed threshold, the self-moving device is controlled to accelerate once; and/or, when the control module controls the driving module to drive the self-moving device to move along the preset path, if it is detected that the satellite positioning information does not meet the preset signal quality requirements and lasts for a preset time and/or preset distance, and the current moving speed of the self-moving device is less than the preset safety speed threshold, the self-moving device is controlled to accelerate once.

As an example, the control module controls the movement of the mobile device along a preset path to detect whether the satellite positioning information meets the preset signal quality requirements. It can accelerate when it is detected that the satellite positioning information does not meet the preset signal quality requirements (when entering a shadow area) and the current moving speed of the mobile device is less than a safety speed threshold, wherein the accelerated speed can ensure safety.

As another example, the control module controls the movement of the mobile device along a preset path, detects whether the satellite positioning information meets the preset signal quality requirements, and accelerates when it is detected that the satellite positioning information does not meet the preset signal quality requirements for a period of time and the current moving speed of the mobile device is less than a safety speed threshold, wherein the accelerated speed can ensure safety.

As another example, the control module controls the movement of the mobile device along a preset path, detects whether the satellite positioning information meets the preset signal quality requirements, accelerates when it detects that the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the mobile device is less than the safety speed threshold, and after a period of time, accelerates again when it detects that the satellite positioning information still does not meet the preset signal quality requirements and the current moving speed of the mobile device is less than the safety speed threshold, wherein the speed after each acceleration can ensure safety.

Example 2: Considering the shadow strategy

In some embodiments, considering the shadow strategy, the control module controls the mobile device to accelerate once or multiple times if it detects that the satellite positioning information and speed information meet the preset conditions during the process of controlling the driving module to drive the mobile device to move along the preset path, including: when the control module controls the driving module to drive the mobile device to move along the preset path, if it detects that the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the mobile device is less than the preset safety speed threshold, the control module controls the mobile device to accelerate once; and/or, when the control module controls the driving module to drive the mobile device to move along the preset path, if it detects that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or preset distance, and the current moving speed of the mobile device is less than the preset safety speed threshold, the control module controls the mobile device to accelerate once; and/or, when the control module controls the driving module to drive the mobile device to move along the preset path, if it detects that the mobile device moves from a position where the satellite positioning information does not meet the preset signal quality requirements to a position where the satellite positioning information meets the preset signal quality requirements, and the current moving speed of the mobile device is less than the preset safety speed threshold, the control module controls the mobile device to accelerate once.

In some embodiments, taking into account the shadow strategy, when the control module is controlling the driving module to drive the self-moving device to move along a preset path, if it detects that the satellite positioning information and speed information meet the preset conditions, the control module controls the self-moving device to accelerate once or multiple times, including: when the control module is controlling the driving module to drive the self-moving device to move along the preset path, if it detects that the self-moving device returns to the preset path from a position where the satellite positioning information meets the preset signal quality requirements, and the current moving speed of the self-moving device is less than the preset safety speed threshold, the control module controls the self-moving device to accelerate once.

In some embodiments, taking into account the shadow strategy, after the control module controls the mobile device to accelerate once or multiple times (for example, after accelerating when entering the shadow area, and/or after accelerating for a period of time after entering the shadow area), the control module is also configured as one of the following: when the control module controls the driving module to drive the mobile device to move along the preset path, if it is detected that the mobile device returns to the preset path from the position where the satellite positioning information meets the preset signal quality requirements, and the current moving speed of the mobile device is less than the preset safety speed threshold, the control module controls the mobile device to accelerate once; or, when the control module controls the driving module to drive the mobile device to move along the preset path, if it is detected that the mobile device returns to the preset path from the position where the satellite positioning information meets the preset signal quality requirements, and the current moving speed of the mobile device is less than the preset safety speed threshold, the control module controls the mobile device to move at a first speed, wherein the first speed is the speed at which the mobile device moves along the preset path before entering the shadow area.

In conjunction with Table 1, an example is given below to introduce how the control module controls the mobile device to perform one or more accelerations when the shadow strategy is considered.

Table 1 lists how the control module controls the mobile device to perform one or more The possibility of acceleration. For simplicity of expression, in Table 1, A indicates when the satellite positioning information does not meet the preset signal quality requirements (i.e., when entering the shaded area); B indicates that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or preset distance (i.e., when entering the shaded area for a period of time); C indicates moving from a position where the satellite positioning information does not meet the preset signal quality requirements to a position where the satellite positioning information meets the preset signal quality requirements (i.e., when looking for a signal recovery point); D indicates returning from a position where the satellite positioning information meets the preset signal quality requirements to a preset path (i.e., when returning from the signal recovery point to the shaded area).

Table 1

In Table 1, "√" indicates acceleration. As shown in Table 1, in different situations (such as the four situations A, B, C, and D listed), the control module can control the mobile device to accelerate once or multiple times according to the situation.

Taking the line numbered 1 as an example, this line indicates that A accelerates, while B, C, and D do not accelerate, that is, the control module controls the self-mobile device to move along the preset path, detects the satellite positioning information, and accelerates when it detects that the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold. Then, when the satellite positioning information still does not meet the preset signal quality requirements after moving along the preset path for a preset time and/or preset distance (for example, time T), the self-mobile device is controlled to move to a position where the satellite positioning information meets the preset signal quality requirements (find a signal recovery point), and further, returns to the preset path from the position where the satellite positioning information meets the preset signal quality requirements (returns to the shaded area from the signal recovery point). Among them, the speed of the self-mobile device during the entire process can ensure safety.

Taking the line numbered 5 as an example, this line indicates that A and B accelerate, while C and D do not accelerate, that is, the control module controls the self-mobile device to move along the preset path, detects the satellite positioning information, and accelerates when it detects that the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold. Then, when the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold after moving along the preset path for a preset time and/or a preset distance (for example, time T1), it accelerates again, and then when the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold after moving along the preset path for a preset time and/or a preset distance (for example, time T2), it controls the self-mobile device to move to the position where the satellite positioning information meets the preset signal quality requirements (find a signal recovery point), and further, returns to the preset path from the position where the satellite positioning information meets the preset signal quality requirements (returns to the shaded area from the signal recovery point). Among them, the speed of the self-mobile device during the entire process can ensure safety.

Taking the line numbered 12 as an example, this line indicates that A, B, and D accelerate, and C does not accelerate, that is, the control module controls the self-mobile device to move along the preset path, detects the satellite positioning information, and accelerates when it detects that the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold, and then moves along the preset path. When the preset path moves for a preset time and/or a preset distance (for example, time T1), if the satellite positioning information still does not meet the preset signal quality requirements and the current moving speed of the mobile device is less than the safety speed threshold, then accelerate again, and then move along the preset path for a preset time and/or a preset distance (for example, time T2), if the satellite positioning information still does not meet the preset signal quality requirements and the current moving speed of the mobile device is less than the safety speed threshold, then control the mobile device to move to a position where the satellite positioning information meets the preset signal quality requirements (find a signal recovery point), and further, return to the preset path from the position where the satellite positioning information meets the preset signal quality requirements (return to the shaded area from the signal recovery point) and the current moving speed of the mobile device is less than the safety speed threshold, and accelerate again to return to the preset path. Among them, the speed of the mobile device during the whole process can ensure safety.

Take the line numbered 15 as an example. This line indicates that A, B, C, and D are all accelerated, that is, the control module controls the self-mobile device to move along the preset path, detects the satellite positioning information, and accelerates when it is detected that the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold. Then, when the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold for a preset time and/or preset distance (for example, time T1) along the preset path, it accelerates again. Then, when the satellite positioning information does not meet the preset signal quality requirements and the current moving speed of the self-mobile device is less than the safety speed threshold for a preset time and/or preset distance (for example, time T2) along the preset path, it accelerates again, and then controls the self-mobile device to move to the position where the satellite positioning information meets the preset signal quality requirements (find a signal recovery point). Further, when the satellite positioning information returns to the preset path from the position where the preset signal quality requirements are met (returning to the shaded area from the signal recovery point) and the current moving speed of the self-mobile device is less than the safety speed threshold, it accelerates again and returns to the preset path. Among them, the speed of the self-mobile device in the whole process can be guaranteed to be safe.

For the sake of brevity, other situations listed in Table 1 will not be described one by one. Other situations can be understood by referring to the examples listed above.

In some embodiments, if the control module controls the mobile device to accelerate multiple times, the acceleration amplitude is the largest when the mobile device moves from a first position where the satellite positioning information does not meet the preset signal quality requirement to a second position where the satellite positioning information meets the preset signal quality requirement. In other words, if the control module controls the mobile device to accelerate multiple times, and the multiple accelerations include acceleration during the process of the mobile device searching for a signal recovery point, the acceleration amplitude is the largest during the process of the mobile device searching for a signal recovery point.

As an implementation method, the moving speed of the self-mobile device at the first position (in the shadow area) where the satellite positioning information does not meet the preset signal quality requirement is the second speed, and the moving speed of the self-mobile device at the second position where the satellite positioning information meets the preset signal quality requirement (in the non-shadow area) is the third speed. The above-mentioned acceleration amplitude can be reflected by the second speed and the third speed. For example, the acceleration amplitude can be the difference or ratio between the third speed and the second speed.

In the embodiments of the present disclosure, a variety of scenes or modes can be pre-set inside the mobile device, such as edge scenes (which can also be understood as edge modes, and the various scenes mentioned later can also be replaced by modes), planned cutting scenes, transition scenes (transitions can be path planning between two independent work areas), regression scenes, etc. Each scene can be provided with a corresponding preset path, wherein the preset path corresponding to the planned cutting scene can, for example, refer to the walking path for performing work tasks mentioned above, and the preset path corresponding to the regression scene can, for example, refer to the departure path mentioned above, etc.

FIG4 is a schematic diagram of the application process of the embodiment of the present disclosure in different scenarios. As shown in FIG4, after the self-mobile device is started, a specific scene can be selected from a plurality of pre-set scenes, and the self-mobile device can move along a preset path in the scene, and accelerate once or multiple times according to whether the self-mobile device meets the preset conditions during the movement along the preset path. When it is detected that the satellite positioning information meets the preset signal quality requirements, the self-mobile device can be controlled to decelerate to restore to the first speed of normal driving. In other words, in different scenes or different modes, the self-mobile device can be used. The technical solution provided by the embodiments of the present disclosure solves the problem that a mobile device cannot work normally due to being in a shadow area for a long time.

In the embodiment of the present disclosure, in different working scenarios, the moving speed of the self-moving device in the shadow area may be the same or different, and the embodiment of the present disclosure is not limited to this.

In the embodiment of the present disclosure, in different working scenarios, the moving speed of the self-moving device in the non-shadow area may be the same or different.

In some embodiments, the turning speed of the self-moving device at a location where the satellite positioning information meets the preset signal quality requirements can be greater than the turning speed of the self-moving device at a location where the satellite positioning information does not meet the preset signal quality requirements. In other words, the turning speed of the self-moving device in the shadow area can be greater than the turning speed of the self-moving device in the non-shadow area. In this way, the self-moving device can move and turn quickly in the shadow area, which is conducive to the self-moving device quickly rushing out of the shadow area, thereby ensuring the normal operation of the self-moving device.

For ease of understanding, a specific example of the embodiment of the present disclosure quickly passing through a shadow area is given below by taking the self-moving device as an automatic lawn mower as an example in conjunction with FIGS. 5 to 7 .

In step 510, after the automatic lawn mower is turned on, it searches for a path to move to the target point, and then moves along the preset path at a normal walking speed (for example, speed v0). During the movement, the signal quality information of the mobile device at the current position can be determined based on the data collected by the satellite positioning module.

As an implementation method, the automatic lawn mower can move to the target point according to the principle of proximity. Taking the edge mode as an example, the automatic lawn mower can find the boundary point closest to the current position as the target point and move to the target point.

The target point mentioned in the embodiments of the present disclosure may refer to a point on a preset path, such as the starting point of the preset path. For example, the target point may be a point on an edge path, a point on a planned cutting path, a point on a transition path, a point on a regression path, etc.

In step 520, when the satellite positioning information does not meet the preset signal quality requirement, the timing is started and the moving speed is increased. For example, the increased moving speed is v1, and v1>v0.

In step S530, the automatic lawn mower is controlled to continue to move along the preset path from the current position at the increased moving speed (v1), and the satellite positioning information during the movement is detected.

In step S540, when the satellite positioning information does not meet the preset signal quality requirement and lasts for a preset period of time (eg, 12 seconds), the current position of the mobile device is recorded, and the first signal recovery point closest to the position is found.

In step S550, the automatic lawn mower is controlled to turn at the turning speed in the shadow area, and then the moving speed is increased, and the automatic lawn mower moves from the current position to the direction of the first signal recovery point (eg, signal recovery point 1) at the increased moving speed.

For example, in this step, the increased moving speed is v2, and v2>v1.

As an implementation manner, the signal quality of the first signal recovery point (eg, signal recovery point 1) may not be good, but the first signal recovery point can be used to determine a direction for finding a good signal quality.

In step S560, the timing is continued and the satellite positioning information is detected during the process of controlling the mobile device to move in the direction of the first signal recovery point.

As an implementation method, referring to FIG6 , if the satellite positioning information meets the preset signal quality requirements before reaching the first signal recovery point (e.g., signal recovery point 1) and the duration of the self-mobile device in the shadow area does not exceed the specified time (e.g., 60s), the timer is reset, and the position that meets the preset signal quality requirements is recorded as position A, and the automatic lawn mower is controlled to turn at position A at the turning speed in the non-shadow area, and then moves to the preset path at the normal moving speed (v0) or the accelerated speed (v2). It should be understood that the embodiment of the present disclosure keeps timing until the position (e.g., position A) where the satellite positioning information meets the preset signal quality requirements is found, and the timing is reset after the position is found.

As another implementation method, referring to FIG. 7, if before reaching the first signal recovery point (for example, signal recovery point 1), the satellite positioning information has not met the preset signal quality requirements and the duration has not exceeded the specified time (for example, 60s), then the self-mobile device is controlled to move from the first signal recovery point to the direction of the second signal recovery point (for example, recovery point 2) at the increased moving speed (v2). It should be noted that the first signal recovery point and the second signal recovery point can both be determined based on the position when leaving the preset path, or can be determined based on the current position. Furthermore, in the case where the self-mobile device is continuously in a shadow area where the positioning signal quality is continuously poor, how to limit the duration of the self-mobile device moving in the shadow area to avoid problems such as its inability to work and accidents can refer to the relevant embodiments of this application that solve this problem later.

In some embodiments, during the process of controlling the self-moving device to move in the direction of the second signal recovery point, the satellite positioning information is detected. If before reaching the second signal recovery point, the satellite positioning information meets the preset signal quality requirements and the duration of the self-moving device in the shadow area does not exceed the specified time (for example, 60s), the timer is reset, and the position that meets the preset signal quality requirements is recorded as position B. The automatic lawn mower is controlled to turn at position B at the turning speed in the non-shadow area, and then moves to the preset path at a normal moving speed (v0) or an accelerated speed (v2).

In some embodiments, during the process of controlling the movement of the self-mobile device toward the direction of the second signal recovery point, satellite positioning information is detected. If, when reaching the second signal recovery point, the satellite positioning information has not met the preset signal quality requirements and the duration has not exceeded the specified time (for example, 60s), the self-mobile device is controlled to move from the second signal recovery point to the direction of the third signal recovery point (for example, signal recovery point 3) at an increased moving speed (v2).

In some embodiments, the above steps may be repeated until the mobile device stays in the shadow area for more than a specified time (eg, 60 seconds) and stops moving.

In a second aspect, the embodiments of the present disclosure provide an autonomous working system, which may include any autonomous moving device described above.

In some embodiments, the autonomous working system may also include other equipment or devices before the self-moving device, for example, it may include a charging station for the self-moving device to dock and to replenish power for the self-moving device.

The above describes the device embodiment of the present disclosure in detail in conjunction with Figures 1 to 7, and the following describes the method embodiment of the present disclosure in detail in conjunction with Figure 8. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the part not described in detail can refer to the previous method embodiment.

Fig. 8 is a flow chart of a control method of a self-moving device provided by an embodiment of the present disclosure. The self-moving device moves and works in a working area, and the self-moving device includes a driving module and a satellite positioning module, wherein the driving module is configured to drive the self-moving device to move according to a driving instruction, and the satellite positioning module is configured to generate satellite positioning information, and the satellite positioning information includes signal quality information of the self-moving device at each position.

The control method shown in Fig. 8 may be executed by the aforementioned self-moving device, for example, by a control module. The control method shown in Fig. 8 may include step S810 and step S820.

In step S810, a driving module is controlled according to satellite positioning information to drive the mobile device to move along a preset path.

In step S820, when the driving module is controlled to drive the self-moving device to move along the preset path according to the satellite positioning information, if a preset condition is detected, the self-moving device is controlled to accelerate once or multiple times so that the self-moving device quickly passes through the shadow area on the preset path.

When the mobile device is in the shadow area, the satellite positioning information generated by the satellite positioning module does not meet the preset signal quality requirement.

Optionally, the preset condition includes: the satellite positioning information does not meet a preset signal quality requirement.

Optionally, the preset condition includes: the satellite positioning information does not meet a preset signal quality requirement and continues for a preset time period and/or a preset distance.

Optionally, after the control module controls the self-moving device to accelerate once or multiple times, the moving speed of the self-moving device is less than or equal to a safety speed threshold.

Optionally, in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, the control module is further configured to: if it is detected that the self-moving device is on a bumpy road section, control the self-moving device to decelerate.

Optionally, in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, the control module is also configured to: if it is detected that the satellite positioning information meets the preset signal quality requirement, control the self-moving device to move at a first speed, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area.

Optionally, the control module is also configured to: control the driving module to drive the self-moving device to move along a preset path at a first speed based on non-satellite positioning information, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area.

Optionally, when the control module controls the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if a preset condition is detected, the control module controls the self-moving device to accelerate once or multiple times, including: when the control module controls the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if it is detected that the satellite positioning information does not meet a preset signal quality requirement, the control module controls the self-moving device to accelerate once; and if it is detected that the satellite positioning information does not meet the preset signal quality requirement and continues for a preset time and/or a preset distance, the self-moving device is controlled to accelerate again.

Optionally, if it is detected that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or a preset distance, the self-moving device is controlled to accelerate again, including: if it is detected that the satellite positioning information does not meet the preset signal quality requirements and continues for a preset time and/or a preset distance, the self-moving device is controlled to change the moving direction, and accelerate again to move towards the signal recovery point; if it is detected that the satellite positioning information meets the preset signal quality requirements, the self-moving device is controlled to move to the preset path at a first speed, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area.

Optionally, the turning speed of the self-moving device in the shadow area is greater than the turning speed in the non-shadow area.

Optionally, if the control module controls the mobile device to accelerate multiple times, the acceleration amplitude is the largest when the mobile device moves from a first position where the satellite positioning information does not meet the preset signal quality requirement to a second position where the satellite positioning information meets the preset signal quality requirement, wherein the moving speed of the mobile device at the first position is the second speed, the moving speed of the mobile device at the second position is the third speed, and the acceleration amplitude is the difference or ratio between the third speed and the second speed.

Optionally, in different working scenarios, the moving speeds of the mobile device in the shadow area are the same or different.

Optionally, in different working scenarios, the moving speeds of the self-moving device in the non-shadow area are the same or different.

Optionally, the self-moving device includes at least one of the following: an automatic lawn mower, an automatic snow sweeper, and an automatic watering machine.

It should be understood that in the embodiments of the present disclosure, "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and/or other information.

It should be understood that the term "and/or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.

It should be understood that in various embodiments of the present disclosure, the size of the sequence number of each process does not mean the execution order. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present disclosure.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

The self-moving device can autonomously move along the planned working route (hereinafter referred to as the route, or the preset path as described above) and perform tasks such as mowing and cleaning during the movement. The self-moving device can be, for example, an automatic lawn mower or an automatic sweeper. The route can be a route autonomously planned by the self-moving device, or a route planned by the user for the self-moving device. For example, the user can set the boundary or range of the area where the self-moving device moves, and the self-moving device can autonomously plan the route within the working area defined by the boundary.

In some embodiments, the self-mobile device may include a satellite positioning module. The satellite positioning module may obtain information about the location of the self-mobile device. The self-mobile device may compare the location information obtained by the satellite positioning module with the planned route. If the location of the self-mobile device deviates from the route, the self-mobile device may adjust the direction of movement so that the self-mobile device can move along the planned route.

The satellite positioning module can determine the position of the mobile device by receiving the positioning signal. The positioning signal can be, for example, a signal of the global navigation satellite system (GNSS). GNSS can include, for example, the global positioning system (GPS), the Beidou satellite navigation system, etc. The positioning system can be implemented, for example, by the real-time kinematic (RTK) carrier phase difference technology.

The signal quality of the positioning signal is affected by many factors such as obstructions and the environment. In some areas, the quality of the positioning signal cannot meet the preset quality requirements, and these areas can be called shadow areas. In some areas, such as open areas without obstructions, the quality of the positioning signal meets the preset quality requirements, and these areas can be called non-shadow areas or open areas.

When a self-mobile device moves in a shadow area, the actual moving route of the self-mobile device may deviate from the planned working route due to poor positioning signal quality, thus causing many problems. Therefore, how to restore the positioning signal quality of the self-mobile device as soon as possible is a technical problem that needs to be solved urgently.

The present application proposes a self-moving device to solve the above-mentioned problem of how to restore the positioning signal quality of the self-moving device as soon as possible.

FIG1 is a schematic structural diagram of a self-moving device 10 provided in an embodiment of the present application. The self-moving device 10 may include a satellite positioning module 102 and a control module 103 .

The satellite positioning module 102 can determine the position of the mobile device through the received positioning signal. For example, the satellite positioning module 102 can correspond to one or more of a transceiver, a positioning chip, a positioning antenna, and a sensor for positioning in the mobile device.

The control module 103 may be configured to control the self-moving device. For example, the control module 103 may correspond to one or more of a processor and a controller in the self-moving device.

In some embodiments, the control module 103 can be configured to: store a signal recovery point set, the signal recovery point set records the location of the signal recovery point of the mobile device, and the priority of the signal recovery point, the priority characterizing the probability of the signal recovery point being selected as the target signal recovery point; when the mobile device is in a shadow area, based on the priority, select the target signal recovery point from the signal recovery point set; control the mobile device to move to the target signal recovery point to perform signal recovery at the target signal recovery point.

The location of the target signal recovery point may be a location where the positioning signal quality may be restored. In other words, at the target signal recovery point, the positioning signal may meet the preset quality requirements. When the mobile device moves to the target signal recovery point, the positioning signal may or may not be restored. The location of the target signal recovery point may deviate from the planned working route, that is, the target signal recovery point may be located outside the planned working route.

The self-mobile device may record a signal recovery point set. The signal recovery point set may include one or more signal recovery points. The signal recovery point set may also include priorities corresponding to one or more signal recovery points. The priority may represent the probability of the signal recovery point being selected as the target signal recovery point.

When the self-mobile device is in the shadow area, the self-mobile device may move toward a target signal recovery point, which may be a point in the signal recovery point set.

The self-mobile device can move to the target signal recovery point to restore the signal. If the positioning signal meets the preset quality requirements when the self-mobile device is at the first target signal recovery point, it can be considered that the signal has been restored. If the signal is restored, the self-mobile device can return to the working route and continue working. If the signal is not restored, the self-mobile device can wait for the signal to be restored at the target signal recovery point, or the self-mobile device can determine another target signal recovery point (such as a second target signal recovery point) and move to another signal recovery point until the signal is restored or the preset time threshold is exceeded and the device is shut down. Among them, the process of controlling the movement of the self-mobile device to the signal recovery point can increase its movement speed. For details, please refer to the solution to the problem that the self-mobile device cannot work normally when it is in a shadow area for a long time in this application. The control method of the target position reached when returning to the preset path can refer to the related embodiments of the subsequent embodiments to solve the problem of avoiding operation accidents caused by moving path errors and improving operation safety, which will not be repeated in this application.

It is understandable that the higher the priority, the more likely the corresponding signal recovery point is to be selected as the target signal recovery point. In some cases, the higher the priority, the more likely the signal quality of the corresponding signal recovery point is to be restored, that is, the probability that the corresponding signal recovery point is in the non-shadow area may be greater.

In some embodiments, the target signal point may be determined based on a priority. For example, the target signal recovery point may be a position point with the highest priority in the signal recovery point set. Alternatively, the target signal recovery point may be a position point with a priority higher than the priority corresponding to the current position. Alternatively, the target signal recovery point may be a position point with the highest priority within a first preset range of the current position. Alternatively, the target signal recovery point may be a position point with a priority higher than the priority corresponding to the current position.

In some embodiments, the target signal recovery point may also be determined based on the distance between the signal recovery point and the current location. For example, when the signal recovery point set includes signal recovery points of the same priority, the self-mobile device may select the signal recovery point closest to the current location of the self-mobile device as the target signal recovery point.

Compared with the mobile device changing the moving direction arbitrarily, the mobile device moving toward the target signal recovery point has a higher probability of restoring the signal quality of the positioning signal and better security. Therefore, based on this solution, the mobile device can restore the quality of the positioning signal faster, so that it can work normally more safely and continuously.

It should be noted that, in some embodiments, the signal recovery point set may include a signal recovery line and/or a signal recovery area. The signal recovery point may be any point on the signal recovery line or the signal recovery area. The signal recovery point may be a point on the signal recovery line or the signal recovery area, which may be random or determined based on a rule. The rule may include, for example: the signal recovery point may be a plurality of position points on the signal recovery line spaced by a first distance, and the signal recovery point may be a vertex or a center point of a boundary of the signal recovery area.

The signal recovery area can be implemented in the form of a grid, for example. For example, the working area of the self-mobile device can be divided into several grids. Some or all of the grids in the working area can be stored in the signal recovery point set as signal recovery areas. As shown in Figure 9, the area marked with a thick solid line is the working area. The working area can be divided into 8×8 grids. The shape and method of dividing the grid in Figure 9 are only examples, and the actual division method can be flexibly selected. For example, the size, shape, arrangement, combination, and extension direction of the grid can be flexibly set according to actual conditions.

In the process of moving the self-mobile device to the target signal recovery point, the signal quality can be detected. If the signal quality is restored, the self-mobile device can return to the planned working route. If the signal quality is not restored after reaching the target signal recovery point, a first time period can be waited for the signal quality to be restored. After the first time period, if the signal quality is not restored, another target signal recovery point can be determined again based on the current position.

In the present application, the priority is used to characterize the probability of a signal recovery point being selected as a target signal recovery point, and the representation form of the priority is not specifically limited. For example, the priority can be represented by the distance between the signal recovery point and the boundary. Alternatively, the priority can be represented by the signal quality.

It should be noted that, in some embodiments, other information may also be recorded in the signal recovery point set. The other information may include, for example, location information of the signal recovery point and/or signal quality information of the positioning signal. The signal quality information may include a specific evaluation value of the signal quality. Alternatively, the signal quality information may include identification values of the two states of good or bad signal quality.

The following describes the signal recovery points based on the first type of signal recovery point, the second type of signal recovery point, the third type of signal recovery point, etc. It should be noted that the priority representation methods based on the first type of signal recovery point, the second type of signal recovery point, and the third type of signal recovery point can be implemented separately or in combination. A signal recovery point, the signal recovery point set may store the position corresponding to the first signal recovery point, and may also store one or more of the priorities corresponding to the first type of signal recovery point, the second type of signal recovery point, and the third type of signal recovery point.

In some embodiments, the signal recovery point set may include a first type of signal recovery point. The priority corresponding to the first type of signal recovery point may be represented by the distance between the first type of signal recovery point and the boundary of the mobile device.

The boundary may be the boundary of the working area of the self-moving device. That is, during the normal movement or operation of the self-moving device, the boundary should not be exceeded. Taking a lawn mower as an example, the lawn mower can move along a route within the boundary and perform a mowing operation during the movement, thereby achieving mowing work in the area within the boundary.

The boundary can be pre-set before the self-moving device works, or it can be identified during the movement of the self-moving device. For example, the boundary can be determined based on the position coordinates of some position points on the boundary. The self-moving device may not move outside the boundary range determined by these position points during the movement. Alternatively, the boundary can be determined based on a physical boundary in the real world. When the self-moving device moves near the physical boundary, it can identify the physical boundary and will not move beyond the physical boundary. The physical boundary can be, for example, one or more of a wall, a fence, etc.

In some embodiments, the boundary may also be represented by a boundary of a map of the self-moving device. The map may be used to indicate the working area of the self-moving device. Before the self-moving device works, the map may be obtained based on the setting of the boundary, the previous working conditions in the area, etc. In this case, the distance between the signal recovery point and the boundary may be obtained by performing a distance transformation on the map.

The distance between the signal recovery point and different position points on the boundary may be different. As shown in Figure 10, Figure 10 represents a grid corresponding to a first type of signal recovery point (hereinafter referred to as the first recovery point) through square grids, and the boundary is represented by a bold curve. L1~L4 are 4 examples of distances between the first recovery point (or the corresponding grid) and the boundary. As can be seen from Figure 10, L1~L4 are all different. The distance between the signal recovery point and the boundary can be the distance between the signal recovery point and any position point on the boundary. For example, the distance between the signal recovery point and the boundary can be the minimum value of the distance between the signal recovery point and the position point on the boundary. Continuing to use Figure 10 as an example, the minimum value of the distance between the first recovery point and the position point on the boundary is the distance represented by L1, then the distance between the first recovery point and the boundary can be L1.

It should be noted that the present application does not limit the specific representation form of the distance value. For example, the distance between the signal recovery point and the border can be represented by a distance value in the real world. Alternatively, the distance can be represented by the number of grids. Alternatively, the distance can be represented by the distance interval in which the distance is located. Taking the map shown in Figure 9 as an example, if the distance between each grid and the border is represented by the number of grids between the grid and the border, the distance between the signal recovery point corresponding to each grid and the border can be shown as the number in Figure 11. Among them, the distance of the grid connected to the border can be set to 0.

As shown in FIG. 11 , the self-moving device can determine the distance of each grid from the boundary. Further, the self-moving device can record the distance of each grid from the boundary, that is, each grid within the boundary can be recorded in a centralized manner at the signal recovery point. The self-moving device can also record the distance of some grids from the boundary. For example, the self-moving device can be separated by one or more grids and record the distance of the corresponding grid from the boundary.

In some implementations, the mobile device may determine the target signal recovery point based on the distance between the first type of signal recovery point and the boundary. In some cases, the greater the distance between the first type of signal recovery point and the boundary, the higher the priority corresponding to the first type of signal recovery point.

On the one hand, within the working area, the farther away from the boundary, the more likely it is to be in the middle of the working area. Since objects such as trees and buildings that may block the self-moving device are usually located outside the boundary, the middle area is usually an open area. In other words, the farther away from the boundary, the lower the probability of being in the shadow area, that is, the signal recovery is On the other hand, when moving to a point far from the boundary, the probability that the self-moving device is within the boundary is greater, thereby avoiding accidents caused by the self-moving device moving outside the boundary and ensuring the safety of the self-moving device.

In some embodiments, the distance between the target signal recovery point and the boundary may be greater than the distance between the current position and the boundary. Taking FIG. 11 as an example, if the distance between the current position and the boundary is 1, the target signal recovery point may be any position point whose distance from the boundary is 2 or 3.

In some embodiments, the target signal recovery point may be a position point with the largest distance from the border. Continuing with FIG. 11 as an example, in the map shown in FIG. 11, the grids with the largest distance from the border may be 4 grids with a distance of 3. Therefore, in FIG. 11, the target signal recovery point may be one of the grids with a distance of 3. In these embodiments, the target signal recovery point may be referred to as the highest point.

In some embodiments, the target signal recovery point may be a position point with the largest distance from the boundary within the second preset range of the current position. Continuing with FIG. 11 as an example, if the second preset range is a distance of 1 grid, when the mobile device moves to the position of grid 401, the target signal recovery point corresponding to grid 401 may be selected from the grids marked with gray shadows. In the grids marked with gray shadows, the position point with the largest distance from the boundary may be a position point with a distance of 2 (i.e., grid 402). Therefore, for grid 401, the target signal recovery point may be grid 402. In these embodiments, the target signal recovery point may be referred to as a local highest point.

The self-mobile device can select a target signal recovery point within a second preset range based on a neighborhood algorithm. For example, when the preset number of iterations is reached, the corresponding position point can be used as the target signal recovery point. Taking the eight-neighborhood algorithm as an example, assuming that the current position point (denoted as a) is 1 away from the border, a position point (denoted as b) with a distance of 2 from the border is searched in the eight-neighborhood centered on a, and then a position point (denoted as c) with a distance of 3 from the border is searched in the eight-neighborhood centered on b, and then a position point (denoted as d) with a distance of 4 from the border is searched in the eight-neighborhood centered on c, and then a position point (denoted as e) with a distance of 5 from the border is searched in the eight-neighborhood centered on d. Assuming that the position point with a distance of 5 from the border is preset as the target signal recovery point, e can be used as the target signal recovery point.

The second preset range can limit the distance between the current position of the mobile device and the target signal recovery point to a certain extent, preventing the mobile device from moving to a position too far away from the current position, thereby avoiding the problem of reduced work efficiency.

In some embodiments, the position of the target signal recovery point can also be related to the current position of the mobile device. For example, if there are multiple position points with the same distance from the border, the signal recovery point closest to the current position can be selected as the target signal recovery point. For example, in Figure 11, the target signal recovery point can be the position point with the largest distance from the border, that is, the target recovery point can be one of the four grids with a distance of 3. For grid 401, the target signal recovery point can be the position point closest to grid 401 among the four grids (i.e., grid 403). Alternatively, in Figure 11, the target signal recovery point can be the position point with the largest distance from the border within the second preset range. Taking the second preset range as 1 as an example, it can be seen that for grid 404, the grid directly above grid 404 is the position point with the largest distance from the border and the closest distance to grid 404 within the second preset range, that is, the target signal recovery point can be grid 405 directly above the previous 404.

In some embodiments, the signal recovery point set may include a second type of signal recovery point. The second type of signal recovery point is a position point where the signal quality of the positioning signal of the self-mobile device during movement is greater than the first threshold, and the priority corresponding to the second type of signal recovery point can be represented by an evaluation value of the distance information evaluation.

It can be known from the determination method of the second type of signal recovery point that the second type of signal recovery point can be a position point where the signal quality of the positioning signal is good during the historical movement of the self-mobile device. Therefore, selecting the target signal recovery point from the second type of signal recovery point can enable the self-mobile device to move to a position point where the positioning signal quality is good in history to restore the signal quality of the positioning signal.

During the movement of the self-mobile device, the self-mobile device may use the position points where the signal quality of the positioning signal is greater than the first threshold as the second type of signal recovery points and record them in the signal recovery point set. In some embodiments, the self-mobile device may record some position points where the signal quality is greater than the first threshold. For example, the distance (or interval) between the second type of recovery points recorded in the signal recovery point set may be greater than the second threshold. Taking Figure 12 as an example, during the movement of the self-mobile device, it passes through position points 1 to 9 in sequence. If the signal quality of position points 1 to 9 is greater than the first threshold, the self-mobile device may only store position points whose distance is greater than the second threshold. For example, the self-mobile device may only store position points 2 and 8. Alternatively, when the signal quality of the positioning signal remains in a good state for a period of time, some position points within this period of time may be recorded as second type signal recovery points. For example, the position point corresponding to the middle position moved during this period of time may be recorded as a second type of signal recovery point.

It can be understood that the second type of signal recovery points stored in the self-mobile device are position points where the quality of some signals is greater than the first threshold, which can reduce the storage pressure of the self-mobile device.

It should be noted that, when the signal quality is greater than the first threshold, the positioning signal may or may not meet the preset quality requirement.

For the second type of signal recovery point, the priority can be expressed by the evaluation value of the distance information evaluation. The distance information can be related to the distance between the second type of signal recovery point and one or more specific position points. For example, the distance information can include one or more of the following: the distance between the second type of signal recovery point and the boundary of the self-mobile device, the distance between the second type of signal recovery point and the current position of the self-mobile device, and the distance between the second type of signal recovery point and the artificially set signal recovery point. For example, the self-mobile device can perform a three-dimensional evaluation based on the distance from the second type of signal recovery point to the boundary, the distance from the second type of signal recovery point to the nearby artificially set recovery point, and the distance from the second type of signal recovery point to the current position of the self-mobile device, and score the second type of signal recovery point to determine the evaluation value. Then, the self-mobile device can determine the selection order of the second type of signal recovery point according to the size of the evaluation value. If there are multiple points with the same evaluation value, the point closest to the current position can be selected as the target signal recovery point.

In some implementations, the evaluation value is positively correlated with the distance between the second type signal recovery point and the boundary; the evaluation value is negatively correlated with the distance between the second type signal recovery point and the current position of the self-moving device. That is, under the condition that other conditions remain unchanged, the greater the distance between the second type signal recovery point and the boundary, the greater the evaluation value can be; or, under the condition that other conditions remain unchanged, the smaller the distance between the second type signal recovery point and the boundary, the smaller the evaluation value can be. Under the condition that other conditions remain unchanged, the greater the distance between the second type signal recovery point and the current position, the smaller the evaluation value can be; or, under the condition that other conditions remain unchanged, the smaller the distance between the second type signal recovery point and the current position, the greater the evaluation value can be.

In some embodiments, the larger the evaluation value, the higher the priority corresponding to the second type of signal recovery point can be. Then, the target signal recovery point can be the position point with the largest evaluation value within the boundary, or the target signal recovery point can be the position point with the largest evaluation value within the third preset range from the current position of the self-mobile device. In other embodiments, the smaller the evaluation value, the higher the priority corresponding to the second type of signal recovery point can be. Then, the target signal recovery point is the position point with the smallest evaluation value within the boundary, or the target signal recovery point is the position point with the smallest evaluation value within the third preset range from the current position of the self-mobile device.

It should be noted that the first preset range, the second preset range, and the third preset range mentioned above may be the same or different. For example, the first preset range may be the same as the second preset range, and the second preset range may be different from the third preset range.

In some embodiments, the signal recovery point set may include a third type of signal recovery point. The third type of signal recovery point is a position point recorded by the self-mobile device during movement. The priority corresponding to the third type of signal recovery point can be expressed by a signal recovery probability. The signal recovery probability can be expressed based on the self-mobile device passing through the third type of signal recovery point again. The signal quality is updated when

It is understandable that the signal recovery probability can represent the probability that the signal quality is restored to meet the preset requirements. The greater the signal recovery probability, the greater the possibility of signal quality recovery at the corresponding signal recovery point. Alternatively, the greater the signal recovery probability, the greater the probability that the corresponding signal recovery point is in the non-shadow area, or the smaller the probability that the corresponding signal recovery point is in the shadow area. Therefore. In some embodiments, the signal recovery probability can also be represented by the shadow probability and/or the non-shadow probability (or referred to as the open probability).

When a mobile device passes through an area (such as a work area), the signal quality of the location points in the area can be recorded. Therefore, each time the mobile device passes through the area, the signal recovery probability can be updated according to the signal quality. After passing through the area multiple times, the signal recovery probability corresponding to the location points in the area can be updated.

In some embodiments, when the number of times the self-mobile device passes through the same location point reaches a preset value, that is, when the number of updates of the signal recovery probability corresponding to the location point reaches a preset value, the self-mobile device can determine the target signal recovery point according to the signal recovery probability. It can be understood that when the number of updates reaches the preset value, the signal recovery probability can reflect the long-term positioning signal situation of the location point, avoiding abnormal recorded signal recovery probability caused by fluctuations in positioning signal quality.

In some embodiments, if the signal recovery probability of all position points (e.g., all grids) in the map is obtained, a shadow map corresponding to the working area can be obtained. Among them, the shadow map can be used to represent the shadow area (which can be composed of position points with a larger signal recovery probability) and the non-shadow area (which can be composed of position points with a smaller signal recovery probability) in the map. In the shadow map shown in Figure 13, the white part is the non-shadow area in the area. The black part is the shadow area in the area.

In some embodiments, an initial value may be set for the signal recovery probability corresponding to the third type signal recovery point. For example, the initial value may be determined based on the quality of the signal passing through the third type signal recovery point for the first time, or may be preset.

The self-mobile device may pass through the third type of signal recovery point multiple times, and when passing through the third type of signal recovery point at a certain time, the signal recovery probability may be used as the first probability. When the self-mobile device passes through the third type of signal recovery point again (or the next time), the signal recovery probability may be updated. In some embodiments, if the signal quality of the third type of signal recovery point is greater than the third threshold, the signal recovery probability may be updated to the second probability, and the second probability may be greater than the first probability. In some embodiments, if the signal quality of the third type of signal recovery point is less than or equal to the third threshold, the signal recovery probability may be updated to the third probability, and the third probability may be less than the first probability.

The present application does not limit the updating method of the signal recovery probability. For example, the update can be implemented by a Bayesian filtering method. For example, if the signal quality of the third type of signal recovery point is greater than the third threshold, the first preset value can be added on the basis of the first probability to obtain the updated signal recovery probability corresponding to the third type of signal recovery point. Alternatively, if the signal quality of the third type of signal recovery point is less than or equal to the third threshold, the second preset value can be reduced on the basis of the first probability to obtain the updated signal recovery probability corresponding to the third type of signal recovery point. Among them, the first preset value and the second preset value can be the same or different.

The following uses the grid as an example to explain the update of the signal recovery probability. The self-mobile device can assign an initial value of 0.5 to each grid. If the signal quality of grid x is poor once, the shadow probability corresponding to grid x can be Po(x) = 0.9, and the probability of signal recovery is Pf(x) = 1-Po(x) = 0.1; if the signal quality of grid x is good once, the shadow probability of grid x can be Po(x) = 0.2, and the probability of signal recovery can be Pf(x) = 1-Po(x) = 0.8.

In some embodiments, the signal recovery point set may also include other types of signal recovery points. For example, the signal recovery point set may include a fourth type of signal recovery point, and the fourth type of signal recovery point may be a manually set signal recovery point. The manually set signal recovery point may include a location point set by the user. For example, the user may observe the working area of the mobile device and determine which areas are blocked (i.e., may be shadow areas) and which areas are not blocked (i.e., may be The user may set the fourth type of signal recovery point in the area where there is no obstruction. Alternatively, the user may set the fourth type of signal recovery point outside the obstructed area.

The following is explained in conjunction with Figure 14. As shown in Figure 14, the white rectangular box is the working area of the self-moving device. In the process of building a map (map construction), the gray rectangular box shown in Figure 14 can be determined as a shaded area, and the user can establish a signal recovery line near the shaded area. Any point on the signal recovery line can be a fourth type of signal recovery point.

The location of the fourth type of signal recovery point setting can also be determined based on a specific location point. For example, if the area where the self-moving device works includes multiple unconnected areas, it is necessary to manually set a channel connecting multiple areas. Usually, the user will be prompted to set the channel in a non-blocked area so that the self-moving device can move accurately between different areas. In this case, the fourth type of signal recovery point can be located on the channel. For another example, the end of the magnetic strip of the charging station of the self-moving device is usually set in a non-shadow area. Therefore, the fourth type of signal recovery point can be located at the end of the magnetic strip of the charging station.

In the case where the signal recovery point set includes multiple types of signal recovery points, the target signal recovery point can be preferentially selected from a certain type of signal recovery point. For example, in the case where the signal recovery point set includes a first type of signal recovery point and a second type of signal recovery point, in order to ensure safety, the self-mobile device can preferentially select the target signal recovery point from the first type of signal recovery point. In other words, the target signal recovery point can be first determined from the first type of signal recovery point based on priority. If the target signal recovery point is not selected from the first type of signal recovery point, the target signal recovery point can be selected from the second type of signal recovery point. In other words, the self-mobile device can first determine the first target signal recovery point in the first type of signal recovery point and move to the first target signal point. If the positioning signal of the first target signal recovery point does not meet the preset quality requirements, the second target signal recovery point can be selected from the second type of signal recovery point based on priority and moved to the second target signal recovery point.

As an implementation method, since the shadow map is determined based on the signal recovery probability, the recovery probability corresponding to the position point on it has a high credibility, so when the self-mobile device is looking for the target signal recovery point, it can first detect whether the self-mobile device has a shadow map stored. If the self-mobile device stores a shadow map, the target signal recovery point can be selected according to the signal recovery probability corresponding to the signal recovery point in the shadow map. The self-mobile device can move to the target signal recovery point and wait for the signal to recover, and then return to the planned work route to continue working. In the case where a shadow map is stored, the target signal recovery point can be selected in sequence according to the signal recovery probability to restore the signal quality until the signal quality is restored or exceeds the predetermined time. Furthermore, in the case where the self-mobile device is continuously in a shadow area where the positioning signal quality is continuously poor, how to limit the moving time of the self-mobile device in the shadow area to avoid problems such as its inability to work and accidents can refer to the relevant embodiments of this application to solve this problem.

As an implementation method, if the self-mobile device does not store a shadow map, the self-mobile device can search for a target signal recovery point (referred to as the first recovery point) in the first type of signal recovery point according to the current position. After the self-mobile device moves to the first recovery point, it can wait for the signal quality to recover. If the signal quality is not recovered within the specified time, the target signal recovery point can be searched for in the fourth type of signal recovery point within a preset distance according to the first recovery point.

As an implementation method, if there is no fourth-category signal recovery point within a preset distance from the current position of the self-mobile device, the highest point or local highest point among the first-category signal recovery points can be used as the basis, and the signal recovery point with the highest evaluation value can be used as the target signal recovery point (referred to as the second recovery point). After the self-mobile device moves to the second recovery point, you can wait for the signal quality to recover. If the signal quality is not recovered within the specified time, the signal recovery point with the second highest evaluation value can be used as the target signal recovery point. And so on, until the signal quality is restored or the self-mobile device shuts down when it stays in the shadow area for a period of time greater than the preset value.

As an implementation method, if there is a fourth type of signal recovery point within a preset distance from the current position of the mobile device, After the mobile device moves to the target signal recovery point selected from the fourth type of signal recovery point, it can wait for the signal to recover until it shuts down, that is, the mobile device can no longer determine the target signal recovery point.

Fig. 15 is a method for determining a target signal recovery point provided by an embodiment of the present application. The method shown in Fig. 15 may include steps S811 to S841.

Step S811, the mobile device executes a work task. For a lawn mower, the work task may be a lawn mowing task.

Step S812: When the mobile device is in the shadow area, the mobile device determines whether the duration of the duration in the shadow area exceeds a first duration threshold, which may be 12 seconds.

If the judgment result of step S812 is yes, that is, the duration in the shadow area is greater than 12 seconds, the mobile device can execute step S812. If the judgment result of step S812 is no, that is, the duration in the shadow area is less than or equal to 12 seconds, step S811 can be continued.

Step S813: The self-mobile device may determine a target signal recovery point according to the first type of signal recovery point, and move toward the target signal recovery point.

Step S814, determining whether the signal quality is restored.

If the judgment result of step S814 is no, that is, the signal quality has not been restored, the mobile device can execute step S815. If the judgment result of step S814 is yes, that is, the signal quality has been restored, step S811 can be executed.

Step S815, determine whether there is a manually set signal recovery point (manual recovery point) within the preset range. The preset range may be 5m.

If the judgment result of step S815 is yes, that is, there is an artificial recovery point within the preset range, step S816 can be executed. If the judgment result of step S815 is no, that is, there is no artificial recovery point within the preset range, step S819 can be executed.

Step S816, controlling the mobile device to move to the manual recovery point.

Step S817, determining whether the signal quality is restored.

If the judgment result of step S817 is no, that is, the signal quality has not been restored, the mobile device can execute step S818. If the judgment result of step S817 is yes, that is, the signal quality has been restored, step S811 can be executed.

Step S818, controlling the mobile device to remain stationary and wait for the signal quality to recover.

Step S819, controlling the mobile device to move to the target signal recovery point determined by the second type of signal recovery point.

Step S821, determining whether the signal quality is restored.

If the judgment result of step S821 is no, that is, the signal quality has not been restored, the mobile device can execute step S822. If the judgment result of step S821 is yes, that is, the signal quality has been restored, step S811 can be executed.

Step S822, controlling the mobile device to move to another target signal recovery point determined by the second type of signal recovery point. The target signal recovery point in step S822 is different from the target signal recovery point in step S819.

During the process of moving from the mobile device, step S831 and step S841 may be performed.

Step S831, executing the shadow timing task. After the mobile device finds that it has entered the shadow area, it can start timing the duration of the shadow area.

Step S832: determine whether the duration of the shadow area exceeds a second duration threshold, which may be 70 seconds, for example.

If the judgment result of step S832 is yes, the self-moving device can be controlled to shut down. If the judgment result of step S832 is no, the self-moving device can be controlled to continue to execute the shadow timing task.

As mentioned above, when the positioning signal does not meet the preset quality requirement, the self-mobile device is in the shadow area. The present application also provides a technical solution for determining whether the positioning signal meets the preset quality requirement.

In some embodiments, the positioning system can determine the position of the self-moving device based on multiple satellite signals. The position of the self-moving device can be determined based on different satellite signals. It is understandable that for the position of the same self-moving device, the position of the self-moving device obtained based on the satellite signal may also be different when the satellite signals are different. For example, if the positioning system can receive N satellite signals, if the positioning system determines the position of the self-moving device based on M (M is less than N) satellite signals, multiple positions can be determined.

In some embodiments, the type of solution of the positioning signal is a fixed solution, and when the discreteness of the multiple positions determined based on the positioning signal is less than or equal to the discrete threshold, the positioning signal can meet the preset quality requirement. In other words, when the differences between the multiple positions determined based on the positioning signal are small, the position determined based on the positioning signal can be considered to be credible.

This application does not limit the type of solution and the way to obtain multiple positions determined by the positioning signal. For example, the type of solution can be obtained through the BESTPOSA message. Multiple positions can be obtained through the CGA message.

The present application does not limit the representation of the position. For example, the position can be determined by longitude and/or latitude.

The degree of dispersion can be expressed by standard deviation, variance, mean square error, etc. For example, the degree of dispersion can be determined by the longitude standard deviation corresponding to multiple locations and the latitude standard deviation corresponding to multiple locations. As an implementation method, the degree of dispersion can be obtained by taking the square root of the sum of the squares of the longitude standard deviation and the latitude standard deviation.

Fig. 16 is a schematic flow chart of a method for determining that a positioning signal does not meet a preset quality requirement provided by an embodiment of the present application. The method shown in Fig. 16 may include steps S910 to S970.

Step S910, obtaining GGA and BESTPOSA messages.

Step S920: extract the type, accuracy standard deviation and latitude standard deviation of the solution according to the message obtained in step S910.

Step S930, determining whether the type of the solution is a fixed solution.

If the type of the solution is a fixed solution, step S940 may be performed. If the type of the solution is not a fixed solution, step S970 may be performed.

Step S940, calculating the degree of dispersion. The degree of dispersion can be obtained by taking the square root of the sum of the squares of the longitude and latitude standard deviations.

Step S950, determining whether the discrete degree is less than or equal to a discrete threshold.

If the discrete degree is less than or equal to the discrete threshold, step S960 may be performed. If the discrete degree is greater than the discrete threshold, step S970 may be performed.

Step S960: determine that the positioning result is credible, that is, the positioning signal meets the preset quality requirements.

Step S970: determine that the positioning result is unreliable, that is, the positioning signal does not meet the preset quality requirement.

In an optional embodiment, the control module 120 may be a processor 1020, the positioning system 110 may be a transceiver 1040, and the terminal device may further include an input/output interface 1030 and a memory 1010, as specifically shown in FIG. 10 .

FIG17 is a schematic block diagram of a terminal according to another embodiment of the present application. The terminal 1000 shown in FIG17 may include: a memory 1010, a processor 1020, an input/output interface 1030, and a transceiver 1040. The memory 1010, the processor 1020, the input/output interface 1030, and the transceiver 1040 are connected via an internal connection path, the memory 1010 is used to store instructions, the processor 1020 is used to execute the instructions stored in the memory 1020, to control the input/output interface 1030 to receive input data and information, output data such as operation results, and control the transceiver 1040 to send signals.

It should be understood that in the embodiment of the present application, the processor 1020 can adopt a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs to implement the technical solution provided in the embodiment of the present application.

It should also be understood that the transceiver 1040 is also called a communication interface, and uses a transceiver device such as but not limited to a transceiver to implement communication between the terminal 1000 and other devices or a communication network.

The memory 1010 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1020. A portion of the processor 1020 may also include a nonvolatile random access memory. For example, the processor 1020 may also store information on the device type.

In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 1020 or an instruction in the form of software. The method for requesting uplink transmission resources applied for in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in the processor for execution. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 1010, and the processor 1020 reads the information in the memory 1010 and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

Figure 18 is a method for controlling a self-moving device provided in an embodiment of the present application. The self-moving device moves within a working area defined by a boundary. The self-moving device includes a positioning system. The positioning system determines the position of the self-moving device through a received positioning signal. When the positioning signal does not meet a preset quality requirement, the self-moving device is in a shadow area. The method includes: steps S1110 to S1130.

Step S1110, storing a signal recovery point set, wherein the signal recovery point set records the location of the signal recovery point of the mobile device and the priority of the signal recovery point, wherein the priority represents the probability of the signal recovery point being selected as the target signal recovery point.

Step S1120: When the self-mobile device is in the shadow area, the target signal recovery point is selected from the signal recovery point set based on the priority.

Step S1130, controlling the mobile device to move to the target signal recovery point to perform signal recovery at the target signal recovery point.

In some embodiments, the priority corresponding to the target recovery point is higher than the priority corresponding to the current position of the self-mobile device.

In some embodiments, the target signal recovery point is a location point with the highest priority within a first preset range of the current location of the mobile device.

In some embodiments, the target signal recovery point is the location point with the highest priority in the signal recovery point set.

In some embodiments, selecting a target signal recovery point from the signal recovery point set based on the priority includes: selecting a target signal recovery point from the signal recovery point set based on the priority and a distance between the current position of the mobile device and the signal recovery point.

In some embodiments, when the signal recovery point set includes the signal recovery points with the same priority, the signal recovery point closest to the current position of the mobile device is selected as the target signal recovery point.

In some embodiments, the signal recovery point set includes a first type of signal recovery point, wherein the first type of signal recovery point The priority corresponding to the point is represented by the distance between the first-type signal recovery point and the boundary.

In some embodiments, the greater the distance between the first-type signal recovery point and the boundary, the higher the priority corresponding to the first-type signal recovery point.

In some embodiments, the target signal recovery point is a position point with the largest distance from the boundary; or, the target signal recovery point is a position point with the largest distance from the boundary within a second preset range of the current position of the self-mobile device.

In some embodiments, the signal recovery point set includes a second type of signal recovery point, and the second type of signal recovery point is a position point where the signal quality recorded by the mobile device during movement is greater than a first threshold, and the priority corresponding to the second type of signal recovery point is expressed by an evaluation value of the distance information evaluation.

In some embodiments, in the signal recovery point set, the second type of signal recovery points include a portion of position points where the signal quality recorded by the self-moving device during movement is greater than a first threshold.

In some embodiments, the distance between the second-type recovery points is greater than a second threshold.

In some embodiments, the distance information includes one or more of the following: the distance between the second type of signal recovery point and the boundary, the distance between the second type of signal recovery point and the current position of the self-mobile device.

In some embodiments, the evaluation value is positively correlated with the distance between the second type of signal recovery point and the boundary; the evaluation value is negatively correlated with the distance between the second type of signal recovery point and the current position of the self-mobile device.

In some embodiments, the target signal recovery point is a position point with a maximum evaluation value within the boundary, or the target signal recovery point is a position point with a maximum evaluation value within a third preset range of the current position of the self-mobile device.

In some embodiments, the signal recovery point set includes a third type of signal recovery point, which is a location point recorded by the self-moving device during movement. The priority corresponding to the third type of signal recovery point is expressed by a signal recovery probability, and the signal recovery probability is updated based on the signal quality when the self-moving device passes through the third type of signal recovery point again.

In some embodiments, the signal recovery probability currently corresponding to the third-class signal recovery point is a first probability, and the method further includes: when the self-mobile device passes through the third-class signal recovery point again, if the signal quality of the third-class signal recovery point is greater than a third threshold, updating the signal recovery probability corresponding to the third-class signal recovery point to a second probability, and the second probability is greater than the first probability; or, when the self-mobile device passes through the third-class signal recovery point again, if the signal quality of the third-class signal recovery point is less than or equal to the third threshold, updating the signal recovery probability corresponding to the third-class signal recovery point to a third probability, and the third probability is less than the first probability.

In some embodiments, the signal recovery point set includes a first type of signal recovery point and a second type of signal recovery point, the priority corresponding to the first type of signal recovery point is expressed by the distance between the first type of signal recovery point and the boundary, and the priority corresponding to the second type of signal recovery point is expressed by an evaluation value of the distance information; selecting a target signal recovery point from the signal recovery point set based on the priority includes: based on the priority, preferentially selecting a target signal recovery point from the first type of signal recovery point.

In some embodiments, the method also includes: if the positioning signal does not meet the preset quality requirements when the self-mobile device is at the first target signal recovery point, then based on the priority, selecting a second target signal recovery point from the second type of signal recovery point; and controlling the self-mobile device to move to the second target signal recovery point.

In some embodiments, when the positioning result of the positioning signal is a fixed solution and the discreteness of multiple positions determined based on the positioning signal is less than or equal to a threshold, the positioning signal meets the preset quality requirement.

In some embodiments, the degree of dispersion is determined by a standard deviation of longitude and a standard deviation of latitude between the plurality of locations.

The signal quality of the positioning signal is affected by many factors such as obstructions and the environment. In some areas, the quality of the positioning signal cannot meet the preset quality requirements, and these areas can be called shadow areas. For example, when the signal strength or signal quality of the positioning signal is less than the quality threshold, it can be determined that the mobile device is in a shadow area. In some areas, such as open areas without obstructions, the quality of the positioning signal meets the preset quality requirements, and these areas can be called non-shadow areas.

When the autonomous device moves in the shadow area, the actual moving route of the autonomous device may deviate from the planned working route due to the poor quality of the positioning signal, which may cause many problems. For example, the autonomous device may move outside the boundary. Or, the autonomous device may move to an unpredictable area and cause accidents such as freezing. Or, the autonomous device may not complete the scheduled work. For example, an automatic lawn mower may miss grass, that is, the grass in some areas within the boundary is not cut.

The present application proposes a self-moving device to solve the problem of how to limit the moving time of the self-moving device in the shadow area when the self-moving device is continuously in the shadow area where the positioning signal quality is continuously poor, so as to avoid the self-moving device from failing to work and causing accidents.

In some embodiments, the control module 120 may be configured to: in response to the first parameter of the self-moving device moving in the shadow area being greater than a first threshold, control the self-moving device to change the moving direction; and in response to the first parameter of the self-moving device moving in the shadow area being greater than a second threshold, control the self-moving device to stop working and/or alarm, wherein the first threshold is less than the second threshold.

It should be noted that the first parameter may be a parameter characterizing the duration of time that the self-moving device has been in the shadow area. In some embodiments, the first parameter may include a parameter directly characterizing the duration of time that the self-moving device has been in the shadow area, that is, the moving duration. In other embodiments, the first parameter may include a parameter indirectly characterizing the duration of time that the self-moving device has been in the shadow area. For example, the first parameter may include the distance that the self-moving device has moved in the shadow area. It should be noted that the accumulation of the moving duration may be the accumulation of the time when the self-moving device is in a non-stationary state in the shadow area. Alternatively, the moving duration may also be the accumulation when the self-moving device is in a moving or stationary state in the shadow area, that is, as long as it enters the shadow area, the moving duration begins to be accumulated.

The first threshold or the second threshold may be determined according to the specific circumstances of the first parameter. For example, when the first parameter includes the duration of movement of the self-moving device in the shadow area, the first threshold may include a first duration threshold (hereinafter represented by T1), and the second threshold may include a second duration threshold (hereinafter represented by T2). When the first parameter includes the distance moved by the self-moving device in the shadow area, the first threshold may include a first distance threshold (hereinafter represented by L1), and the second threshold may include a second distance threshold (hereinafter represented by L2).

In the case where the first parameter includes multiple parameters, the first threshold value may include a corresponding number of threshold values. The first parameter being greater than the first threshold value may mean that multiple parameters are greater than the corresponding threshold value. Alternatively, the first parameter being greater than the first threshold value may mean that some parameters among the multiple parameters are greater than the corresponding threshold value. Similarly, in the case where the first parameter includes multiple parameters, the second threshold value may include a corresponding number of threshold values. The first parameter being greater than the second threshold value may mean that multiple parameters are greater than the corresponding threshold value. Alternatively, the first parameter being greater than the second threshold value may mean that some parameters among the multiple parameters are greater than the corresponding threshold value.

As an implementation method, when the positioning signal does not meet the preset quality requirements for a period of time exceeding T1, the moving direction of the self-moving device can be changed. When the positioning signal does not meet the preset quality requirements for a period of time exceeding T2, the self-moving device can To shut down and/or alarm.

As an implementation, when the moving distance that the positioning signal does not meet the preset quality requirement exceeds L1, the moving direction of the self-moving device can be changed. When the moving distance that the positioning signal does not meet the preset quality requirement exceeds L2, the self-moving device can be shut down and/or alarm.

It is understandable that if the self-moving device enters the shadow area for a time greater than or equal to T1, the moving direction of the self-moving device can be changed; and/or, if the self-moving device moves a distance greater than or equal to L1 in the shadow area, the moving direction of the self-moving device can be changed. After changing the moving direction, if the self-moving device continues to be in the shadow area and the cumulative moving time in the shadow area is greater than or equal to T2, the self-moving device can be shut down and/or an alarm can be sounded; and/or, after changing the moving direction, if the self-moving device continues to be in the shadow area and the cumulative moving distance in the shadow area is greater than or equal to L2, the self-moving device can be shut down and/or an alarm can be sounded.

By changing the moving direction, the probability of the self-mobile device moving to the non-shadow area may increase, thereby restoring the quality of the positioning signal so that the self-mobile device can continue to move along the planned working route. If the quality of the positioning signal continues to be poor, the present application further limits the moving time and/or moving distance of the self-mobile device in the shadow area, thereby avoiding the self-mobile device from being unable to work, accidents, and other problems.

In some implementations, if the first parameter of the movement of the self-moving device in the shadow area is less than or equal to the first threshold, the self-moving device may move along the planned working route. That is, in response to the first parameter of the movement of the self-moving device in the shadow area being less than or equal to the first threshold, the control module may also be configured to control the self-moving device to move along the preset working route.

The following description is given by taking the example that the first parameter includes duration and/or moving distance, and other scenarios are similar and can be referenced to each other.

In some embodiments, if the duration of the self-moving device in the shadow area is less than or equal to T1, the self-moving device may move along the planned working route. That is, in response to the duration of the self-moving device moving in the shadow area being less than or equal to the first duration threshold, the control module may also be configured to control the self-moving device to move along the planned working route.

In some embodiments, if the moving distance of the self-moving device in the shadow area is less than or equal to L1, the self-moving device may move along the planned working route. That is, in response to the moving distance of the self-moving device in the shadow area being less than or equal to the first distance threshold, the control module may also be configured to control the self-moving device to move along the planned working route.

In the case where the first parameter of the self-moving device entering the shadow area is short, based on the position information of the self-moving device determined in the non-shadow area, the self-moving device can most likely continue to work normally, so the self-moving device can continue to move along the planned work route to complete the work of the self-moving device. In other words, from the non-shadow area to the shadow area, the position information determined based on the positioning signal can be maintained for a period of time. It is understandable that as the time and/or distance of the self-moving device entering the shadow area increases, the position information of the self-moving device determined in the non-shadow area will be difficult to support the self-moving device to continue to move in the shadow area. In this case, based on the present application, the self-moving device can change the direction of movement, and the self-moving device can also shut down and/or alarm.

In some embodiments, the first parameter of movement in the shadow area can be represented by the situation that the self-moving device enters the shadow area once. In other words, once the self-moving device leaves the shadow area, the first parameter of movement in the shadow area can be reset. For example, once the self-moving device leaves the shadow area, the movement time in the shadow area can be reset. Similarly, once the self-moving device leaves the shadow area, the movement distance in the shadow area can be reset.

It should be noted that the first parameter of moving in the shadow area can be determined by the self-moving device itself. For example, when the self-moving device finds or determines that it has entered the shadow area, it can start timing and/or recording the distance. Yes, before the mobile device discovers that it has entered the shadow area, the mobile device may have already entered the shadow area, that is, the moving time in the shadow area determined by the mobile device itself may be less than or equal to the actual time in the shadow area, and/or the moving distance determined by the mobile device itself may be less than or equal to the actual moving distance in the shadow area.

In some embodiments, the self-moving device may further include a device for measuring and/or recording the first parameter. For example, the self-moving device may include a timer and/or a rangefinder. The control module may be configured to: in response to the self-moving device entering the shadow area, control the timer to start recording the moving duration and/or control the rangefinder to start recording the moving distance, and in response to the positioning signal at the location of the self-moving device meeting the preset quality requirement, control the timer and/or the rangefinder to perform a zeroing operation.

The present application does not limit the type or mode of the work route planned by the mobile device. For example, the type of the planned work route can be along the edge, bow-shaped, transition, return, etc.

When the planned working route is along the edge, the planned working route is the boundary of the working area. Figure 19 is an example diagram of a route along the edge. Specifically, the rectangular boundary shown in Figure 19 is used to illustrate the working route.

When the planned working route is in the shape of a bow, the working route is shaped like a "bow", and moves back and forth along two relative directions. In the process of the self-moving device moving along the bow-shaped working route, the direction of movement will be reversed, that is, rotated 180°. Figure 20 is an example diagram of a bow-shaped route. The rectangle shown in Figure 20 is the boundary, and the bow-shaped line in the rectangle is used to illustrate the working route. When the self-moving device moves along the route shown in Figure 20, the self-moving device moves in the direction extending from the upper boundary, and changes direction when it approaches the left and right boundaries. The parameters of the bow-shaped route may include an overlap ratio. The overlap ratio can be understood as the overlap ratio of the cutting width of the self-moving device on adjacent routes.

When the planned working route is in the shape of a Chinese character "回", the working route can be planned to extend along the boundary. The Chinese character "回" line within the rectangular boundary as shown in FIG. 19 can be used to illustrate the working route. As can be seen from FIG. 19, the working route of the Chinese character "回" extends along the four sides of the rectangular boundary.

It should be noted that Figures 19 and 20 are only examples provided in this application. The boundary shape, route extension direction, angle, path interval, etc. in the actual scene can be flexibly set.

When the self-moving device moves in the shaded area, the direction of movement of the self-moving device may change along the planned route. In some embodiments, the change in the direction of movement of the self-moving device may refer to the situation where the direction of movement needs to be changed when the self-moving device moves along the planned route. Taking Figure 21 as an example, the self-moving device moves along a bow-shaped route in the direction indicated by the arrow. The self-moving device can enter the shaded area of Figure 21 (represented by a gray rectangle) at position point A. In Figure 21, the direction of movement of the self-moving device at position point B changes.

In some embodiments, in response to the first parameter of the self-mobile device moving in the shadow area being less than or equal to a third threshold and the movement direction of the self-mobile device changing, the self-mobile device may continue to move along the working route from the position where the movement direction changes. The third threshold is less than the first threshold.

Similar to the first threshold, the third threshold may also include multiple thresholds corresponding to the first parameter. For example, the third threshold may include a third duration threshold and/or a third distance threshold. In the case where the first parameter includes the duration of movement in the shadow area, the third threshold may include a third duration threshold. In the case where the first parameter includes the distance of movement in the shadow area, the third threshold may include a third distance threshold.

Continuing to use FIG. 21 as an example, when the self-mobile device moves to position point B, if the first parameter is less than or equal to the third threshold, the self-mobile device can continue to move to position point C along the planned route.

It is understandable that if the moving direction of the self-moving device changes according to the planned route, it may be that the self-moving device leaves the shadow area. As shown in FIG. 21, the self-moving device moves from position B according to the planned route. If the head moves toward position point C, it can leave the shadow area, so that the quality of the positioning signal can be restored. Therefore, based on this solution, not only can the self-moving device continue to move on the planned route to achieve normal work, but also the quality of the positioning signal can meet the preset conditions as soon as possible.

The following is a detailed description of the technical solution provided by the present application for the scenario shown in Figure 21. The following is an example in which the first duration threshold is 30 seconds and the third duration threshold is 12 seconds. In Figure 21, the gray shaded portion is the shaded area. As shown in Figure 21, the self-mobile device moves along the bow-shaped route shown by the arrow. When the self-mobile device moves to point A, the self-mobile device enters the shaded area. The self-mobile device can start timing from point A and determine whether the direction of movement has changed. When the duration of movement in the shaded area is t and t≤12 seconds, the self-mobile device moves to point B and the running direction changes. At point B, the self-mobile device can force the duration T of movement in the shaded area to be 12 seconds. After point B, the self-mobile device can continue to accumulate t. Starting from point B, the self-mobile device continues to move along the planned work route to point C. Between point B and point C, if the moving duration of the self-mobile device is less than or equal to 18 seconds (the third duration threshold-the first duration threshold), the self-mobile device can continue to move along the planned route. As shown in FIG. 21 , at point C, the self-mobile device leaves the shadow area, that is, the positioning signal quality is restored and meets the preset quality requirements, then the self-mobile device can reset T to zero and continue to move normally along the planned working route.

In some embodiments, the change in the direction of motion may include a reversal of the direction of motion. The reversal of the direction of motion may refer to a rotation of 180° from the direction of motion of the mobile device. In some embodiments, the reversal of the direction of motion may also be referred to as a U-turn or a route switch.

In the case where the planned route is a bow-shaped route, the present application proposes that if the first parameter of the movement of the self-mobile device in the shadow area is less than or equal to the third threshold value, and the movement direction of the self-mobile device is reversed, the self-mobile device can continue to move along the working route from the position where the movement direction is reversed.

In some embodiments, in response to a first parameter of the self-mobile device moving in the shadow area reaching a third threshold, and the movement direction of the self-mobile device has not changed or the direction of the planned working route has not changed, the self-mobile device is controlled to change the movement direction and move along the working route.

It should be noted that the working route that the self-moving device follows after changing the direction of movement may be a pre-planned path or a re-planned path. For a pre-planned path, the self-moving device may skip some of the intermediate paths and continue to move along the pre-planned path. Alternatively, the self-moving device may re-plan the path to leave the shadow area when the first parameter reaches the third threshold.

Taking the scenario shown in FIG. 22 as an example, at position point A, the self-mobile device starts to accumulate the first parameter, and when the self-mobile device moves to position point B, the first parameter reaches the third threshold. In the process of moving from position point A to position point B, the movement direction of the self-mobile device does not change, then at position point B, the self-mobile device can change the movement direction. For example, in FIG. 22, at position point B, the self-mobile device changes the movement direction. After changing the movement direction, the self-mobile device can continue to move along the pre-planned path (indicated by the dotted line) from the position point where the movement direction is changed.

For the U-shaped route, in response to the first parameter of the self-moving device moving in the shadow area reaching the third threshold and the movement direction of the self-moving device not being reversed, the self-moving device may reverse the movement direction and move along the working route.

It is understandable that for the bow-shaped route, if the self-mobile device turns around, the self-mobile device can still move on the planned route, but the direction is turned in advance. Due to the reversal of direction, the self-mobile device can move in advance to the position where the positioning signal quality was better before, which is more conducive to the recovery of the positioning signal quality. Since the self-mobile device is still moving on the planned route, the self-mobile device can continue to perform effective work.

The technical solution provided by the present application is described in detail below with respect to the scenario shown in Figure 22. The following description is made by taking the first duration threshold as 30 seconds and the third duration threshold as 12 seconds as an example. In Figure 22, the gray shaded portion is the shaded area. As shown in Figure 22, the self-mobile device moves along the bow-shaped route shown by the arrow. In Figure 22, the planned working route is represented by a dotted line, and the route actually moved by the self-mobile device is represented by a solid line. When the self-mobile device moves to point A, the self-mobile device enters the shaded area. The self-mobile device can start timing from point A and determine whether the direction of movement has changed. When the duration of movement in the shaded area is t and t>12 seconds, the self-mobile device moves to point B, and during the movement from point A to point B, the direction of movement of the self-mobile device has not changed. The self-mobile device can change the direction of movement at point B. In other words, starting from point B, the self-mobile device can skip a planned moving route and continue to move along the subsequent bow-shaped route. The self-mobile device can continue to move for 18 seconds from point B (third duration threshold-first duration threshold). For example, after point B, if the movement duration of the self-mobile device in the shaded area has not reached 30 seconds, the self-mobile device can continue to move for 18 seconds.

In some embodiments, if the first parameter of the self-mobile device moving in the shadow area is greater than the first threshold, the self-mobile device may move toward the signal recovery point. In other words, the control module 103 may also be configured to: in response to the first parameter of the self-mobile device moving in the shadow area being greater than the first threshold, control the self-mobile device to move toward the signal recovery point.

The location of the signal recovery point may be a location where the positioning signal quality may be restored. In other words, at the signal recovery point, the positioning signal may meet the preset quality requirements. When the self-mobile device moves to the signal recovery point, the positioning signal may or may not be restored. The location of the signal recovery point may deviate from the planned working route, that is, the signal recovery point may be located outside the planned working route.

In some embodiments, the signal recovery point may belong to a signal recovery line or a signal recovery area. That is, the signal recovery point may be any point on the signal recovery line or the signal recovery area. The signal recovery point may be a point on the signal recovery line or the signal recovery area that is random or determined based on a rule. For example, the signal recovery point may be the point on the signal recovery line or the signal recovery area that is closest to the current position.

Compared with the mobile device arbitrarily changing the moving direction, the mobile device moves to the signal recovery point, and the probability of the signal quality of the positioning signal of the mobile device being restored is higher. Therefore, based on this solution, the mobile device can restore the quality of the positioning signal faster, so that it can work normally more continuously.

This application does not limit the method for setting the signal recovery point. The following is an example of setting the signal recovery point.

In some embodiments, the signal recovery point may be specified by the user of the self-mobile device, that is, manually set. The manually set signal recovery point may include the position point originally set by the user. For example, the user can observe the working area of the self-mobile device and determine which areas are blocked (i.e., they may be shadow areas) and which areas are not blocked (i.e., they may be non-shadow areas). The user can set the signal recovery point in the area where there is no blockage. Alternatively, the user can set the signal recovery point outside the blocked area. As shown in FIG14, the white rectangular box is the working area of the self-mobile device. During the mapping process, the gray rectangular box shown in FIG14 can be determined as a shadow area, and the user can establish a signal recovery line near the shadow area. Any point on the signal recovery line can be a signal recovery point. In some embodiments, the signal recovery point may be a point or points with a high probability of being in a non-shadow area. For example, if the area where the self-mobile device works includes multiple unconnected areas, it is necessary to manually set a channel connecting multiple areas. Usually, the user will be prompted to set the channel in a non-blocked area so that the self-mobile device can move accurately between different areas. In this case, the signal recovery point may be located on the channel. For another example, the end of the magnetic strip of the charging station of the self-mobile device is usually set in a non-shadow area. Therefore, the signal recovery point can be located at the end of the magnetic strip at the charging station.

In some embodiments, in response to the first parameter being greater than the first threshold, the self-mobile device can be controlled to move toward the first signal recovery point. The first signal recovery point can be any signal recovery point described above. The first signal recovery point can be determined based on a target position. The target position can be the position where the self-mobile device is located when the first parameter of the self-mobile device moving in the shadow area is equal to the first threshold. For example, the self-mobile device can search for the corresponding first signal recovery point based on the target position. The first signal recovery point can be located on the first signal recovery line or the first signal recovery area, and the first signal recovery point It may be the point on the signal recovery line that is closest to the target position.

Figure 23 is an example diagram of a moving route of a self-moving device provided by the present application. As shown in Figure 23, point P1 indicates the point where the self-moving device enters the shadow area. Starting from point P1, the self-moving device can continue to move along the planned working route for the first duration threshold T1 until it moves to point P2. At point P2 (i.e., the target location), the self-moving device can search for the corresponding first signal recovery point D. After T1, the self-moving device can move to the first signal recovery point D. The time it takes for the self-moving device to move from point P2 to point D may be t1.

In some embodiments, when the self-moving device moves to the signal recovery point, the signal quality of the positioning signal may still not meet the preset quality requirements. In this case, the self-moving device can be controlled to move to other signal recovery points. For example, the self-moving device can move from the first signal recovery point to the second signal recovery point. Among them, one or both of the first signal recovery point and the second signal recovery point can be manually set signal recovery points.

Continuing to use Figure 23 as an example, when the self-mobile device moves to the first signal recovery point D, if the positioning signal still does not meet the preset quality requirements, and the duration of the self-mobile device in the shadow area (T1+t1) is less than the second duration threshold T2, then the self-mobile device can move to the second signal recovery point E. The time it takes for the self-mobile device to move from point D to point E can be t2. When the self-mobile device moves to the second signal recovery point E, if the positioning signal still does not meet the preset quality requirements, and the duration of the self-mobile device in the shadow area (T1+t1+t2) is less than the second duration threshold T2, then the self-mobile device can move to the third signal recovery point F. When the self-mobile device moves to the second signal recovery point E, if the positioning signal meets the preset quality requirements, the self-mobile device can move from the second signal recovery point E along the route shown by the dotted line to the planned working route shown by the solid line. The time it takes for the self-mobile device to move from point E to point F can be t3.

In some embodiments, when the self-mobile device moves to the signal recovery point, the self-mobile device can detect the quality of the positioning signal. If the preset quality requirements are met, the self-mobile device can move from the signal recovery point to the planned working route. Taking Figure 23 as an example, when the self-mobile device moves to the first signal recovery point D, if the positioning signal meets the preset quality requirements, the self-mobile device can move from the first signal recovery point D along the route shown by the dotted line to the planned working route shown by the solid line.

In some embodiments, during the process of the self-mobile device moving to the signal recovery point, the self-mobile device may detect the quality of the positioning signal. For example, the detection may be performed periodically. If the preset quality requirement is met, the self-mobile device may move from the position that meets the preset quality requirement to the planned working route. In other words, during the process of the self-mobile device moving to the signal recovery point, if the signal quality is restored, the movement to the signal recovery point may be abandoned and the planned working route may be returned.

The detection of signal quality may take a certain amount of time. For example, the detection of positioning signals may include processes such as searching for satellites, receiving signals, and analyzing signals. In this regard, if the signal of the self-mobile device at the first signal point does not meet the preset quality requirements, the self-mobile device may wait for a preset time at the first signal recovery point to avoid incorrect judgment of the signal quality due to the failure to complete the detection of the positioning signal. Within the preset time, the self-mobile device can determine whether the signal quality of the positioning signal meets the preset quality requirements. If the positioning signal does not meet the preset quality requirements within the preset time, the self-mobile device may move from the first signal recovery point to the second signal recovery point. If the positioning signal meets the preset quality requirements within the preset time, the self-mobile device may move from the first signal recovery point to the planned route.

It should be noted that the present application does not limit the specific values of the first threshold, the second threshold, or the third threshold. In some embodiments, the first threshold, the second threshold, or the third threshold may be related to whether it is an edge mode. For example, when the working route is an edge route, the first duration threshold may be 12 seconds. When the working route is a non-edge route (such as a bow route), the first duration threshold may be 30 seconds. The second duration threshold may be, for example, 70 seconds. The third duration threshold may be, for example, 12 seconds. For example, it may be 12 seconds. In some embodiments, the first threshold, the second threshold, or the third threshold may also be related to parameters of the route. The parameters of the route may include, for example, one or more of the parameters such as overlap ratio, extension direction, angle, path shape, etc.

It should be noted that, in some embodiments, when the first parameter of the self-moving device moving in the shadow area is greater than the first threshold, the self-moving device may also adjust movement parameters such as the overlap ratio to leave the shadow area.

In an optional embodiment, the satellite positioning module or the control module may be a processor 520, and the self-mobile device may further include an input/output interface 530 and a memory 510, as specifically shown in FIG. 24 .

FIG24 is a schematic block diagram of a self-moving device according to another embodiment of the present application. The self-moving device 500 shown in FIG24 may include: a memory 510, a processor 520, an input/output interface 530, and a transceiver 540. The memory 510, the processor 520, the input/output interface 530, and the transceiver 540 are connected via an internal connection path, the memory 510 is used to store instructions, and the processor 520 is used to execute the instructions stored in the memory 520 to control the input/output interface 530 to receive input data and information, output data such as operation results, and control the transceiver 540 to send signals.

It should be understood that in the embodiment of the present application, the processor 520 can adopt a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs to implement the technical solution provided in the embodiment of the present application.

It should also be understood that the transceiver 540 is also called a communication interface, and uses a transceiver device such as but not limited to a transceiver to achieve communication between the mobile device 500 and other devices or communication networks.

The memory 510 may include a read-only memory and a random access memory, and provides instructions and data to the processor 520. A portion of the processor 520 may also include a nonvolatile random access memory. For example, the processor 520 may also store information on the device type.

In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 520 or the instruction in the form of software. The method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or it can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 510, and the processor 520 reads the information in the memory 510 and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

It should be understood that the description of the method embodiments in the present application corresponds to the description of the device embodiments, and therefore, for parts that are not described in detail, reference can be made to the previous device embodiments.

FIG25 is a schematic flow chart of a method for controlling a self-moving device provided in an embodiment of the present application. The self-moving device includes a positioning system, and the position of the self-moving device is determined by receiving a positioning signal. When the positioning signal does not meet a preset quality requirement, the self-moving device is in a shadow area. The method shown in FIG25 may include steps S610 and S620.

Step S610: In response to a first parameter of the self-moving device moving in the shadow area being greater than a first threshold, controlling the self-moving device to change the moving direction.

Step S620: In response to a first parameter of the self-moving device moving in the shadow area being greater than a second threshold, controlling the self-moving device to stop working and/or to give an alarm.

The first parameter is a parameter that characterizes the duration of time that the self-moving device is in the shadow area, and the first threshold is smaller than the second threshold.

In some embodiments, the method shown in FIG. 25 further includes: in response to a first parameter of the self-moving device moving in the shadow area being less than or equal to the first threshold, controlling the self-moving device to move along the planned working route.

In some embodiments, in response to the first parameter of the self-mobile device moving in the shadow area being less than or equal to the first threshold, controlling the self-mobile device to move along the planned working route includes: in response to the first parameter of the self-mobile device moving in the shadow area being less than or equal to a third threshold and the movement direction of the self-mobile device changing, controlling the self-mobile device to continue moving along the working route from the position after the movement direction changes.

In some embodiments, in response to the first parameter of the self-mobile device moving in the shadow area being less than or equal to the first threshold, controlling the self-mobile device to move along the planned working route includes: in response to the first parameter of the self-mobile device moving in the shadow area reaching a third threshold and the movement direction of the self-mobile device not changing, controlling the self-mobile device to change the movement direction and move along the working route.

In some embodiments, the working route is a pre-planned path, or the working route is a path re-planned based on the current position.

In some embodiments, in response to a first parameter of the self-mobile device moving in the shadow area being greater than a first threshold, controlling the self-mobile device to change the moving direction includes: in response to a first parameter of the self-mobile device moving in the shadow area being greater than a first threshold, controlling the self-mobile device to move toward a signal recovery point.

In some embodiments, controlling the self-mobile device to move toward the signal recovery point includes: controlling the self-mobile device to move toward a first signal recovery point; if the self-mobile device is in the shadow area at the first signal recovery point, controlling the self-mobile device to move from the first signal recovery point to the second signal recovery point.

In some embodiments, before moving to the second signal recovery point, the method shown in Figure 25 also includes: controlling the self-mobile device to wait for a preset time at the first signal recovery point; if the positioning signal does not meet the preset quality requirements within the preset time, controlling the self-mobile device to move from the first signal recovery point to the second signal recovery point.

In some embodiments, the method further includes: detecting a positioning signal during movement toward the signal recovery point; and if the positioning signal meets a preset quality requirement, controlling the self-moving device to move toward a planned working route.

In some embodiments, controlling the self-moving device to move toward the signal recovery point includes: searching for an artificially set signal recovery point within a preset range of the current position; and controlling the self-moving device to move from the current position to the artificially set signal recovery point.

In some embodiments, the manually set signal recovery point includes a location point preset by a user.

In some embodiments, the first threshold is related to a movement mode of the self-moving device, wherein the corresponding first threshold is different in an edge mode and a non-edge mode.

In some embodiments, the self-moving device also includes a timer and/or a rangefinder; the method also includes: in response to the self-moving device entering a shadow area, controlling the timer to start recording the movement duration and/or controlling the rangefinder to start recording the movement distance, and in response to the positioning signal at the location of the self-moving device meeting a preset quality requirement, controlling the timer and/or the rangefinder to perform a zeroing operation.

To facilitate the understanding of the present application, the first and second embodiments provided in the present application are described below in conjunction with FIG. 26 and FIG. 27 .

Embodiment 1

In the first embodiment, the type of the planned working route is along the edge.

The method shown in FIG. 26 may include steps S711 to S756 .

Step S711, start from the mobile device and load the signal recovery point.

Step S712, the mobile device moves along the planned working route and works. The planned working route may be a preset route.

Step S721, during the edge movement process, detect whether the positioning signal of the current position meets the preset quality requirement. If the positioning signal does not meet the preset quality requirement, the self-movement is in the shadow area, and go to step S722. If the positioning signal meets the preset quality requirement, then return to step S713.

Step S713, searching for points along the edge.

Step S722, start timing, accumulate the duration T in the shadow area (referred to as shadow duration), and determine whether the duration in the shadow area exceeds the first duration threshold T1. In the first embodiment, the first duration threshold T1 may be 12s. If T exceeds T1, then go to step S724. If T does not exceed T1, then go back to step S713.

Step S724: record the position in the shadow area when the duration exceeds T1 as an edge point (ie, the target position), and find the first signal recovery point corresponding to the edge point.

Step S725, planning the moving route to the first signal recovery point, that is, controlling the mobile device to move to the first signal recovery point.

Step S731, determine whether the positioning signal meets the preset quality requirements during the process of moving to the first signal recovery point. If the positioning signal does not meet the preset quality requirements, the self-moving device is in the shadow area; if the positioning signal meets the preset quality requirements, the self-moving device is not in the shadow area. If the self-moving device is in the shadow area, it can go to step S733; if the self-moving device is not in the shadow area, it can go to step S732.

Step S732, the duration T in the shadow area is reset to zero, and the process returns to step S713. Step S713, searching for a route to an edge point.

Step S733, continue to accumulate the duration T in the shadow area, that is, the duration T in the shadow area continues to accumulate.

Step S734, determine whether the duration T in the shadow area exceeds the second duration threshold T2. In the first embodiment, the second duration threshold T2 may be 70s. If T exceeds T2, the process may proceed to step S735. If T does not exceed T2, the process may proceed to step S736.

Step S735, shut down the mobile device and/or sound an alarm.

Step S736, finding the second signal recovery point corresponding to the edge point.

Step S737, planning the mobile device to the second signal recovery point, that is, controlling the mobile device to move to the second signal recovery point.

Step S741, determine whether the positioning signal meets the preset quality requirement during the process of moving to the second signal recovery point. If the positioning signal meets the preset quality requirement, go to step S742. If the positioning signal does not meet the preset quality requirement, go to step S743.

Step S742, the shadow duration T is reset to zero.

Step S743, the shadow duration T is accumulated, that is, the duration T in the shadow area is continuously accumulated.

Step S744, the mobile device determines whether the shadow duration T exceeds the second duration threshold T2. If T exceeds T2, the process proceeds to step S745; if T does not exceed T2, the process proceeds to step S746.

Step S745, shut down the mobile device and/or sound an alarm.

Step S746, searching the mobile device for a third signal recovery point corresponding to the edge point.

Step S747, planning the mobile device to the third signal recovery point, that is, controlling the mobile device to move to the third signal recovery point.

Step S751, the mobile device determines whether the positioning signal meets the preset quality requirement during the process of moving to the third signal recovery point. If the positioning signal meets the preset quality requirement, go to step S752. If the positioning signal does not meet the preset quality requirement, go to step S753.

Step S752, the shadow duration T is reset to zero.

Step S753, the shadow duration T is accumulated, that is, the duration T in the shadow area is continuously accumulated.

Step S754, the mobile device determines whether the duration T in the shadow area exceeds the second duration threshold. If T exceeds T2, the process proceeds to step S755. If T does not exceed T2, the process proceeds to step S756.

Step S755, shut down the mobile device and/or sound an alarm.

Step S756, waiting for convergence at the third signal recovery point. In other words, at the third signal recovery point, it can be determined whether to continue accumulating T, whether to continue searching for a signal recovery point, whether to shut down and/or alarm according to whether it is in the shadow area.

It should be noted that the above-mentioned first signal recovery point, second signal recovery point, and third signal recovery point are only exemplary descriptions, and other signal recovery points may also be included.

Embodiment 2

Embodiment 2 is an embodiment in which the planned working path is in the shape of a bow.

Fig. 27 is a schematic flow chart of a method for controlling a self-moving device provided in Embodiment 2 of the present application. The method shown in Fig. 27 may include steps S2711 to S2766.

Step S2711, start from the mobile device and load the signal recovery point.

Step S2712, the self-moving device moves in a bow shape according to the planned working route (preset route). For example, the self-moving device performs bow cutting.

Step S2721, during the bow cutting process, detect whether the positioning signal of the current position meets the preset quality requirements. If the positioning signal does not meet the preset quality requirements, the self-moving device is in the shadow area; if the positioning signal meets the preset quality requirements, the self-moving device is not in the shadow area. If the positioning signal meets the preset quality requirements, it can return to step S2712. If the positioning signal does not meet the preset quality requirements, it can go to step S2722.

Step S2722, start timing and accumulate the duration T in the shadow area.

Step S2723: When T is less than the third time threshold, determine whether the direction of movement of the mobile device has changed (switched routes). In the second embodiment, the third time threshold is 12 seconds. If the direction of movement has changed, the process proceeds to step S2724; if the direction of movement has not changed, the process proceeds to step S2727.

Step S2724, the duration T in the shadow area is forcibly set to 12 seconds. Step S2725, the mobile device continues to perform bow-shaped cutting along the route after the movement direction is turned, and executes step S2731.

Step S2727, the mobile device switches the route at the third time threshold (ie, 12 seconds).

After switching the route, the self-moving device can actively increase the overlap ratio, that is, shorten the bow cutting width of the self-moving device.

Step S2731, determine whether the positioning signal after the route switching meets the preset quality requirement. If the positioning signal meets the preset quality requirement, it can go to step S2732. If the positioning signal does not meet the preset quality requirement, it can go to step S2733.

Step S2732, clear the duration T in the shadow area and return to step S2712.

Step S2733, continue to accumulate the duration T in the shadow area.

Step S2734, determine whether the duration T in the shadow area exceeds the first duration threshold T1. In the second embodiment, the first duration threshold is 30s. If T exceeds T1, go to step S2735. If T does not exceed T1, go back to step S2712.

Step S2735: record the position in the shadow area when the duration exceeds 30 seconds as the target position, and find the first signal recovery point corresponding to the target position.

Step S2736, controlling the mobile device to move to the first signal recovery point, that is, planning to the first signal recovery point.

Step S2741, determine whether the positioning signal meets the preset quality requirement during the process of moving to the first signal recovery point. If the positioning signal meets the preset quality requirement, it can go to step S2742; if the positioning signal does not meet the preset quality requirement, it can go to step S2743.

Step S2742, clear the duration T in the shadow area and perform the bow movement nearby.

Step S2743, continue to accumulate the duration T in the shadow area.

Step S2744, determine whether the duration T in the shadow area exceeds the second duration threshold T2. In the second embodiment, the second duration threshold T2 is 70s. If T2 exceeds T, then go to step S2745; if T2 does not exceed T, then go to step S2746.

Step S2745, shut down and/or alarm the mobile device.

Step S2746, searching the mobile device for a second signal recovery point corresponding to the target location.

Step S2747, controlling the mobile device to move to the second signal recovery point, that is, planning to the second signal recovery point.

Step S2751, determine whether the positioning signal meets the preset quality requirements during the process of moving to the second signal recovery point; if the positioning signal meets the preset quality requirements, go to step S2752; if the positioning signal does not meet the preset quality requirements, go to step S2753.

Step S2752, clear the duration T in the shadow area and perform the bow movement nearby.

Step S2753, continue to accumulate the duration T in the shadow area.

Step S2754, determine whether the duration T in the shadow area exceeds the second duration threshold T2. If T exceeds T2, go to step S2755; if T does not exceed T2, go to step S2756.

Step S2756, finding the third signal recovery point corresponding to the target position.

Step S2767, the control machine moves from the mobile device to the third signal recovery point, that is, plans to the third signal recovery point.

Step S2761, determine whether the positioning signal meets the preset quality requirement during the process of moving to the third signal recovery point. If the positioning signal meets the preset quality requirement, it can go to step S2762. If the positioning signal does not meet the preset quality requirement, it can go to step S2763.

Step S2763, continue to accumulate the duration T in the shadow area, that is, accumulate the duration T in the shadow area.

Step S2764, determine whether the duration T in the shadow area exceeds the second duration threshold T2. If T exceeds T2, go to step S2765; if T does not exceed T2, go to step S2766.

Step S2765, shut down and/or alarm the mobile device.

Step S2766, the mobile device waits for convergence at the third signal recovery point.

It should be noted that the signal at the signal recovery point may or may not meet the preset quality requirement. The first signal recovery point, the second signal recovery point, and the third signal recovery point are only exemplary, and other signal recovery points may also be included.

In existing applications, self-moving devices generally include driving modules, operation modules (such as the mowing unit in an automatic lawn mower, i.e., a bladed disc), satellite positioning modules, and control modules. The positioning module is mainly used to provide the control module with the positioning signal of the self-moving device. The control module controls the operation of the mobile module based on the satellite positioning signal, thereby realizing the control of the movement process of the automatic mobile device. The operation module is used to complete the corresponding operation tasks under the control of the control module. Of course, the self-moving device can also include other components to realize the device's own established functions. In practical applications, autonomous mobile devices can be divided into many types according to their specific functions, such as automatic cleaning equipment, automatic irrigation equipment, automatic snow sweepers, and automatic lawn mowers.

FIG28 is a schematic diagram of an application scenario related to the self-moving device control method provided by the present application. The self-moving device 10 needs to complete the operation within the scope of the working area S0. Depending on the type of equipment, the operation task may be mowing, irrigation or snow removal, etc. It is understandable that in actual applications, due to the many restrictions on the geographical conditions of the working environment, the working area S0 is irregular in shape. Accordingly, in other possible scenarios, the working area of the self-moving device 100 may also be a regular shape, such as a rectangle, triangle or circle, etc., which will not be listed one by one here, and the present invention does not limit the shape of the working area.

The self-mobile device 10 moves within the working area S0 along a preset working path (in subsequent embodiments of the present application, the preset working path has the same meaning as the preset path mentioned above) to complete the work. Usually, in some implementation scenarios, the preset working path may include three forms of K1, K2 and K3 as shown in Figure 28, wherein the boundary of the working area S0 is the preset working path K1. Within the working area S0, the self-mobile device 10 may adopt at least one of the spiral path shown in K2 and the parallel reciprocating path shown in K3 according to the working requirements. Of course, other forms of preset working paths may also be set according to the working requirements, which are not listed here one by one.

In practical applications, the positioning module of the self-mobile device 10 (in the subsequent embodiments of this application, the positioning module has the same meaning as the satellite positioning module mentioned above) is usually configured as a real-time kinematic (RTK) module, that is, the positioning is realized by real-time kinematic measurement based on the RTK technology. It can be understood that no matter what specific positioning principle the positioning module is based on, the accuracy of its positioning result depends on the quality of the positioning signal. The higher the quality of the positioning signal, the more accurate the positioning result. On the contrary, the lower the quality of the positioning signal, the less accurate the positioning result, and even it is difficult to meet the basic positioning requirements. In practical applications, especially for the positioning module that relies on the satellite navigation system, the quality of the positioning signal is easily affected by environmental factors. For example, when the self-mobile device is in an open area without obstruction, the quality of the positioning signal of the positioning module is naturally high. On the contrary, if the self-mobile device is blocked by trees and buildings, the signal strength of the positioning signal is very weak, and even the positioning module is difficult to receive the positioning signal. In this case, the quality of the positioning signal provided is naturally not high, and it may be difficult to meet the use requirements.

As shown in FIG. 28 , the shaded area S1 and the shaded area S2 in FIG. 28 are areas where the quality of the positioning signal passed by the self-moving device in the process of moving along the preset working path is difficult to meet the use requirements. As mentioned above, these shaded areas are usually areas where trees, buildings, etc. will affect the transmission of the positioning signal. After the self-moving device moves to the shaded area according to the preset working path, the quality of the positioning signal is difficult to meet the use requirements, and the self-moving device cannot determine its actual position in the map based on the positioning signal, and thus cannot continue the working activities. It can be understood that the shape of the shaded area shown in FIG. 28 is only an example. In actual applications, the shape of the shaded area will vary depending on the working environment of the self-moving device 10, which will not be described in detail here.

Taking the shadow area S1 as an example, when the self-moving device enters any position in the shadow area S1, the positioning signal quality decreases, and the self-moving device finds it difficult to determine its exact position in the map, resulting in the self-moving device being unable to continue moving along the preset operation path K1, and thus being unable to complete the established operation task.

In order to solve the problem of work accidents caused by moving path errors and improve work safety, the present invention provides a self-moving device control method, which adjusts the position of the self-moving device when the positioning signal quality does not meet the preset quality conditions, so that the self-moving device can obtain the positioning signal that meets the preset quality conditions again, thereby ensuring that the self-moving device can accurately know its position in the work map, which helps to improve work efficiency, while avoiding work accidents caused by moving path errors and improving work safety.

The self-moving device control method provided by the present invention is applied to the self-moving device, and specifically, can be applied to the self-moving device The control module in the device can, of course, in some cases, also be applied to a server arranged on the network side and capable of controlling the operation process of the self-mobile device. Referring to FIG. 29 , the process of the self-mobile device control method provided in this embodiment may include:

S100: Acquire a positioning signal received from a mobile device during movement.

The autonomous mobile device relies on the positioning signal to determine its position in the work map, and moves along the preset work path based on the positioning signal. Based on this, when controlling the operation of the autonomous mobile device, it is first necessary to obtain the positioning signal received during the movement of the autonomous mobile device, and then perform subsequent control operations based on the obtained positioning signal.

In a possible implementation, the control module that executes the self-mobile device control method provided in this embodiment is connected to the positioning module in communication, and the control module can obtain the positioning signal provided by the positioning module according to the established communication rules, for example, the positioning signal can be obtained according to the preset sampling period. Of course, the positioning module can also actively feedback the positioning signal to the control module according to the preset feedback period, and the present invention does not limit the specific implementation method of obtaining the positioning signal.

S101, controlling the mobile device to move along a preset operation path (that is, the preset path in other embodiments of the present application) according to the positioning signal.

As mentioned above, the preset working path is the moving path preset during the operation of the self-moving equipment. The self-moving equipment can determine its exact position in the working map based on the positioning signal, and then determine the relative position relationship between the current position and the preset working path. By adjusting its own moving direction, the deviation between the actual position and the preset working path can be controlled within the preset deviation range, thereby realizing the control of the self-moving equipment to move along the preset working path according to the positioning signal.

Of course, in practical applications, the specific implementation of controlling the movement of the mobile device along the preset working path according to the positioning signal may also be combined with more information and more specific movement control logic, which is not limited in the present invention.

S102: Determine whether the positioning signal quality meets the preset quality condition. If not, execute S103; if so, execute S106.

In this embodiment, the preset quality condition is used to measure whether the positioning signal meets the use requirements. It is understandable that the preset quality conditions for measuring the quality of the positioning signal will naturally be different when using a positioning module based on different positioning principles. Therefore, in practical applications, the preset quality conditions should be set in combination with the actual positioning principle of the satellite positioning module set in the self-mobile device and the specific control accuracy of the self-mobile device during movement. These are not listed here one by one. Under the premise of not exceeding the core idea of the present invention, they also belong to the scope of protection of the present invention.

In a possible implementation, the positioning module in the mobile device is configured as an RTK module. Based on the basic principle of the RTK module, it can be known that the positioning signal is generated based on the navigation information of the satellite connected to the RTK module, and the more satellites the RTK module is connected to, the better the quality of the positioning signal. Based on this, the number of satellites connected to the RTK module can be used as a specific implementation of the preset quality condition, that is, a threshold value for the number of connected satellites is set. If the number of satellites connected to the RTK module corresponding to the current positioning signal is greater than or equal to the threshold value, the positioning signal is determined to meet the preset quality condition; on the contrary, if the number of satellites connected to the RTK module corresponding to the current positioning signal is less than the threshold value, it can be determined that the positioning signal does not meet the preset quality condition. Of course, the preset quality condition can also be determined based on other information related to the navigation process. For example, the preset quality condition can be set based on a variety of information such as positioning status indication, precision factor, and preset importance weight, which will not be described in detail here.

S103, controlling the mobile device to move to the recovery position.

After the aforementioned steps, when the positioning signal quality does not meet the preset quality conditions, the self-moving device is controlled to leave the preset operating path and further move to the recovery position. In this embodiment and subsequent embodiments, the position corresponding to when the self-moving device leaves the preset operating path is defined as the original position (in the subsequent embodiments of this application, the original position has the same meaning as the current position mentioned above). Furthermore, the position where the positioning signal quality meets the preset quality conditions is defined as the recovery position (in the subsequent embodiments of this application, the recovery position has the same meaning as the signal recovery point mentioned above). That is to say, when the self-mobile device is in the recovery position, the quality of the positioning signal received by the self-mobile device meets the preset quality condition.

In a possible implementation, once the self-moving device determines that the positioning signal quality does not meet the preset quality condition according to S102, the self-moving device is immediately controlled to leave the preset operation path. It can be understood that this control method is applicable to any form of positioning module, and can prevent the self-moving device from any movement process that may affect the operation safety.

Based on this, combined with Figure 30, the self-mobile device 10 moves according to the preset working path K1. When it reaches position Y, the quality of the positioning signal does not meet the preset quality conditions. The self-mobile device 10 is controlled to move away from the preset working path K1 from position Y (i.e., the original position) and move to the recovery position A.

In another possible implementation, the positioning module of the self-moving device is configured as an RTK module. When the positioning signal quality does not meet the preset quality conditions, the positioning signal is still reliable within a certain period of time. Of course, its positioning accuracy will decrease with time. That is to say, when the positioning signal quality does not meet the preset quality conditions, the self-moving device can still move according to the preset operating path based on the positioning signal within a certain period of time.

Based on this, starting from the moment when it is determined that the positioning signal quality does not meet the preset quality conditions, the duration of the movement of the mobile device when the positioning signal does not meet the preset quality conditions is counted. If the obtained duration reaches the second duration threshold, it can be determined that the mobile device cannot continue to move along the preset operating path, and it is necessary to control the mobile device to leave the preset operating path and move to the recovery position. On the contrary, if the obtained duration is less than the second duration threshold, that is, the second duration threshold has not been reached, it can be determined that the mobile device can continue to move along the preset operating path.

In one possible implementation, a time variable I may be set to count the duration during which the positioning signal does not meet the preset quality condition. During the movement of the mobile device, the time variable I is used to count the duration during which the positioning signal quality does not meet the preset quality condition. Once the positioning signal quality meets the preset quality condition, for example, when the mobile device moves to the recovery position, the time variable I is cleared to prepare for the next statistical duration.

Furthermore, in another possible implementation, the control module monitors the quality of the positioning signal of the self-moving device during the movement, and counts the moving distance of the self-moving device when the positioning signal does not meet the preset quality conditions during the movement of the self-moving device. If the obtained moving distance reaches a preset displacement threshold, it can be determined that the self-moving device cannot continue to move along the preset working path and needs to leave the preset working path and move to the recovery position. On the contrary, if the obtained moving distance is less than the preset displacement threshold, it can be determined that the self-moving device can continue to move along the preset working path.

It should be noted that, in combination with the foregoing content, it can be seen that when the positioning signal quality of the self-moving device does not meet the preset quality conditions, the duration and moving distance that the self-moving device can continue to move are directly related to the actual performance parameters of the positioning module and the operating environment. Therefore, in actual applications, the aforementioned second duration threshold and the preset distance threshold can be determined in combination with the actual parameters of the positioning module, the actual operating environment of the equipment and specific control requirements. The present invention does not limit the specific values of the second duration threshold and the preset distance threshold.

S104: Determine whether the positioning signal quality meets the preset quality condition. If not, return to execute S103; if so, execute S105.

In the process of controlling the self-mobile device to move to the recovery position, the quality of the positioning signal is monitored. If the quality of the positioning signal meets the preset quality condition, S105 is executed. If the quality of the positioning signal does not meet the preset quality condition, S103 is returned to control the self-mobile device to continue to move to the recovery position. As mentioned above, the recovery position is a position where the quality of the positioning signal meets the preset quality condition. Therefore, if the quality of the positioning signal does not meet the preset quality condition during the movement to the recovery position, the self-mobile device will eventually move to the recovery position, and then obtain a positioning signal that meets the preset quality condition. As for the specific implementation of determining whether the quality of the positioning signal meets the preset quality condition, it can be implemented with reference to the aforementioned content and will not be described in detail here.

S105, controlling the mobile device to move toward a preset operation path.

In combination with the above content and FIG. 30 , there are two situations for controlling the movement of the mobile device to move toward a preset operation path.

First, during the movement of the self-moving device 10 from the original position Y to the recovery position AA, the positioning signal quality does not meet the preset quality condition until the self-moving device 100 reaches the recovery position AA and receives the positioning signal that meets the preset quality condition. In this case, the self-moving device 100 needs to be controlled to move from the recovery position AA to the preset operation path.

Secondly, during the process of the self-moving device 10 moving from the original position Y to the recovery position AA, when the self-moving device 10 reaches the position M, the positioning signal quality meets the preset quality conditions. In this case, there is no need to continue to control the self-moving device 10 to move to the recovery position AA. The self-moving device 10 can be controlled to move from the position M to the preset operation path.

S106, controlling the self-moving device to move according to the preset operation path.

If it is determined in S102 that the positioning signal quality meets the preset quality condition, the self-moving device is controlled to move according to the preset operation path.

To sum up, this method controls the self-moving device to move along the preset working path. If the positioning signal does not meet the preset quality conditions, the self-moving device is controlled to move to the recovery position. If the positioning signal quality meets the preset quality conditions during the movement to the recovery position, the self-moving device is controlled to move to the preset working path. By adjusting the position of the self-moving device when the positioning signal quality does not meet the preset quality conditions, the self-moving device can obtain the positioning signal that meets the preset quality conditions again, thereby ensuring that the self-moving device can accurately know its position in the working map, which helps to improve working efficiency, while avoiding working accidents caused by moving path errors and improving working safety.

It is understandable that for any of the situations described in S105 in the embodiment shown in FIG29, during the movement of the self-moving device toward the preset working path, it is possible to encounter obstruction again, that is, to enter the shadow area again, which makes it difficult for the self-moving device to determine its accurate position in the working map and to continue to move. To solve this problem, this embodiment provides an optional implementation method to solve the problem of being unable to continue to move due to the blocking of the positioning signal again when the self-moving device's self-positioning signal quality meets the preset quality condition, such as the recovery position AA or position M shown in FIG30, during the movement toward the preset working path.

Specifically, referring to FIG. 31 , the process of the control method for controlling the movement of the mobile device to the preset operation path provided in this embodiment may include:

S1051. Count the duration during which the positioning signal quality does not meet the preset quality condition when the mobile device moves to the preset operation path.

For statistics on the duration during which the positioning signal quality of the mobile device does not meet the preset quality conditions when it moves from a position where the positioning signal quality meets the preset quality conditions to a preset operation path, this can be achieved by referring to the relevant content in the aforementioned S103 and will not be repeated here.

S1052: Determine whether the mobile device returns to the preset operation path before the duration reaches the first duration threshold. If so, execute S1053; if not, execute S1054.

First of all, it should be noted that the selection of the first duration threshold needs to be determined in combination with the performance parameters of the positioning module in the self-mobile device, especially the attenuation of the positioning signal quality over time after the positioning signal does not meet the preset quality conditions, as well as the control accuracy requirements for the self-mobile device, the operating environment of the self-mobile device and other factors. The present invention does not limit the specific value of the first duration threshold. Furthermore, for the relationship between the first duration threshold and the second duration threshold, the two can take the same threshold or different thresholds. It can be understood that in order to ensure that the self-mobile device can move along the preset operating path within a certain period of time after returning to the preset operating path, the first duration threshold may be less than the second duration threshold. Regarding the selection of the duration threshold, reference can be made to the application on how to limit the moving time of the self-mobile device in the shadow area where the positioning signal quality is continuously poor, so as to avoid The relevant embodiments in which problems such as failure to work and accidents occur are not described in detail here.

Based on the above content, after obtaining the duration, if the self-mobile device has not reached the preset operating path when the duration reaches the first duration threshold, execute S1054; on the contrary, if the self-mobile device reaches the preset operating path before the duration reaches the first duration threshold, it means that the positioning signal quality is still reliable when the self-mobile device returns to the preset operating path, and then S1053 can be executed.

S1053, controlling the self-moving device to move according to the preset operation path.

Based on the above content, it can be known that the self-mobile device reaches the first landing position before the duration reaches the first duration threshold. In this case, the quality of the positioning signal can still meet the use requirements, and the self-mobile device can continue to move along the preset operation path based on the positioning signal. Based on this, assuming that the first duration threshold is T, the self-mobile device moves from the position where the positioning signal quality meets the preset quality condition to the preset operation path, and the duration of the positioning signal quality not meeting the preset quality condition is t1. Of course, t1＜T. In this case, if the positioning signal quality still does not meet the preset quality condition, the statistics of the duration are still continuing, and the duration that the self-mobile device can continue to move along the preset operation path is T-t1. When the duration reaches T, the self-mobile device will leave the preset operation path again and move to the recovery position. It can be understood that if the positioning signal quality becomes to meet the preset quality condition within the T-t1 duration range, the aforementioned duration will be reset to zero, and the self-mobile device can continue to move along the preset operation path, and is no longer restricted by the first duration threshold.

S1054: Control the mobile device to move to another recovery position.

In actual application, one or more recovery positions may be set. When multiple recovery positions are set, this embodiment controls the self-moving device to move to another recovery position. Preferably, when the number of recovery positions is large enough, when controlling the self-moving device to move to the recovery position, the recovery positions corresponding to each movement may be different.

Combined with Figure 32, taking situation 1 in S105 in the embodiment shown in Figure 29 as an example, the self-mobile device 10 moves from the recovery position A to the preset operating path. After the aforementioned steps, the duration of the positioning signal quality of the self-mobile device not meeting the preset quality condition reaches the first duration threshold and does not reach the preset operating path, specifically at position NN. In this case, the self-mobile device is controlled to move from position NN to another recovery position BB other than the recovery position AA.

As an optional implementation, when multiple recovery positions are set, before controlling the mobile device to move to another recovery position, the recovery position among the multiple recovery positions that is closest to the current position of the mobile device can first be used as the target recovery position, and the mobile device can be further controlled to move from the current corrected position to the target recovery position.

In another optional implementation, an identifier, such as a position code, may be set for each recovery position. In a specific application, the target recovery position is selected in order of the position code from small to large. Of course, under the premise of satisfying the requirement that the recovery positions corresponding to the process of each movement of the mobile device from the current position to the recovery position are different from each other, the target recovery position may be selected from multiple recovery positions according to other methods. These methods will not be listed here one by one. Under the premise of not exceeding the core idea of the present invention, they also fall within the scope of protection of the present invention.

It can be understood that, referring to the method provided in the aforementioned embodiment, in the process of controlling the self-moving device 10 to move from position NN to the recovery position BB, there may be a position where the positioning signal quality meets the preset quality conditions, or the positioning signal quality may not meet the preset quality conditions until the self-moving device 10 reaches the recovery position BB, that is, when executing S1054, it returns to S103 in the embodiment of Figure 29, so that the self-moving device 10 continuously adjusts the recovery position and continuously tries to move to the preset operation path.

To sum up, the control method provided in this embodiment is that the recovery position corresponding to each movement of the self-moving device to the recovery position is different from each other, and the positional relationship between the self-moving device and the preset working path, as well as the specific path passed by the self-moving device during the movement to the preset working path can be continuously changed, so that the self-moving device can receive positioning signals from more positions during the movement, which helps to improve the success rate of the self-moving device successfully returning to the preset working path.

In the control methods provided in any of the above embodiments, the self-moving device is controlled to move to a preset working path, and the specific direction of movement is not specified. The self-moving device is only controlled to move to the preset working path. The control process is relatively broad, and it is easy for situations that endanger the safe operation of the equipment to occur during the movement of the self-moving device. This problem is not solved. The present embodiment provides another self-moving device control method. This method controls the self-moving device to move to a target position on a preset working path, which can effectively solve the problems existing in the above methods.

Referring to FIG. 33 , FIG. 33 is a flow chart of another method for controlling a self-moving device provided by an embodiment of the present invention. The flow of the control method provided by this embodiment may include:

S200-S204, where, as an optional implementation, the specific implementation process of S200-S204 in this embodiment can refer to the relevant content of S100-S104 in the embodiment shown in Figure 29, and will not be repeated here.

Of course, in the process of controlling the movement of the mobile device to the recovery position each time, the method provided in the embodiment of Figure 31 can also be referred to. Each time it moves to the recovery position, a different recovery position corresponds. This is also optional and will not be described in detail here.

S205: Control the mobile device to move to a first target position on a preset operation path.

In this embodiment, the first target position may be any position on the preset operation path. In the process of controlling the self-moving device to move from the original position to the recovery position, once the positioning signal quality of the self-moving device meets the preset quality condition, the self-moving device can be controlled to move from the current position (such as the position M1 or the recovery position AA shown in FIG. 34 ) to the first target position on the preset operation path.

S206. During the movement of the mobile device to the first target position, whether the positioning signal meets the preset quality condition, if not, execute S207, if so, return to execute S205.

Referring to the above content, when the mobile device moves from the current position to the first target position, the positioning signal of the mobile device is obtained, and the subsequent operation steps are determined according to the quality of the positioning signal.

In a possible implementation, once the self-mobile device determines that the positioning signal quality does not meet the preset quality condition, S207 is immediately executed. On the contrary, when the positioning signal quality meets the preset quality condition, the self-mobile device continues to be controlled to move toward the first target position.

In another possible implementation, the positioning module of the self-moving device is configured as an RTK module. Since the navigation method of the RTK module is a dead reckoning navigation method, when the quality of the positioning signal does not meet the preset quality conditions, the positioning signal is still reliable within a certain period of time. Of course, its positioning accuracy will decrease with time. That is to say, when the quality of the positioning signal does not meet the preset quality conditions, the self-moving device can still move according to the preset operating path based on the positioning signal within a certain period of time.

Based on this, starting from the moment when it is determined that the positioning signal quality does not meet the preset quality conditions, the duration of the movement of the mobile device when the positioning signal does not meet the preset quality conditions is counted. If the obtained duration reaches the second duration threshold, S207 is executed. On the contrary, if the obtained duration is less than the second duration threshold, that is, the second duration threshold has not been reached, the mobile device continues to be controlled to move toward the first target position.

Furthermore, in another possible implementation, the control module monitors the quality of the positioning signal of the self-moving device during the movement, and counts the moving distance of the self-moving device when the positioning signal does not meet the preset quality condition during the movement of the self-moving device. If the obtained moving distance reaches the preset displacement threshold, S207 is executed. On the contrary, if the obtained moving distance is less than the preset displacement threshold, the control can continue to move to the first target position.

It can be understood that, compared with the above different control methods, immediately controlling the self-mobile device to move to the recovery position when it is determined that the positioning signal quality does not meet the preset quality condition can shorten the time or distance that the self-mobile device moves in the shadow area, which helps the self-mobile device to move to the position where the signal quality meets the preset quality condition as soon as possible, and can Operational accidents may be avoided. But on the other hand, in actual applications, the signal blockage encountered by the self-moving device during movement may be short-term. If the second method mentioned above is adopted, that is, when the duration reaches the second duration threshold or the moving distance reaches the preset displacement distance, the self-moving device is controlled to move to the recovery position, the impact of the above short-term signal blockage can be effectively avoided, and the fault tolerance of the equipment can be improved to a certain extent, which helps to improve the work efficiency. Therefore, in actual applications, the above different judgment methods can be selected according to actual work needs.

S207, controlling the mobile device to move to the recovery position.

When it is determined that the mobile device needs to move to the recovery position, the mobile device is controlled to move to the recovery position. The specific control process can be referred to the above content, which will not be described in detail here.

S208. During the movement of the mobile device to the recovery position, determine whether the positioning signal quality meets the preset quality condition. If so, return to execute S205; if not, return to execute S207.

Optionally, the specific implementation of this step can be implemented by referring to the related content of controlling the movement of the mobile device to the recovery position in the aforementioned content, which will not be repeated here.

S209, controlling the self-moving device to move according to the preset operation path.

In a possible implementation, the specific implementation of S209 can refer to the relevant content of S106 in the embodiment shown in Figure 29, which will not be repeated here.

To sum up, the control method provided in this embodiment, compared with the previous embodiments, controls the self-moving equipment to move to a determined first target position during the process of controlling the self-moving equipment to move to a preset working path, which can effectively avoid situations that endanger the safe operation of the equipment during the movement of the self-moving equipment, and help improve the safety of the equipment operation.

In conjunction with FIG34, the following describes the movement trajectory of the self-moving device when the control method provided by the embodiment shown in FIG33 controls the movement of the self-moving device:

In the process of controlling the self-moving device 10 to move from the original position Y to the recovery position AA, if the positioning signal quality of the self-moving device 10 at the position M1 meets the preset quality condition, the self-moving device 10 moves from the position M1 to the first target position P1. During the movement, if the positioning signal quality at the position NN does not meet the preset quality condition, the self-moving device 10 is controlled to move to the recovery position AA, and after reaching the recovery position AA, the self-moving device 10 is controlled to move to the first target position P1. Further, if the positioning signal quality does not meet the preset quality condition during the movement from the recovery position AA to the first target position P1, the self-moving device is controlled to return to the recovery position AA, and then move to the first target position P1. By analogy, the self-moving device 10 may reciprocate between the recovery position AA and the first target position P1 multiple times.

Of course, it is also possible that during the process of the mobile device moving from the original position Y to the recovery position AA, there is no position where the positioning signal quality meets the preset quality conditions. In this case, the mobile device 10 will directly reach the recovery position AA from the original position Y and further move toward the first target position P1.

Furthermore, in combination with the foregoing content, it can be known that multiple recovery positions can also be set, and each movement to the recovery position corresponds to a different recovery position.

As shown in FIG. 35 , the self-moving device 10 moves from the original position Y to the recovery position AA. After reaching the recovery position AA, the self-moving device 10 is first controlled to move to the first target position P1. If there is a position NN where the positioning signal quality does not meet the preset quality condition during the movement to the first target position P1, the self-moving device 10 is further controlled to move from position NN to another recovery position BB. After reaching the recovery position BB, the self-moving device 10 is controlled to continue to move to the first target position P1. By analogy, it may be necessary to control the self-moving device 10 to move back and forth between different recovery positions and the first target position P1 multiple times.

According to the movement trajectory of the self-equipment device shown in Figure 34 and Figure 35, according to the control method provided in the above embodiment The device movement may not be controlled, and the self-moving device may move to the first target position multiple times. In particular, when each return corresponds to the same recovery position, the self-moving device may move back and forth in the same area, causing the device to become stuck easily.

In order to solve the above problems, this embodiment provides another method for controlling a self-moving device, as shown in FIG36 , first, the self-moving device 10 is controlled to move from the original position Y to the recovery position AA, and then the self-moving device 10 is controlled to move from the recovery position AA to the first target position P1. In the process of moving to the first target position P1, when the self-moving device 10 moves to the position NN, the positioning signal quality does not meet the preset quality condition. In this case, the self-moving device 10 is controlled to move to another recovery position BB (of course, it can also refer to the previous embodiment and move to the same recovery position, i.e., the recovery position AA). After arriving at the recovery position BB, unlike the previous embodiment, this embodiment controls the self-moving device to move to the second target position P2. Of course, the second target position P2 is different from the first target position P1.

It is understandable that if in the process of moving to the second target position P2, the self-mobile device 10 moves again to a position where the positioning signal quality does not meet the preset quality conditions, the above process will be repeated, moving to the recovery position, and then moving to a position different from the aforementioned target position at the position where the positioning signal quality meets the preset quality conditions, and so on. The self-mobile device 10 may eventually return to the preset operating path after multiple reciprocating movements.

In a possible implementation, the second target position is a position in front of the first target position, and the front mentioned in this embodiment is determined based on taking the moving direction of the self-moving device on the preset operation path as the positive direction.

Furthermore, this embodiment provides a method for determining the second target position. First, the number of times the self-mobile device moves from the recovery position to the preset operation path is counted, and based on this, the next landing point position is determined according to the original position of the self-mobile device, the number of movements and the preset adjustment step length.

Specifically, the next landing point position can be determined according to the following formula:

The corresponding target position when returning to the preset operation path next time = original position + number of moves × preset adjustment step length.

It can be understood that determining the target position of the self-moving device in the above manner can ensure that the target position gradually moves forward and does not move to the same target position multiple times.

In summary, by continuously adjusting the corresponding target position when the self-moving device returns to the preset working path, the problem of the self-moving device getting stuck due to repeated movement to the same target position can be avoided, thereby effectively improving the operation stability of the self-moving device.

It can be seen from the moving trajectories shown in Figures 34, 35 and 36 that in the control method provided in the above embodiments, the first target position that guides the self-moving device to move to the preset working path is located in front of the original position. Of course, the front is determined based on the moving direction of the self-moving device on the preset working path as the positive direction. The self-moving device 10 leaves the preset working path from the original position Y. Even if it returns to the preset working path at the first target position P1, the path between the original position Y and the first target position P1 is not passed by the self-moving device 10. If the target position continues to move forward, the distance between the original position Y and the corresponding target position when the self-moving device finally returns to the preset working path will be farther, which results in the appearance of a corresponding unworked path on the preset working path. Taking an automatic lawn mower as an example, the automatic lawn mower leaves the preset working path from the original position Y and returns to the preset working path at the first target position P1. The path between the original position Y and the first target position P1 is not mowed, that is, there is a grass leakage problem.

To solve this problem, on the basis of the aforementioned embodiment, the first target position can be determined as the position on the preset working path that the self-moving device has passed. It can be understood that the position in front of the self-moving device and the position that the self-moving device has passed, including the original position and the position after the original position, is determined based on the moving direction of the self-moving device on the preset working path as the positive direction.

As shown in FIG37 , the first target position P1 is selected behind the original position Y. After the self-moving device 10 is controlled to move from the original position 10 to the recovery position AA, the self-moving device 10 is first controlled to move to the first target position P1. If the self-moving device 10 reaches the first target position P1 under the condition that the restriction conditions provided in the above embodiment are met, the self-moving device 10 is controlled to continue to move along the preset operation path from the first target position P1. It can be understood that since the first target position P1 is located behind the original position Y, the occurrence of the unoperated path can be avoided.

Of course, if the self-moving device fails to reach the first target position P1, the subsequent control process can be implemented with reference to any of the aforementioned embodiments, which will not be repeated here.

In combination with the above content, it can be seen that selecting the first target position as a position on the preset operation path that the self-moving device has passed can avoid the occurrence of an unoperated path to a certain extent. Compared with the control method provided in the previous embodiment, it helps to improve the operation effect of the self-moving device and improve the user experience.

It is understandable that in the case of severe obstruction, the self-moving device may not be able to smoothly return to the preset working path after multiple moves. If the above process is executed endlessly, it will inevitably be detrimental to the completion of the working task and will also shorten the service life of the self-moving device.

Based on the above considerations, the present invention provides a preset number threshold value for limiting the number of executions of the above process. In the process of executing the control method provided by any of the above embodiments, the number of times the self-moving device moves to the preset working path is counted, and if the number of movements reaches the preset number threshold value, the self-moving device is directly controlled to stop.

Furthermore, based on the foregoing, it can be known that the duration during which the positioning signal quality does not meet the preset quality conditions is continuously counted, and will be cleared when the positioning signal quality meets the preset quality conditions. Based on this, during the movement of the self-mobile device, the duration may be in a state of continuous growth. Taking Figure 36 as an example, the self-mobile device moves from the recovery position AA to the position NN, and the duration during which the positioning signal quality does not meet the preset quality conditions has reached the first duration threshold. Since the positioning signal quality still does not meet the preset quality conditions, the duration will continue to grow during the movement of the self-mobile device from position NN to the recovery position BB. This means that the positioning signal quality of the self-mobile device will continue to decline, and it is very likely that it will be difficult to provide the self-mobile device with a positioning signal that meets the use requirements, which may lead to accidents in the self-mobile device during movement, such as colliding with obstacles, driving into dangerous areas, etc.

Based on this, the present invention provides a third duration threshold. During the movement of the self-moving device, if the duration for which the positioning signal does not meet the preset quality condition reaches the third duration threshold, the self-moving device is also controlled to shut down to avoid the above-mentioned unexpected situation.

It should be noted that, in practical applications, the third duration threshold is greater than the first duration threshold and the second duration threshold. As for the specific value of the third duration threshold, the present invention does not limit it.

The following is an introduction to the self-moving device control device provided by the present invention. The self-moving device control device provided by the present invention belongs to the same application concept as the self-moving device control method provided in the embodiment of the present application, and can execute the self-moving device control method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of executing the self-moving device control method. For technical details not fully described in this embodiment, please refer to the self-moving device control method provided in the embodiment of the present application, and will not be repeated here.

Referring to FIG. 38 , FIG. 38 is a structural block diagram of a self-moving device control device provided by an embodiment of the present invention. The control device provided by this embodiment includes:

An acquisition unit 50 is used to acquire a positioning signal received from the mobile device during movement;

A first control unit 20, configured to control the self-moving device to move along a preset operation path according to the positioning signal;

A second control unit 30 is configured to control the self-moving device to move to a recovery position if the positioning signal does not meet the preset quality condition, and the recovery position is a position where the positioning signal quality meets the preset quality condition;

The third control unit 40 is used to control the autonomous mobile device to The equipment moves toward the preset operation path.

Furthermore, the present invention also provides a self-moving device, comprising: a control module, wherein:

The control module is respectively connected to the positioning module and the moving module of the self-moving device;

The positioning module is used to receive the positioning signal and send information representing the quality of the positioning signal to the control module;

The mobile module is used to drive the mobile device to move;

The control module is used to execute the self-moving device control method provided by any of the aforementioned embodiments.

Referring to FIG. 39 , the present invention further provides an automatic working system, comprising: the self-moving device 100 provided in the above-mentioned embodiment;

The mobile device 100 is communicatively connected with the charging station 200 of the automatic working system during movement, or is electrically connected with the charging station 200 during charging.

In some embodiments, this embodiment further provides a computer-readable storage medium, such as a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash disk, an SD (Secure Digital Memory Card) card, an MMC (Multimedia Card) card, etc., in which one or more instructions for implementing the above steps are stored. When the one or more instructions are executed by one or more processors, the processors execute the self-mobile device control method described above. For the relevant specific implementation, please refer to the above description, which will not be repeated here.

In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the self-mobile device control method according to various embodiments of the present application described in the above content of this specification.

The above is an explanation of the present disclosure and should not be considered as a limitation thereof. Although several exemplary embodiments of the present disclosure are described, it will be readily understood by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined in the claims. It should be understood that the above is an explanation of the present disclosure and should not be considered to be limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.

Claims

A self-moving device, which moves and works in a working area, comprising:

A driving module, configured to drive the self-moving device to move according to a driving instruction;

A satellite positioning module, configured to output satellite positioning information, wherein the satellite positioning information includes signal quality information of the mobile device at each location;

A control module, connected to the driving module and the satellite positioning module, and configured to control the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information;

It is characterized in that

In the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if the preset condition is detected, the control module controls the self-moving device to accelerate once or multiple times so that the self-moving device quickly passes through the shadow area on the preset path;

Wherein, when the self-mobile device is in the shadow area, the satellite positioning information output by the satellite positioning module does not meet the preset signal quality requirement.
The self-moving device according to claim 1 is characterized in that the preset condition includes: the satellite positioning information does not meet the preset signal quality requirement.
The self-moving device according to claim 1 is characterized in that the preset conditions include: the satellite positioning information does not meet the preset signal quality requirements and the self-moving device continues to move in the shadow area for a preset time period and/or a preset distance.
The self-moving device according to any one of claims 1-3 is characterized in that after the control module controls the self-moving device to accelerate once or multiple times, the moving speed of the self-moving device is less than or equal to a safety speed threshold.
The self-moving device according to any one of claims 1 to 4, characterized in that, in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, the control module is further configured to:

If it is detected that the self-moving device is on a bumpy road section, the self-moving device is controlled to decelerate.
The self-moving device according to any one of claims 1 to 5, characterized in that, in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, the control module is further configured to:

If it is detected that the satellite positioning information meets the preset signal quality requirement, the self-moving device is controlled to move at a first speed, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area.
The self-moving device according to any one of claims 1 to 6, characterized in that the control module is further configured to:

According to the positioning information output by the position sensor, the driving module is controlled to drive the self-moving device to move along a preset path at a first speed, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area, and the position sensor is different from the satellite positioning module.
The self-moving device according to any one of claims 1 to 7 is characterized in that, in the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if a preset condition is detected, the control module controls the self-moving device to accelerate once or multiple times, including:

The control module controls the driving module to drive the mobile device along the During the movement of the preset path,

If it is detected that the satellite positioning information does not meet the preset signal quality requirement, controlling the mobile device to accelerate once; and

If it is detected that the satellite positioning information does not meet the preset signal quality requirement and the self-moving device continues to move in the shadow area for a preset time period and/or a preset distance, the self-moving device is controlled to accelerate again.
The self-moving device according to any one of claims 1 to 8 is characterized in that, if it is detected that the satellite positioning information does not meet the preset signal quality requirement and the self-moving device continues to move in the shadow area for a preset time and/or a preset distance, the self-moving device is controlled to accelerate again, comprising:

If it is detected that the satellite positioning information does not meet the preset signal quality requirement and the self-moving device continues to move in the shadow area for a preset time and/or a preset distance, the self-moving device is controlled to change the moving direction to move toward the signal recovery point, and accelerates again in the process of moving toward the signal recovery point, the signal recovery point being the position where the satellite positioning information output by the satellite positioning module meets the preset signal quality requirement;

If it is detected that the satellite positioning information meets the preset signal quality requirement, the self-moving device is controlled to move toward the preset path at a first speed, wherein the first speed is the speed at which the self-moving device moves along the preset path before entering the shadow area.
The self-moving device according to any one of claims 1-9 is characterized in that the turning speed of the self-moving device in the shadow area is greater than the turning speed in the non-shadow area.
The self-moving device according to any one of claims 1-10 is characterized in that if the control module controls the self-moving device to accelerate multiple times, the acceleration amplitude is the largest when the self-moving device moves from a first position where the satellite positioning information does not meet the preset signal quality requirement to a second position where the satellite positioning information meets the preset signal quality requirement, wherein the moving speed of the self-moving device at the first position is the second speed, the moving speed of the self-moving device at the second position is the third speed, and the acceleration amplitude is the difference or ratio between the third speed and the second speed.
An autonomous working system, characterized in that the autonomous working system comprises a self-moving device as described in any one of claims 1-11.
A control method for a self-moving device, wherein the self-moving device moves and works in a working area, the self-moving device comprises a driving module and a satellite positioning module, the driving module is configured to drive the self-moving device to move according to a driving instruction, and the satellite positioning module is configured to output satellite positioning information, wherein the satellite positioning information comprises signal quality information of the self-moving device at each position; characterized in that

The control method comprises:

Control the driving module to drive the self-moving device to move along a preset path according to the satellite positioning information;

In the process of controlling the driving module to drive the self-moving device to move along the preset path according to the satellite positioning information, if a preset condition is detected, the self-moving device is controlled to accelerate once or multiple times so that the self-moving device quickly passes through the shadow area on the preset path;

Wherein, when the self-mobile device is in the shadow area, the satellite positioning information output by the satellite positioning module does not meet the preset signal quality requirement.