U.S. patent application number 16/438829 was filed with the patent office on 2019-11-14 for dividing method for working region of self-moving device, dividing apparatus, and electronic device.
The applicant listed for this patent is Positec Power Tools (Suzhou) Co., Ltd.. Invention is credited to Fangshi Liu, Yong Shao, Yiyun Tan, Chang Zhou.
Application Number | 20190346848 16/438829 |
Document ID | / |
Family ID | 62557996 |
Filed Date | 2019-11-14 |
View All Diagrams
United States Patent
Application |
20190346848 |
Kind Code |
A1 |
Zhou; Chang ; et
al. |
November 14, 2019 |
Dividing method for working region of self-moving device, dividing
apparatus, and electronic device
Abstract
The present invention relates to a moving method of a
self-moving device, including: presetting a preset movement path of
a self-moving device; enabling the self-moving device to move along
the preset movement path; and checking whether a moving direction
of the self-moving device deviates from the preset movement path,
and when the moving direction deviates from the preset movement
path, calibrating the moving direction of the self-moving device to
enable the self-moving device to move along the preset movement
path, wherein, the preset movement path including several first
path segments, the first path segment being divided into several
sub-path segments, and an end point of the sub-path segment being
referred to as a node; and the calibrating the moving direction of
the self-moving device includes: calibrating the moving direction
of the self-moving device by using the node as a target point.
Inventors: |
Zhou; Chang; (Suzhou,
CN) ; Tan; Yiyun; (Suzhou, CN) ; Liu;
Fangshi; (Suzhou, CN) ; Shao; Yong; (Suzhou,
CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Positec Power Tools (Suzhou) Co., Ltd. |
Suzhou |
|
CN |
|
|
Family ID: |
62557996 |
Appl. No.: |
16/438829 |
Filed: |
June 12, 2019 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
PCT/CN2017/116686 |
Dec 15, 2017 |
|
|
|
16438829 |
|
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05D 1/0268 20130101;
G05D 1/0214 20130101; G01S 19/41 20130101; G05D 1/0212 20130101;
G01S 19/35 20130101; G05D 1/0225 20130101; G06F 16/29 20190101;
G05D 2201/0208 20130101; G05D 1/0278 20130101; G01S 19/48 20130101;
G01C 25/00 20130101; G05D 1/0088 20130101; G01S 19/485 20200501;
G01S 19/396 20190801; G01S 19/071 20190801; G01S 19/47 20130101;
A01D 34/008 20130101; G05B 13/0265 20130101; A01D 2101/00 20130101;
G06F 16/00 20190101; G05B 23/02 20130101; G05D 1/0276 20130101;
G06Q 10/04 20130101; G01S 19/49 20130101 |
International
Class: |
G05D 1/00 20060101
G05D001/00; G06F 16/29 20060101 G06F016/29; G05D 1/02 20060101
G05D001/02; G01S 19/41 20060101 G01S019/41; G01S 19/47 20060101
G01S019/47 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 15, 2016 |
CN |
201611157425.9 |
Claims
1-42. (canceled)
43. A moving method of a self-moving device, the self-moving device
autonomously moving inside a working region based on a map,
including: presetting a preset movement path of a self-moving
device; enabling the self-moving device to move along the preset
movement path; and checking whether a moving direction of the
self-moving device deviates from the preset movement path, and when
the moving direction of the self-moving device deviates from the
preset movement path, calibrating the moving direction of the
self-moving device, to enable the self-moving device to move along
the preset movement path, wherein, the preset movement path
including several first path segments, the first path segment being
divided into several sub-path segments, and an end point of the
sub-path segment being referred to as a node; and the calibrating
the moving direction of the self-moving device includes:
calibrating the moving direction of the self-moving device by using
the node as a target point.
44. The moving method according to claim 1, wherein the self-moving
device has a consistent moving direction along the first path
segment.
45. The moving method according to claim 2, wherein the first path
segment includes a straight line segment.
46. The moving method according to claim 2, wherein the first path
segment includes a polygonal line segment, and the node includes a
turning point of the polygonal line segment.
47. The moving method according to claim 1, wherein the checking
whether a moving direction of the self-moving device deviates from
the preset movement path includes: providing an angle sensor,
outputting an angle parameter of a movement of the self-moving
device, and determining, according to the angle parameter, whether
a current moving direction of the self-moving device is consistent
with a preset moving direction, so as to determine whether the
moving direction of the self-moving device deviates from the preset
movement path.
48. The moving method according to claim 1, wherein the checking
whether a moving direction of the self-moving device deviates from
the preset movement path includes: providing a positioning device,
outputting a current position of the self-moving device,
calculating a deviation angle of the self-moving device according
to a direction from the current position of the self-moving device
to a target position and a direction of the preset movement path,
and determining, according to whether the deviation angle is
greater than a preset threshold, whether the moving direction of
the self-moving device deviates from the preset movement path.
49. The moving method according to claim 6, wherein the deviation
angle of the self-moving device is calculated at an interval of a
preset time, and it is determined, according to whether the
deviation angle is greater than a preset threshold, whether the
moving direction of the self-moving device deviates from the preset
movement path.
50. The moving method according to claim 1, wherein the preset
movement path includes a second path segment, and the self-moving
device steers along the second path segment.
51. The moving method according to claim 8, wherein several nodes
are set in the second path segment, and the self-moving device
moves along the second path segment by sequentially using the
several nodes in the second path segment as the target point.
52. The moving method according to claim 8, wherein the second path
segment includes an irregular path segment.
53. The moving method according to claim 10, wherein the second
path segment connects a movement path of the self-moving device
before steering and a movement path of the self-moving device after
steering, and the irregular path segment includes extended segments
extending relative to outer sides of the movement path before
steering and the movement path after steering.
54. The moving method according to claim 11, wherein the
self-moving device moves along the second path segment at an edge
position of a working region, and when moving along the extended
segment of the second path segment, the self-moving device at least
partially covers an edge region that is not covered when the
self-moving device moves along an adjacent second path segment.
55. The moving method according to claim 8, wherein the preset
movement path includes parallel reciprocating paths, and the second
path segment connects parallel paths among the parallel
reciprocating paths.
56. The moving method according to claim 1, wherein the first path
segment being divided into several sub-path segments includes:
presetting the node.
57. The moving method according to claim 1, wherein the first path
segment being divided into several sub-path segments includes:
setting and/or updating the node as the self-moving device moves
along the preset movement path.
58. The moving method according to claim 1, wherein when the
self-moving device arrives at the node, a next node in the moving
direction is used as the target point to determine the moving
direction of the self-moving device.
59. A self-moving device, wherein, the self-moving device
autonomously moving inside a working region based on a map, and
including a preset module and a control module, where the preset
module is configured to preset a preset movement path of the
self-moving device; and the control module is configured to: enable
the self-moving device to move along the preset movement path; and
check whether a moving direction of the self-moving device deviates
from the preset movement path, and when the moving direction of the
self-moving device deviates from the preset movement path,
calibrate the moving direction of the self-moving device, to enable
the self-moving device to move along the preset movement path;
where the preset movement path including several first path
segments, the first path segment being divided into several
sub-path segments, and an end point of the sub-path segment being
referred to as a node; and the calibrating the moving direction of
the self-moving device includes: calibrating the moving direction
of the self-moving device by using the node as a target point.
60. The self-moving device according to claim 17, wherein the
control module includes an angle sensor, outputting an angle
parameter of a movement of the self-moving device, and the control
module determines, according to the angle parameter, whether a
current moving direction of the self-moving device is consistent
with a preset moving direction, so as to determine whether the
moving direction of the self-moving device deviates from the preset
movement path.
61. The self-moving device according to claim 18, wherein the angle
sensor includes a gyroscope.
62. The self-moving device according to claim 17, wherein the
control module includes a calculation unit and a determining unit,
where the calculation unit is configured to calculate a deviation
angle of the self-moving device according to a direction from a
current position of the self-moving device to a target position and
a direction of the preset movement path, and the determining unit
is configured to determine, according to whether the deviation
angle is greater than the preset threshold, whether the moving
direction of the self-moving device deviates from the preset
movement path.
Description
BACKGROUND
Technical Field
[0001] Embodiments of the present invention relates to self-moving
devices, and in particular, to a dividing method for a working
region of a self-moving device, a dividing apparatus, and an
electronic device.
Related Art
[0002] An autonomous working system such as an autonomous lawn
mower system can autonomously complete a lawn maintenance task or
the like, and becomes increasingly popular among consumers. In the
autonomous working system, a self-moving device such as an
autonomous lawn mower is restricted to move inside a working
region. When the autonomous lawn mower leaves the working region, a
safety problem may occur. In addition, an obstacle may exist in the
working region. The obstacle includes a pit, a flowering shrub, and
the like. The autonomous lawn mower should avoid the obstacle in
the working region during working to prevent accidents such as
falling or trapping. To ensure the safety of the autonomous working
system and improve the working efficiency of the autonomous lawn
mower, the autonomous lawn mower needs to recognize the working
region. The recognizing the working region includes recognizing a
boundary of the working region and the obstacle in the working
region.
SUMMARY
[0003] In a method used by a conventional autonomous lawn mower to
recognize a working region, a boundary line is arranged along a
boundary of the working region, and a boundary line may be arranged
along a periphery of an obstacle. A boundary line transmits an
electrical signal to generate an electromagnetic field. A sensor on
the autonomous lawn mower detects an electromagnetic field signal
to determine whether the autonomous lawn mower is located inside or
outside a region defined by a boundary line.
[0004] Such a method requires complex arrangement of a boundary
line and adversely affects the look of a lawn.
[0005] To enable an autonomous lawn mower to recognize a working
region without arranging a boundary line, a method for creating a
map of a working region may be used. In the method for creating a
map of a working region, position coordinates of a boundary, an
obstacle, and the like of a working region are recorded, a
coordinate system is established, and a map of the working region
is generated. When an autonomous working system works, a position
of the autonomous lawn mower on the map is observed to determine
whether the autonomous lawn mower is inside a safe working
region.
[0006] By using this method, a path may be preset, so that when an
autonomous lawn mower is working, the autonomous lawn mower moves
along the preset path. Another technical problem that follows is
how to set more appropriately divided regions according to a
feature of a working region, so that the autonomous lawn mower can
safely and efficiently cover the working region.
[0007] With rapid development of autonomous technologies, various
autonomous machines have been applied to an increasing number of
fields and gradually become indispensable helpers in people's
work.
[0008] As an autonomous self-moving device, autonomous lawn mowers
have emerged to greatly reduce people's labor intensity and reduce
working costs. However, because a lawn on which an autonomous lawn
mower works usually has a relatively large area, a relatively small
navigation positioning error may result in a relatively large
deviation from an expected path. Therefore, how to reduce a walking
deviation of an autonomous lawn mower to improve working precision
is a problem that urgently needs to be resolved in autonomous lawn
mower technologies.
[0009] Buildings and obstacles usually exist in a working region of
an autonomous lawn mower. Shaded regions with weak navigation
signals are easily formed around these buildings and obstacles.
Satellite navigation signals usually tend to be blocked by the
buildings, the obstacles, and the like and become weaker
consequently. For example, an autonomous lawn mower may fail to be
located precisely when working in a shaded region due to weak GPS
signals.
[0010] A problem to be resolved by the embodiments of the present
invention is to ensure that a self-moving device can safely and
efficiently cover a working region.
[0011] The technical solution used by the embodiments of the
present invention to resolve the problem in the prior art is as
follows:
[0012] A dividing method for a working region of a self-moving
device, comprising: detecting whether a working region comprises a
shaded region, the shaded region being a region in which a
positioning signal received by a self-moving device does not
satisfy a quality condition; determining a boundary condition of
the working region; determining a contour condition of the shaded
region; and dividing the working region into a plurality of
sub-working regions based on the boundary condition of the working
region and the contour condition of the shaded region, a part of
the shaded region in any sub-working region being a sub-shaded
region, the sub-shaded region having a length direction and a width
direction, and the division enabling a length in the width
direction to be less than a predetermined threshold.
[0013] The dividing method for a working region of a self-moving
device according to the above, wherein the predetermined threshold
is 10 meters or 5 meters or 2 meters.
[0014] The dividing method for a working region of a self-moving
device according to the above, further comprising: controlling the
self-moving device to travel in the width direction in the
sub-shaded region.
[0015] The dividing method for a working region of a self-moving
device according to the above, wherein the controlling the
self-moving device to travel in the width direction in the
sub-shaded region comprises: controlling the self-moving device to
enter the sub-shaded region from one side in the width direction;
and controlling the self-moving device to keep traveling in the
width direction to reach the other side of the sub-shaded
region.
[0016] The dividing method for a working region of a self-moving
device according to the above, wherein the controlling the
self-moving device to travel in the width direction in the
sub-shaded region further comprises: controlling the self-moving
device to leave the sub-shaded region from the other side; or
controlling the self-moving device to turn around at the other side
to leave from the side, wherein a travel direction after the
turnaround is the width direction.
[0017] The dividing method for a working region of a self-moving
device according to the above, wherein the dividing the working
region into a plurality of sub-working regions based on the
boundary condition of the working region and the contour condition
of the shaded region comprises: determining whether an area of the
shaded region is greater than a predetermined area threshold; and
dividing the working region into a plurality of sub-working regions
in response to determining that the area of the shaded region is
greater than the predetermined area threshold.
[0018] The dividing method for a working region of a self-moving
device according to the above, wherein the dividing the working
region into a plurality of sub-working regions based on the
boundary condition of the working region and the contour condition
of the shaded region comprises: dividing the working region into a
plurality of sub-working regions based on the boundary condition of
the working region and the contour condition of the shaded region,
so that the self-moving device enters the shaded region in
different directions in the plurality of sub-working regions.
[0019] The dividing method for a working region of a self-moving
device according to the above, wherein that the self-moving device
enters the shaded region in different directions in the plurality
of sub-working regions comprises: determining whether a
predetermined number of movements of the self-moving device in
different directions cover the shaded region; and further dividing,
in response to that the predetermined number of movements of the
self-moving device in different directions do not cover the shaded
region, the plurality of sub-working regions obtained after the
division.
[0020] The dividing method for a working region of a self-moving
device according to the above, wherein the dividing the working
region into a plurality of sub-working regions based on the
boundary condition of the working region and the contour condition
of the shaded region comprises: dividing the plurality of
sub-working regions so that adjacent working regions of the
plurality of sub-working regions have an overlapping portion.
[0021] The dividing method for a working region of a self-moving
device according to the above, wherein the dividing the working
region into a plurality of sub-working regions based on the
boundary condition of the working region and the contour condition
of the shaded region further comprises: detecting a working area
corresponding to a working time of a power supply of the
self-moving device; determining whether an area of each of the
plurality of sub-working regions is greater than the working area;
and further dividing the sub-working region in response to
determining that an area of one of the plurality of sub-working
regions is greater than the working area, so that an area of the
working region obtained after the division is less than the working
area.
[0022] The dividing method for a working region of a self-moving
device according to the above, further comprising: detecting
whether an obstacle exists in the working region; determining
whether a size of the obstacle is greater than a predetermined size
threshold; and dividing the working region based on the obstacle in
response to that the size of the obstacle is greater than the
predetermined size threshold.
[0023] The dividing method for a working region of a self-moving
device according to the above, further comprising: skipping
division of the working region in response to that the size of the
obstacle is less than the predetermined size threshold; and
controlling the self-moving device to move around the obstacle or
turn around at the obstacle to move on.
[0024] The dividing method for a working region of a self-moving
device according to the above, wherein the determining whether a
size of the obstacle is greater than a predetermined size threshold
comprises: detecting that a state of the obstacle is moving or
stationary; and detecting, in response to that the state of the
obstacle is stationary, whether the size of the obstacle is greater
than the predetermined size threshold.
[0025] The dividing method for a working region of a self-moving
device according to the above, further comprising: skipping
division of the working region in response to that the state of the
obstacle is moving; and controlling the self-moving device to move
around the obstacle or turn around at the obstacle to move on.
[0026] The dividing method for a working region of a self-moving
device according to the above, further comprising: detecting
whether a passage exists in the working region; and dividing, in
response to that a passage exists in the working region, the
working region into a first sub-working region on one side of the
passage and a second sub-working region on the other side of the
passage.
[0027] The dividing method for a working region of a self-moving
device according to the above, further comprising: detecting a
vegetation growth condition in the working region; and dividing the
working region based on the vegetation growth condition.
[0028] The dividing method for a working region of a self-moving
device according to the above, further comprising: in a process of
controlling the self-moving device to move in the working region,
obtaining map information of a path covered by the self-moving
device; and updating a dividing strategy of the working region
based on the map information.
[0029] The dividing method for a working region of a self-moving
device according to the above, further comprising: determining
whether an unworked region in which the self-moving device has not
performed work exists in the working region; and dividing the
working region to use the unworked region as a new sub-working
region.
[0030] A dividing apparatus, configured to divide a working region
of a self-moving device, and comprising: a shaded region detection
unit, configured to detect whether a shaded region exists in the
working region, the shaded region being a region in which a
positioning signal received by the self-moving device does not
satisfy a quality condition; a working region determining unit,
configured to determine a boundary condition of the working region;
a shaded contour determining unit, configured to determine a
contour condition of the shaded region; and a dividing unit,
configured to divide the working region into a plurality of
sub-working regions based on the boundary condition of the working
region and the contour condition of the shaded region, a part of
the shaded region in any sub-working region being a sub-shaded
region, the sub-shaded region having a length direction and a width
direction, and the division enabling a length in the width
direction to be less than a predetermined threshold.
[0031] The dividing apparatus according to the above, wherein the
predetermined threshold is 10 meters or 5 meters or 2 meters.
[0032] The dividing apparatus according to the above, further
comprising: a control unit, configured to control the self-moving
device to travel in the width direction in the sub-shaded
region.
[0033] The dividing apparatus according to the above, wherein the
control unit is configured to: control the self-moving device to
enter the sub-shaded region from one side in the width direction;
and control the self-moving device to keep traveling in the width
direction to reach the other side of the sub-shaded region.
[0034] The dividing apparatus for a working region of a self-moving
device according to the above, wherein the control unit is further
configured to: control the self-moving device to leave the
sub-shaded region from the other side; or control the self-moving
device to turn around at the other side to leave from the side,
wherein a travel direction after the turnaround is the width
direction.
[0035] The dividing apparatus according to the above, wherein the
dividing unit is configured to: determine whether an area of the
shaded region is greater than a predetermined area threshold; and
divide the working region into the plurality of sub-working regions
in response to determining that the area of the shaded region is
greater than the predetermined area threshold.
[0036] The dividing apparatus according to the above, wherein the
dividing unit is configured to: divide the working region into a
plurality of sub-working regions based on the boundary condition of
the working region and the contour condition of the shaded region;
and control the self-moving device to enter the shaded region in
different directions in the plurality of sub-working regions.
[0037] The dividing apparatus according to the above, wherein the
dividing unit is configured to: determine whether a predetermined
number of movements of the self-moving device in different
directions cover the shaded region; and further divide, in response
to that the predetermined number of movements of the self-moving
device in different directions do not cover the shaded region, the
plurality of sub-working regions obtained after the division.
[0038] The dividing apparatus according to the above, wherein the
dividing unit is configured to: divide the plurality of sub-working
regions so that adjacent working regions of the plurality of
sub-working regions have an overlapping portion.
[0039] The dividing apparatus according to the above, further
comprising: a working area detection unit, configured to detect a
working area corresponding to a working time of a power supply of
the self-moving device; and a working area determining unit,
configured to determine whether an area of each of the plurality of
sub-working regions is greater than the working area, wherein the
dividing unit is configured to further divide the sub-working
region in response to determining that an area of one of the
plurality of sub-working regions is greater than the working area,
so that an area of the working region obtained after the division
is less than the working area.
[0040] The dividing apparatus according to the above, further
comprising: an obstacle detection unit, configured to detect
whether an obstacle exists in the working region; and an obstacle
determining unit, configured to determine whether a size of the
obstacle is greater than a predetermined size threshold, wherein
the dividing unit is configured to divide the working region based
on the obstacle in response to that the size of the obstacle is
greater than the predetermined size threshold.
[0041] The dividing apparatus according to the above, wherein the
dividing unit is configured to skip division of the working region
in response to that the size of the obstacle is less than the
predetermined size threshold; and the control unit is configured to
control the self-moving device to move around the obstacle or turn
around at the obstacle to move on.
[0042] The dividing apparatus according to the above, wherein the
obstacle determining unit is configured to: detect that a state of
the obstacle is moving or stationary; and detect, in response to
that the state of the obstacle is stationary, whether the size of
the obstacle is greater than the predetermined size threshold.
[0043] The dividing apparatus according to the above, wherein the
dividing unit is configured to: skip division of the working region
in response to that the state of the obstacle is moving; and
control the self-moving device to move around the obstacle or turn
around at the obstacle to move on.
[0044] The dividing apparatus according to the above, further
comprising: a passage detection unit, configured to detect whether
a passage exists in the working region, wherein the dividing unit
is configured to divide, in response to that a passage exists in
the working region, the working region into a first sub-working
region on one side of the passage and a second sub-working region
on the other side of the passage.
[0045] The dividing apparatus according to the above, further
comprising: a vegetation detection unit, configured to detect a
vegetation growth condition in the working region, wherein the
dividing unit is configured to divide the working region based on
the vegetation growth condition.
[0046] The dividing apparatus according to the above, further
comprising: a map information obtaining unit, configured to: in a
process of controlling the self-moving device to move in the
working region, obtain map information of a path covered by the
self-moving device, wherein a dividing strategy update unit,
configured to update a dividing strategy of the working region
based on the map information.
[0047] The dividing apparatus according to the above, further
comprising: a blank region detection unit, configured to detect
whether an unworked region in which the self-moving device has not
performed work exists in the working region, wherein the dividing
unit is configured to divide the working region to use the unworked
region as a new sub-working region.
[0048] An autonomous working system, comprising: a self-moving
device, moving and working within a working region defined on a
map; and the dividing apparatus according to the above.
[0049] The autonomous working system according to the above,
wherein the self-moving device is an autonomous lawn mower.
[0050] The autonomous working system according to the above,
wherein the autonomous working system is an autonomous lawn
mower.
[0051] A self-moving device, moving and working within a working
region defined on a map, and comprising: the dividing apparatus
according to the above.
[0052] An electronic device, comprising: a memory, configured to
store computer executable instructions; and a processor, configured
to execute the computer executable instructions stored in the
memory, to perform the dividing method for a working region of a
self-moving device according to the above.
[0053] A computer readable storage medium, storing computer program
instructions, wherein when being executed by a computing apparatus,
the computer program instructions are operable to perform the
dividing method for a working region of a self-moving device
according to the above.
[0054] Compared with the prior art, the beneficial effect of the
embodiments of the present invention is as follows: A shaded region
in a working region is detected and is divided based on a boundary
condition of the working region and a contour condition of the
shaded region, so that it can be ensured that a self-moving device
safely and efficiently covers the working region.
[0055] In view of this, the following technical solution may be
used in the embodiments of the present invention: A moving method
of a self-moving device is provided, including: presetting a preset
movement path of a self-moving device; enabling the self-moving
device to move along the preset movement path; and checking whether
a moving direction of the self-moving device deviates from the
preset movement path, and when the moving direction of the
self-moving device deviates from the preset movement path,
calibrating the moving direction of the self-moving device, to
enable the self-moving device to move along the preset movement
path, the preset movement path including several first path
segments, the first path segment being divided into several
sub-path segments, and an end point of the sub-path segment being
referred to as a node; and the calibrating the moving direction of
the self-moving device includes: calibrating the moving direction
of the self-moving device by using the node as a target point.
[0056] Further, the self-moving device has a consistent moving
direction along the first path segment.
[0057] Further, the first path segment includes a straight line
segment.
[0058] Further, the first path segment includes a polygonal line
segment, and the node includes a turning point of the polygonal
line segment.
[0059] Further, the checking whether a moving direction of the
self-moving device deviates from the preset movement path includes:
providing an angle sensor, outputting an angle parameter of a
movement of the self-moving device, and determining, according to
the angle parameter, whether a current moving direction of the
self-moving device is consistent with a preset moving direction, so
as to determine whether the moving direction of the self-moving
device deviates from the preset movement path.
[0060] Further, the angle sensor includes a gyroscope.
[0061] Further, the checking whether a moving direction of the
self-moving device deviates from the preset movement path includes:
providing a positioning device, outputting a current position of
the self-moving device, calculating a deviation angle of the
self-moving device according to a direction from the current
position of the self-moving device to a target position and a
direction of the preset movement path, and determining, according
to whether the deviation angle is greater than a preset threshold,
whether the moving direction of the self-moving device deviates
from the preset movement path.
[0062] Further, the deviation angle of the self-moving device is
calculated at an interval of a preset time, and it is determined,
according to whether the deviation angle is greater than a preset
threshold, whether the moving direction of the self-moving device
deviates from the preset movement path.
[0063] Further, the preset movement path includes a second path
segment, and the self-moving device steers along the second path
segment.
[0064] Further, several nodes are set in the second path segment,
and the self-moving device moves along the second path segment by
sequentially using the several nodes in the second path segment as
the target point.
[0065] Further, the second path segment includes an arc
segment.
[0066] Further, the second path segment includes an irregular path
segment.
[0067] Further, the second path segment connects a movement path of
the self-moving device before steering and a movement path of the
self-moving device after steering, and the irregular path segment
includes extended segments extending relative to outer sides of the
movement path before steering and the movement path after
steering.
[0068] Further, the self-moving device moves along the second path
segment at an edge position of a working region, and when moving
along the extended segment of the second path segment, the
self-moving device at least partially covers an edge region that is
not covered when the self-moving device moves along an adjacent
second path segment.
[0069] Further, the preset movement path includes parallel
reciprocating paths, and the second path segment connects parallel
paths among the parallel reciprocating paths.
[0070] Further, the first path segment being divided into several
sub-path segments includes: presetting the node.
[0071] Further, the first path segment being divided into several
sub-path segments includes: setting and/or updating the node as the
self-moving device moves along the preset movement path.
[0072] Further, when the self-moving device arrives at the node, a
next node in the moving direction is used as the target point to
determine the moving direction of the self-moving device.
[0073] The following technical solution may further be used in the
embodiments of the present invention: A self-moving device is
provided, autonomously moving inside a working region based on a
map, and including a preset module and a control module, where the
preset module is configured to preset a preset movement path of the
self-moving device; and the control module is configured to: enable
the self-moving device to move along the preset movement path; and
check whether a moving direction of the self-moving device deviates
from the preset movement path, and when the moving direction of the
self-moving device deviates from the preset movement path,
calibrate the moving direction of the self-moving device, to enable
the self-moving device to move along the preset movement path, the
preset movement path including several first path segments, the
first path segment being divided into several sub-path segments,
and an end point of the sub-path segment being referred to as a
node; and the calibrating the moving direction of the self-moving
device includes: calibrating the moving direction of the
self-moving device by using the node as a target point.
[0074] Further, the control module includes an angle sensor,
outputting an angle parameter of a movement of the self-moving
device, and the control module determines, according to the angle
parameter, whether a current moving direction of the self-moving
device is consistent with a preset moving direction, so as to
determine whether the moving direction of the self-moving device
deviates from the preset movement path.
[0075] Further, the angle sensor includes a gyroscope.
[0076] Further, the control module includes a calculation unit and
a determining unit, where the calculation unit is configured to
calculate a deviation angle of the self-moving device according to
a direction from a current position of the self-moving device to a
target position and a direction of the preset movement path, and
the determining unit is configured to determine, according to
whether the deviation angle is greater than the preset threshold,
whether the moving direction of the self-moving device deviates
from the preset movement path.
[0077] Further, the calculation unit is configured to calculate the
deviation angle of the self-moving device at an interval of a
preset time, and the determining unit is configured to determine,
according to whether the deviation angle is greater than the preset
threshold, whether the moving direction of the self-moving device
deviates from the preset movement path.
[0078] Further, the preset module is further configured to preset
the node.
[0079] Further, the control module further includes an update unit,
configured to set and/or update the node as the self-moving device
moves along the preset movement path.
[0080] Further, when the self-moving device arrives at the node,
the control module uses a next node in the moving direction is used
as the target point to determine the moving direction of the
self-moving device.
[0081] The following technical solution may further be used in the
embodiments of the present invention: a storage medium, storing
computer readable instructions, where when the computer readable
instructions are invoked, the foregoing method is performed.
[0082] The following technical solution may further be used in the
embodiments of the present invention: a server, including a memory
and a processor, where the memory stores computer readable
instructions, and the processor invokes the computer readable
instructions and performs the foregoing method.
[0083] Embodiment of the present invention provides a walking
method of a self-moving device, a self-moving device, a memory, and
a server. In the walking method provided in the embodiment of the
present invention, a first path segment of a preset path segment is
divided into several sub-path segments, an end point of each
sub-path segment is used as a node, and each node is used as a
target point, so as to calibrate a moving direction of a
self-moving device in each sub-path segment, thereby significantly
improving working precision of the self-moving device.
[0084] Embodiments of the present invention provide a working
method of a self-moving device, a self-moving device, a memory, and
a server. In the working method of a self-moving device, a
direction in which a self-moving device enters a shaded region may
be selected, so that duration during which the self-moving device
remains in the shaded region can be shortened, thereby improving
positioning precision of the self-moving device.
[0085] An aspect of the present invention provides a working method
of a self-moving device. The method includes: detecting a shaded
region in a working region; recognizing information about a
geometric feature of the shaded region; determining, according to
the geometric feature, an entry direction in which a self-moving
device enters the shaded region; and enabling the self-moving
device to enter the shaded region in the entry direction.
[0086] In an embodiment, the entry direction is a direction
approximately perpendicular to a longitudinal axis of the shaded
region.
[0087] In an embodiment, the shaded region includes a first edge
located on a side of the longitudinal axis of the shaded region,
and the entry direction is an approximately normal direction of the
first edge.
[0088] In an embodiment, the shaded region includes a first edge
and a second edge that are respectively located on two sides of the
longitudinal axis of the shaded region, and the entry direction is
a direction in which a distance between the first edge and the
second edge is the shortest.
[0089] In an embodiment, the shaded region includes a first edge
near an obstacle and a second edge far away from the obstacle, and
the entry direction includes an approximately normal direction in
the first edge or the second edge, or the entry direction is a
direction in which a distance between the first edge and the second
edge is the shortest.
[0090] In an embodiment, the working method of a self-moving device
includes: obtaining a first positioning signal output by a first
positioning device, where the shaded region is a region in which
the first positioning signal output by the first positioning device
does not satisfy a quality requirement.
[0091] In an embodiment, the first positioning device includes a
satellite positioning device.
[0092] In an embodiment, the working method of a self-moving device
further includes: presetting a quality threshold of the first
positioning signal; and obtaining a quality parameter of the first
positioning signal from the first positioning device, and
determining, according to that the obtained quality parameter of
the first positioning signal does not satisfy the threshold, that
the self-moving device is located in the shaded region.
[0093] In an embodiment, the working method of a self-moving device
further includes: presetting a quality threshold of the first
positioning signal; loading a map of the working region; marking an
initial shaded region on the map; obtaining a quality parameter of
the first positioning signal from the first positioning device; and
updating the initial shaded region according to a relationship
between the obtained quality parameter of the first positioning
signal and the threshold.
[0094] In an embodiment, the working method further includes:
obtaining a second positioning signal output by a second
positioning device; presetting a quality threshold of the first
positioning signal; and obtaining a quality parameter of the first
positioning signal from the first positioning device; and the
enabling the self-moving device to enter the shaded region in the
entry direction includes: when the quality parameter of the first
positioning signal does not satisfy the threshold, enabling the
second positioning signal; and when the quality parameter of the
first positioning signal satisfies the threshold, reusing the first
positioning signal to locate the self-moving device.
[0095] In an embodiment, the working method further includes:
obtaining a second positioning signal output by a second
positioning device, enabling both the first positioning signal and
the second positioning signal, and locating the self-moving device
by using a weighted value of the first positioning signal and the
second positioning signal; presetting a quality threshold of the
first positioning signal; obtaining a quality parameter of the
first positioning signal from the first positioning device; and the
enabling the self-moving device to enter the shaded region in the
entry direction includes: increasing a weight of the second
positioning signal when the quality parameter of the first
positioning signal does not satisfy the threshold; and decreasing a
weight of the second positioning signal when the quality parameter
of the first positioning signal satisfies the threshold.
[0096] In an embodiment, the second positioning device includes an
inertial navigation device.
[0097] In an embodiment, when the quality parameter of the first
positioning signal satisfies the threshold, the second positioning
signal is corrected by using the first positioning signal.
[0098] In an embodiment, after the enabling the self-moving device
to enter the shaded region in the entry direction, the method
further includes: enabling the self-moving device to exit the
shaded region in an exit direction opposite to the entry
direction.
[0099] Another aspect of the present invention provides a
self-moving device, including a detection module and a control
module, where the detection module is configured to obtain a shaded
region in a working region; and the control module is configured
to: recognize a geometric feature of the shaded region; determine,
according to the geometric feature, an entry direction in which the
self-moving device enters the shaded region; and enable the
self-moving device to enter the shaded region in the entry
direction.
[0100] In an embodiment, the entry direction is a direction
approximately perpendicular to a longitudinal axis of the shaded
region.
[0101] In an embodiment, the shaded region includes a first edge
located on a side of the longitudinal axis of the shaded region,
and the entry direction is an approximately normal direction of the
first edge.
[0102] In an embodiment, the shaded region includes a first edge
and a second edge that are respectively located on two sides of the
longitudinal axis of the shaded region, and the entry direction is
a direction in which a distance between the first edge and the
second edge is the shortest.
[0103] In an embodiment, the shaded region includes a first edge
near an obstacle and a second edge far away from the obstacle, and
the entry direction includes an approximately normal direction in
the first edge or the second edge, or the entry direction is a
direction in which a distance between the first edge and the second
edge is the shortest.
[0104] In an embodiment, the self-moving device is located by using
a first positioning signal output by the first positioning device,
and the shaded region is a region in which the first positioning
signal output by the first positioning device does not satisfy a
quality requirement.
[0105] In an embodiment, the detection module further includes a
loading unit, a marking unit, and an update unit, where the loading
unit is configured to load a map of the working region; the marking
unit is configured to mark an initial shaded region on the map; and
the update unit updates the initial shaded region according to that
a quality parameter of the first positioning signal does not
satisfy the quality requirement.
[0106] In an embodiment, the detection module further includes a
preset unit and an obtaining unit, where the preset unit is
configured to preset a quality threshold of the first positioning
signal provided by the first positioning device; and the obtaining
unit obtains a quality parameter of the first positioning signal
from the first positioning device, and determines, according to
that the obtained quality parameter of the first positioning signal
does not satisfy the threshold, that the self-moving device is
located in the shaded region.
[0107] In an embodiment, the first positioning device is a
satellite navigation device.
[0108] In an embodiment, the control module further includes a
switching unit; the self-moving device further uses a second
positioning signal output by a second positioning device to assist
in positioning the self-moving device; the obtaining unit obtains a
quality parameter of the first positioning signal from the first
positioning device; when the quality parameter of the first
positioning signal does not satisfy the threshold, the switching
unit enables the second positioning signal; and when the quality
parameter of the first positioning signal satisfies the threshold,
the first positioning signal is reused to locate the self-moving
device.
[0109] In an embodiment, the control module further includes a
control unit and a calculation unit, where the self-moving device
further uses a second positioning signal output by a second
positioning device to assist positioning of the self-moving device;
the control unit enables both the first positioning signal and the
second positioning signal, and locates the self-moving device by
using a weighted value of the first positioning signal and the
second positioning signal; the obtaining unit obtains a quality
parameter of the first positioning signal from the first
positioning device; the calculation unit increases a weight of the
second positioning signal when the quality parameter of the first
positioning signal does not satisfy the threshold; and the
calculation unit decreases a weight of the second positioning
signal when the quality parameter of the first positioning signal
satisfies the threshold.
[0110] In an embodiment, when the quality parameter of the first
positioning signal satisfies the threshold, the second positioning
signal is corrected by using the first positioning signal.
[0111] In an embodiment, the second positioning device includes an
inertial navigation device.
[0112] In an embodiment, after enabling the self-moving device to
enter the shaded region in the entry direction, the control module
enables the self-moving device to exit the shaded region in an exit
direction opposite to the entry direction.
[0113] Still another aspect of the present invention provides a
memory, storing computer readable instructions, where when the
computer readable instructions are invoked, the foregoing method is
performed.
[0114] Yet another aspect of the present invention provides a
server, including a processor and a memory, where the memory stores
computer readable instructions, and the processor is configured to
invoke the computer readable instructions and perform the foregoing
method.
[0115] Embodiments of the present invention provide a working
method of a self-moving device, a self-moving device, a memory, and
a server. A direction in which a self-moving device enters a shaded
region is selected, so that duration during which the self-moving
device remains in the shaded region can be shortened, thereby
improving positioning precision of the self-moving device.
BRIEF DESCRIPTION OF THE DRAWINGS
[0116] The foregoing objectives, technical solutions, and
beneficial effects of the present invention may be implemented by
using the accompanying drawings below:
[0117] FIG. 1 is a schematic diagram of an autonomous working
system according to a first embodiment of the present
invention;
[0118] FIG. 2 is a schematic structural diagram of an autonomous
lawn mower according to the first embodiment of the present
invention;
[0119] FIG. 3(a) and FIG. 3(b) are schematic composition diagrams
of a navigation module according to the first embodiment of the
present invention;
[0120] FIG. 4 is a working principle diagram of a navigation module
according to the first embodiment of the present invention;
[0121] FIG. 5(a) to FIG. 5(c) are principle diagrams of position
correction by a base station according to the first embodiment of
the present invention;
[0122] FIG. 6 is a flowchart of position correction by a base
station according to the first embodiment of the present
invention;
[0123] FIG. 7 to FIG. 10 are schematic diagrams of a movement path
of an autonomous lawn mower according to the first embodiment of
the present invention;
[0124] FIG. 11 to FIG. 13 are schematic diagrams of a return path
of an autonomous lawn mower according to the first embodiment of
the present invention;
[0125] FIG. 14 is a schematic flowchart of a dividing method for a
working region of a self-moving device according to an embodiment
of the present invention;
[0126] FIG. 15(a) to FIG. 15(c) are schematic diagrams of
performing division based on a shaded region according to an
embodiment of the present invention;
[0127] FIG. 16 is a schematic block diagram of a dividing apparatus
according to an embodiment of the present invention;
[0128] FIG. 17 is a schematic block diagram of an electronic device
according to an embodiment of the present invention;
[0129] FIG. 18 is a flowchart of a moving method of a self-moving
device according to the present invention;
[0130] FIG. 19 is a schematic diagram of a preset path of a
self-moving device according to the present invention;
[0131] FIG. 20a is a schematic diagram of a first path segment
being an inclined straight line according to the present
invention;
[0132] FIG. 20b is a schematic diagram of a first path segment
being a polygonal line segment according to the present
invention;
[0133] FIG. 20c is a schematic diagram of a self-moving device
using a second method to check whether a moving direction of the
self-moving device deviates from a preset movement path according
to the present invention;
[0134] FIG. 21a is a schematic diagram of a second path segment
being an arc segment according to the present invention;
[0135] FIG. 21b is a schematic diagram of a second path segment
being an irregular path segment according to the present
invention;
[0136] FIG. 21c is a schematic diagram of a self-moving device
steering by using a U-shaped path;
[0137] FIG. 22 is a diagram showing modules of a self-moving device
according to an embodiment of the present invention;
[0138] FIG. 23 is a schematic modular diagram of a control module
of a self-moving device according to the present invention;
[0139] FIG. 24 is a flowchart of a working method of a self-moving
device according to an embodiment of the present invention;
[0140] FIG. 25a to FIG. 25e are schematic working diagrams of a
self-moving device according to an embodiment of the present
invention;
[0141] FIG. 26a is a schematic diagram of modules of a self-moving
device according to an embodiment of the present invention;
[0142] FIG. 26b is a schematic diagram of a control module
according to an embodiment of the present invention;
[0143] FIG. 27 is a schematic diagram of a detection module
according to an embodiment of the present invention; and
[0144] FIG. 28 is a schematic diagram of a control module according
to an embodiment of the present invention.
DETAILED DESCRIPTION
[0145] Exemplary embodiments according to the present application
are described below in detail with reference to the accompanying
drawings. Apparently, the described embodiments are merely some
embodiments of the present application rather than all the
embodiments of the present application. It should be understood
that the present application is not limited to the exemplary
embodiments described herein.
[0146] Brief Description of an Autonomous Working System
[0147] FIG. 1 is a schematic diagram of an autonomous working
system 100 according to a first embodiment of the present
invention. The autonomous working system includes a self-moving
device. In this embodiment, the self-moving device is an autonomous
lawn mower 1. In another embodiment, the self-moving device may be
alternatively an unattended device such as an autonomous cleaning
device, an autonomous irrigation device, an autonomous snowplow,
and the like. The autonomous working system 100 further includes a
charging station 2 configured to charge the autonomous lawn mower
1. In this embodiment, the autonomous working system 100 includes a
navigation module configured to output a current position of the
autonomous lawn mower. Specifically, the navigation module includes
a base station 17 and a mobile station 15.
[0148] As shown in FIG. 1, the autonomous working system is
configured to work within a predetermined working region. In this
embodiment, the working region includes at least two separate
sub-working regions. The sub-working regions are in communication
through a passage 400. A boundary 200 is formed between the working
region and a non-working region. Obstacles 9, 11 exist in the
working region. The obstacle is a tree, a pit or the like.
[0149] The structure of the autonomous lawn mower 1 in this
embodiment is shown in FIG. 2. The autonomous lawn mower 1 includes
a housing 3, a movement module, a task execution module, an energy
source module, a control module, and the like. The movement module
includes a continuous track 5 driven by a drive motor to enable the
autonomous lawn mower 1 to move. The task execution module includes
a cutting assembly 7 performing grass cutting work. The energy
source module includes a battery pack (not shown) supplying
electrical energy to the autonomous lawn mower 1 to move and work.
The control module is electrically connected to the movement
module, the task execution module, and the energy source module,
controls the movement module to enable the autonomous lawn mower 1
to move, and controls the task execution module to perform a
task.
[0150] The composition of the navigation module in this embodiment
is shown in FIG. 3(a) and FIG. 3(b). The navigation module includes
the base station 17 and the mobile station 15. The base station 17
and the mobile station 15 both receive satellite signals, and the
base station 17 sends a positioning correction signal to the mobile
station 15, to implement differential satellite positioning. In
this embodiment, the base station 17 and the mobile station 15
receive GPS positioning signals to implement differential GPS
(DGPS) positioning. Certainly, in another embodiment, the base
station 17 and the mobile station 15 may alternatively receive
positioning signals of the Galileo satellite navigation system, the
Beidou satellite navigation system, the global navigation satellite
system (GLONASS) or the like.
[0151] As shown in FIG. 3(a), in this embodiment, the base station
17 includes: a GPS antenna 19, receiving a GPS positioning signal;
a GPS card 21, processing the received GPS positioning signal, and
generating the positioning correction signal; and a communications
module 23, sending the positioning correction signal to the mobile
station 15. In this embodiment, the communications module 23
includes a radio station and a radio station antenna 25. The base
station further includes an indicator (not shown). The indicator
can output an indication showing whether a satellite signal at a
current position is desirable. In this embodiment, the base station
17 is disposed at the charging station 2 and is integrated with the
charging station 2. In another embodiment, the base station 17 may
be alternatively disposed separately from the charging station 2,
for example, may be disposed at a position such as a roof where a
satellite signal can be better received.
[0152] In this embodiment, the mobile station 15 includes: a
housing 27; a GPS antenna 29, receiving a GPS positioning signal; a
GPS card 31, processing the received GPS positioning signal; and a
communications module 33, receiving the positioning correction
signal sent by the base station 17. The communications module 33
includes a radio station and a radio station antenna 35. In this
embodiment, the mobile station 15 integrates an inertial navigation
system (not shown). The inertial navigation system outputs inertial
navigation data. When the mobile station 15 is working, only a GPS
positioning signal may be used for navigation, or a positioning
signal obtained by combining a GPS positioning signal and inertial
navigation data may be used for navigation, or only inertial
navigation data may be used for navigation if a GPS signal is weak.
The mobile station 15 further includes an indicator (not shown)
outputting an indication showing whether a DGPS signal at a current
position is desirable. In this embodiment, the mobile station 15 is
detachably connected to the housing 3 of the autonomous lawn mower
1. The mobile station 15 includes a first interface (not shown) for
connecting to the housing of the autonomous lawn mower 1. When the
autonomous lawn mower 1 is working, the mobile station 15 is
installed at the housing 3 of the autonomous lawn mower 1. When
being connected to the housing 3 of the autonomous lawn mower 1,
the mobile station 15 may be electrically connected to the control
module of the autonomous lawn mower 1, the mobile station 15
outputs coordinates of the current position of the autonomous lawn
mower 1. The control module controls, according to the current
position of the autonomous lawn mower 1, the autonomous lawn mower
1 to move and work. In this embodiment, the mobile station 15
includes an independent power supply module 37. The mobile station
15 may work independently when being separated from the housing 3
of the autonomous lawn mower 1.
[0153] In this embodiment, before the autonomous lawn mower starts
to work, a map of the working region needs to be created.
Specifically, in this embodiment, the navigation module of the
autonomous working system is used to create the map of the working
region. The creating the map of the working region includes a step
of recording the map.
[0154] The step of recording the map is started after a user
finishes installing the base station. In the first embodiment of
the present invention, to record the map, the mobile station is
separated from the housing of the autonomous lawn mower, the mobile
station works independently, and the user holds the mobile station
and walks to record the map. The recording the map includes the
following steps: Starting from a starting point, that is, a
position of the charging station in this embodiment, the user
starts to walk along a boundary of the working region to record
position coordinates of the boundary; the user walks along an
obstacle in the working region to record position coordinates of
the obstacle; the user walks along a traffic island in the working
region to record position coordinates of the traffic island; and
the user walks along a passage connecting sub-working regions to
record position coordinates of the passage. In this embodiment,
when the user holds the mobile station to record the map, the
inertial navigation system is in an off state. The reason is that
when the user holds the mobile station and moves, with the shaking
of a hand, the mobile station may tilt around, causing severe
interference with the inertial navigation system.
[0155] In a second embodiment of the present invention, to record
the map, the mobile station is installed at the housing of the
autonomous lawn mower, and the user uses an intelligent terminal
device such as a mobile phone and a tablet to remotely control the
autonomous lawn mower to move. Similarly, the step of recording the
map includes recording the boundary of the working region, an
obstacle in the working region, a passage connecting sub-regions or
the like. In this embodiment, in the process of recording the map,
an inertial navigation apparatus may be turned on. The reason is
that the mobile station is installed at the housing of the
autonomous lawn mower, and the mobile station moves relatively
stably. In this embodiment, in the process of recording the map,
the task execution module of the autonomous lawn mower is kept
off.
[0156] In a third embodiment of the present invention, the
autonomous lawn mower includes a pushing rod, detachably installed
at the housing of the autonomous lawn mower. To record the map, the
mobile station is installed at the housing of the autonomous lawn
mower, the pushing rod is installed at the housing of the
autonomous lawn mower, and the user operates the pushing rod to
push the autonomous lawn mower to move, to record the boundary of
the working region, an obstacle, a passage or the like. Similarly,
the task execution module of the autonomous lawn mower is kept
off.
[0157] In a fourth embodiment of the present invention, the
autonomous lawn mower includes an ultrasonic apparatus, so that the
autonomous lawn mower can follow the user at a distance. To record
the map, the mobile station is installed at the housing of the
autonomous lawn mower, the user walks along the boundary of the
working region, an obstacle, a passage or the like, and the
autonomous lawn mower follows the user, to record the map.
Similarly, the task execution module of the autonomous lawn mower
is kept off. The benefit of this approach is that the autonomous
lawn mower follows the user when recording the map, so that it can
be determined whether a position recorded on the map is accurate,
and the map is examined.
[0158] In a fifth embodiment of the present invention, to record
the map, the mobile station is separated from the autonomous lawn
mower, and the mobile station is placed on a pushable cart. For
example, the mobile station may be installed on a hand-propelled
device, and the user pushes a cart and walks, to record the
boundary of the working region, an obstacle, a passage or the like.
The benefit of this approach is that the mobile station moves
stably, and an inertial navigation apparatus may be turned on.
[0159] In the first embodiment of the present invention, the mobile
station includes a second interface for connecting to the
intelligent terminal of the user. The intelligent terminal such as
a mobile phone and a tablet may be installed on the mobile station
through the second interface. The second interface may include an
electrical interface, so that when being installed on the mobile
station, the intelligent terminal is electrically connected to the
mobile station. In this embodiment, the mobile station communicates
with the intelligent terminal wirelessly by using the
communications module. The wireless communication manner may be
Wi-Fi, a cellular network, Bluetooth or the like. To record the
map, the intelligent terminal is installed on the mobile station
and displays in real time information recorded by the mobile
station. In this embodiment, the mobile station includes several
buttons configured to input instructions such as "record a map" and
"complete recording". In another embodiment, the mobile station
includes a display screen displaying information in real time in
place of the intelligent terminal.
[0160] In this embodiment, the charging station is used as a
starting point on the map, and the autonomous lawn mower starts to
work from the charging station. To record the position of the
charging station, the mobile station is installed on the autonomous
lawn mower, so that the autonomous lawn mower is in a charging
state, or the charging state of the autonomous lawn mower is
simulated, that is, a docking state is completed, recording of the
position information of the charging station is confirmed manually
or by using a charging signal. The position information of the
charging station includes position coordinates, and further
includes attitude information of the autonomous lawn mower. The
autonomous lawn mower includes an acceleration sensor, an
electronic compass, and the like. To record the position of the
charging station, the acceleration sensor, the electronic compass,
and the like are used to record current information such as a
direction and a tilt angle of the autonomous lawn mower, to
facilitate accurate docking when the autonomous lawn mower
returns.
[0161] In the first embodiment of the present invention, the mobile
station includes a map generation module configured to generate the
map of the working region according to recorded position
coordinates and save the map. In this embodiment, every time the
user walks to form a closed region, the user uses a button to input
a map generation instruction to generate map information of the
closed region. For example, when recording the boundary of the
working region, the user walks along a boundary of a sub-working
region. After the boundary of the sub-working region is completed,
the boundary of the sub-working region is generated, and then a
boundary of a next sub-working region starts to be recorded.
Similarly, when recording an obstacle and a passage, the user walks
along the obstacle or passage to form a closed region, the map
information corresponding to the closed region is generated, and
the user then records a next closed region. On the generated map,
an attribute is assigned to the recorded closed region. For
example, if a boundary attribute is assigned to the recorded closed
region, the autonomous lawn mower can work within the region but
cannot leave the region. If an obstacle attribute is assigned to
the recorded closed region, the autonomous lawn mower cannot enter
the region. In addition, the obstacle needs to be located inside
the boundary. Therefore, a part, outside the boundary, of the
obstacle will be discarded. If a passage attribute is assigned to
the recorded closed region, the autonomous lawn mower can enter the
region but cannot perform grass cutting work within the region. A
passage may be located inside or outside the boundary. If a passage
is located outside the boundary, the passage is used to connect two
separate sub-working regions. Therefore, the passage needs to
intersect with both the sub-working regions. If a passage is
located inside the boundary, the passage is usually a non-lawn
surface. Therefore, the autonomous lawn mower is also forbidden to
perform grass cutting work.
[0162] In this embodiment, a Cartesian coordinate system is
established to generate the map. Specifically, the first point from
which recording is started is used as the origin (0, 0) of the
coordinate axes. The position coordinates that correspond to the
origin and are output by the mobile station are (x0, y0). In this
embodiment, the origin (0, 0) of the coordinate axes corresponds to
the position coordinates of the charging station. As the user
records the map, the mobile station outputs position coordinates
(x1, y1), and converts the position coordinates (x1, y1) into
(x1-x0, y1-y0) when generating the map, so as to convert a
satellite positioning coordinate system into the Cartesian
coordinate system. In this embodiment, a raster image is generated
based on the Cartesian coordinate system. Rasterization precision,
for example, 1 mm, is defined. In the Cartesian coordinate system,
straight lines are drawn at an interval of 1 mm separately on X and
Y axes, so as to form the raster image. The recorded position
coordinates are converted into a grid on the Cartesian coordinate
system. In this way, the map recording process is equivalent to a
process of placing points on the raster image. As the points are
placed, each point further records some other information, for
example, a DGPS signal condition at the point, the altitude of the
point, and a positioning error of the point. A boundary, an
obstacle, and a passage are all generated in a similar way.
[0163] After the raster image is generated, a cell attribute is
assigned to a raster cell. The cell attribute includes coordinates,
whether the autonomous lawn mower can cover the raster cell,
whether the autonomous lawn mower passes through the raster cell, a
quantity of times that the autonomous lawn mower passes through the
raster cell, a DGPS signal condition, a positioning error,
altitude, a slope, temperature, humidity, sunlight intensity, and
the like. If the cell attribute of a raster cell indicates that the
autonomous lawn mower cannot cover the raster cell, when the
autonomous lawn mower approaches a position corresponding to the
raster cell, the control module controls the autonomous lawn mower
to change a movement manner to stay away from the position
corresponding to the raster cell. If the cell attribute of a raster
cell indicates that the autonomous lawn mower can cover the raster
cell, every time the autonomous lawn mower passes through the
raster cell, the cell attribute being the quantity of times that
the autonomous lawn mower passes through the raster cell of the
raster cell is increased by 1.
[0164] In this embodiment, an offset operation is performed on the
map to eliminate a positioning error. When the autonomous lawn
mower is working, the mobile station is installed at the housing of
the autonomous lawn mower to output coordinates of the current
position of the autonomous lawn mower. The positioning center of
the autonomous lawn mower deviates from the positioning center of
the mobile station during map recording. A safety problem may occur
if the deviation is not calibrated. For example, when the
autonomous lawn mower moves towards the boundary but the
positioning center of the autonomous lawn mower is still within the
boundary, the autonomous lawn mower continues to move, and as a
result the autonomous lawn mower moves outside the boundary. To
eliminate a positioning error caused by the deviation of the
positioning center of the autonomous lawn mower from the
positioning center of the mobile station during map recording, an
offset operation is performed on the map. A distance D of the
deviation of the positioning center of the autonomous lawn mower
from the positioning center of the mobile station during map
recording is determined, the boundary, an obstacle, a passage, and
the like are offset on the map into the working region by the
distance D. To be specific, the boundary and the passage are shrunk
by the distance D, and the obstacle is enlarged by the distance D.
An operation of shrinking the boundary and a passage is also
referred to as a map erosion, and an operation of enlarging the
obstacle is also referred to as a map expansion.
[0165] A positioning error also exists during map recording. The
severity of the positioning error is related to a DGPS signal
condition, that is, is related to a precision level of a coordinate
point. When the GPS signal is strong, the positioning error is
relatively small, and when the GPS signal is weak, the positioning
error is relatively large. When an offset operation is performed on
the map to eliminate a positioning error, first, a positioning
error of the position is evaluated according to DGPS signal
conditions at different positions. This is also referred to as
error evaluation. Deviations on the map are then adjusted according
to error evaluations of different positions. An offset operation
similarly includes an erosion and an expansion.
[0166] In this embodiment, after the map of the working region is
offset, the map of the region may be joined with the maps of other
regions.
[0167] After the offset operation is completed, the step of
generating the map of the working region is completed.
[0168] In this embodiment, the mobile station further includes an
auxiliary positioning apparatus. The auxiliary positioning
apparatus includes a pedometer, a laser radar, a camera, an
odometer, an ultrasonic wave, and the like. The inertial navigation
system may also be considered as an auxiliary positioning
apparatus. The auxiliary positioning apparatus is configured to
assist in DGPS positioning when a DGPS signal is weak, and a
correction value output by the auxiliary positioning apparatus is
used to correct a positioning error, so that the generated map is
more precise.
[0169] In a sixth embodiment of the present invention, the working
region has a boundary with a regular shape, for example, a
rectangular boundary. To record the map, the user only needs to
record the positions of the vertices of the working region. During
map generation, the vertices are connected to obtain the boundary.
Such a method is also applicable to a passage, an obstacle, and the
like with a regular shape. In the method, map generation efficiency
can be improved, and a possible region with a poor DGPS signal in
the middle is avoided.
[0170] In the first embodiment of the present invention, DGPS
positioning is implemented by using communication between the base
station and the mobile station. The base station is disposed in
several manners to enable the base station and the mobile station
to reliably and efficiently provide navigation data to the
autonomous working system. In this embodiment, the base station is
disposed at the charging station and is powered by the charging
station. Certainly, in another embodiment, the base station may be
disposed separately from the charging station. The base station may
be powered by independent energy sources. For example, a power form
such as solar energy and wind energy may be used. In this
embodiment, to ensure a strong satellite signal at the base
station, before the charging station is installed, the user first
places the autonomous lawn mower at a position where the user
intends to install the charging station. Alternatively, the user
detaches the mobile station from the autonomous lawn mower and then
moves the mobile station to the position where the user intends to
install the charging station. The user turns on positioning,
determines positioning precision, and confirms that the positioning
precision is high before fixing the charging station. The base
station is provided with an acoustic, optical, electrical apparatus
or the like configured to feed back a condition of a satellite
signal to indicate whether an installing position or receiving
quality of the base station is appropriate. The base station can
perform comparison by using historical coordinates to determine
whether there is an exception such as blockage. If positioning
precision is reduced, it indicates that the base station may be
blocked. After discovering an exception, the base station sends
prompt information to the user or the autonomous lawn mower by
using a communications module, or switches a state to wait for
recovery.
[0171] To enable the base station and the mobile station to
reliably and efficiently provide navigation data to the autonomous
working system, reliable and efficient communication between the
base station and the mobile station further needs to be
ensured.
[0172] As shown in FIG. 4, in this embodiment, the base station
receives a satellite signal by using a GPS antenna, and sends
acquired carrier phase information to the mobile station by using
the communications module. The communications module includes a
radio station and a radio station antenna, and may also include a
Sub-1G module, a Wi-Fi module, and a 2G/3G/4G/5G module. The mobile
station also receives a satellite signal by using a GPS antenna,
and also receives, by using a communications module corresponding
to the base station, a carrier phase signal acquired by the base
station, to calculate relative position coordinates of the mobile
station with respect to the base station. The relative position
coordinates include longitude and latitude, and may further include
altitude. The precision may reach a centimeter level.
[0173] In this embodiment, the mobile station may selectively
communicate with one of a plurality of different base stations. For
example, the mobile station may selectively communicate with a
first base station or a second base station. Specifically, the
autonomous working system includes a plurality of base stations,
or, base stations of different autonomous working systems located
within a region may be shared. The mobile station is switched among
the plurality of base stations. When an exception occurs during
communication between the mobile station and the first base
station, the mobile station may be autonomously switched to the
second base station for communication.
[0174] In this embodiment, a satellite based augmentation system
may further be used to implement DGPS navigation.
[0175] In this embodiment, the base station and the mobile station
may further communicate by using a lora technology.
[0176] In this embodiment, DGPS positioning is implemented based on
that the base station is fixed at a position. When the base station
moves, position coordinates output by the mobile station have
deviations. To avoid the trouble of recording a map again after the
base station moves, in this embodiment, the mobile station is used
to obtain a movement position of the base station, and the obtained
movement position is used to correct the generated map. Referring
to FIG. 5 and FIG. 6, a map correction process is as follows: 1).
The base station 17 is fixed at a point A, and the mobile station
15 keeps a record and generates a map. 2). As shown in FIG. 5(a),
the user intends to move the base station 17 to another position
point B for a reason. For example, the user needs to build a flower
bed at the point A. 3). As shown in FIG. 5(b), the mobile station
15 is moved to the point B, and the mobile station 15 sends
position coordinates of the point B to the base station 17. 4). As
shown in FIG. 5(c), the base station 17 is moved to the position B,
and the base station 17 corrects its position. Meanwhile, the
mobile station 15 learns of a deviation of the position of the base
station 17, and corrects the map according to the offset. The
corrected map overlaps with the map before correction. Therefore,
it is not necessary to record a map again.
[0177] In the first embodiment of the present invention, the mobile
station includes a path generation module generating a path plan
according to the map of the working region. First, the working
region is divided according to the boundary, an obstacle, a passage
or the like of the working region. With the division of the working
region, the autonomous lawn mower implements more efficient
coverage. For example, the working region is divided into two
sub-working regions connected through a passage. When performing
grass cutting work, the autonomous lawn mower first completes
coverage in one of the sub-working regions, and then enters the
other sub-working region through the passage to work. In this way,
the autonomous lawn mower is prevented from working inefficiently
for moving repeatedly between the two ends of the passage. In
another example, based on two parts separated by an obstacle in the
working region, the working region is divided into two sub-regions,
and the autonomous lawn mower is prevented from encountering an
obstacle frequently. According to the shape of the boundary, the
boundary may further be divided into different sub-regions based on
a portion with a regular shape and a portion with an irregular
shape. In this way, the autonomous lawn mower may cover a regular
sub-region by using a regular path and cover an irregular
sub-region by using a random path. In this embodiment, an
overlapping portion is provided between adjacent sub-regions, to
ensure coverage on the portion between the adjacent sub-regions. In
this embodiment, the area of a region in which the autonomous lawn
mower can work one time is estimated according to the capacity of a
battery pack to determine the size of a section. In this
embodiment, the working region may further be divided according to
the growth of plants, so that the autonomous lawn mower works at
higher cutting power for a longer cutting time in a region with
dense plants and works at lower cutting power for a shorter cutting
time in a region with sparse plants. In this embodiment, the
working region may further be divided according to the priorities
of regions. For example, a front yard and a back yard of a user are
different sub-regions, so that the autonomous lawn mower works in
the front yard and the backyard by using different working
strategies. Certainly, the working region may further be divided
according to comprehensive factors such as a quantity of
obstacles.
[0178] After region division is completed, a path of the autonomous
lawn mower in each sub-region is planned. A preset path of the
autonomous lawn mower in each sub-region may be a regular path such
as parallel paths and a spiral path or may be a random path.
[0179] In this embodiment, different paths may be planned in a same
sub-working region. A sub-working region D shown in FIG. 7 includes
a building 51. It may be predicted that satellite signals are poor
in a region near the building 51 due to blockage by the building,
and the navigation module has low positioning precision. If the
autonomous lawn mower moves on a path parallel to an edge of the
building 51, when the autonomous lawn mower moves near the building
51, the navigation module keeps outputting low precision signals.
As a result, the autonomous lawn mower may fail to move on a
planned path, or move inefficiently. To avoid the foregoing
condition, a path in a region on an edge of the building 51 may be
planned to be a path perpendicular to the edge of the building 51.
In this way, the navigation module outputs a low precision signal
only when the autonomous lawn mower is near an edge of the building
51. When the autonomous lawn mower is far away from an edge of the
building 51, the navigation module outputs a high precision signal.
When the autonomous lawn mower is near an edge of the building 51,
satellite signals are poor, positioning errors of the inertial
navigation apparatus accumulate, and the positioning precision
gradually decreases. When the autonomous lawn mower is far away
from an edge of the building 51, satellite signals become strong
again and may be used to calibrate inertial navigation errors.
Therefore, with the movement on such a path, it can be ensured that
the navigation module outputs strong positioning signals most of
the time. In this embodiment, a path plan is autonomously generated
by a path generation module, and certainly may be alternatively
manually adjusted by the user according to the condition of the
working region. Alternatively, the autonomous lawn mower may be
adjusted during movement in real time according to the precision of
a positioning signal. The case shown in FIG. 7 is used as an
example. During movement, the autonomous lawn mower may adjust in
real time directions of walking back and forth.
[0180] As shown in FIG. 8(a) and FIG. 8(b), in this embodiment,
when encountering an obstacle, the autonomous lawn mower may move
around the obstacle or may turn around. If the autonomous lawn
mower moves around the obstacle when encountering the obstacle, the
navigation module may be used to generate a vector image for moving
around the obstacle.
[0181] In this embodiment, during the movement, the autonomous lawn
mower can distinguish a moving obstacle from a stationary obstacle.
The stationary obstacle is an obstacle having a fixed position in
the working region, and is usually an obstacle recorded on the map.
If the autonomous lawn mower repeatedly encounters an obstacle at a
same position during movement but the obstacle is not recorded on
the map, the autonomous lawn mower may determine that the obstacle
is a newly found stationary obstacle. The moving obstacle is an
obstacle that appears at an indefinite position in the working
region, and is usually an obstacle that the autonomous lawn mower
temporarily encounters during movement and appears at a same
position occasionally. The moving obstacle may be a human, an
animal or the like that appears in the working region. The
autonomous lawn mower distinguishes a moving obstacle from a
stationary obstacle according to whether an obstacle is recorded on
the map or according to a frequency of encountering an obstacle at
a same position, and uses different obstacle avoidance strategies.
The obstacle avoidance strategies include moving around an
obstacle, turning around, and the like.
[0182] In this embodiment, the autonomous lawn mower adjusts a
movement range according to the condition of a positioning signal
during movement. When the autonomous lawn mower moves to a position
with poor positioning signals, the movement range is shrunk and the
autonomous lawn mower continues moving within a small range or the
autonomous lawn mower stops moving.
[0183] In this embodiment, the navigation module further includes a
gyroscope configured to control the autonomous lawn mower to move
along a straight line. When the autonomous lawn mower moves along a
preset path, the gyroscope and a DGPS positioning signal are used
in combination to perform navigation. As shown in FIG. 9, the
preset path is divided into a plurality of segments. When the
autonomous lawn mower starts to move, a moving direction is
determined. When moving on each segment, the autonomous lawn mower
uses the gyroscope to perform navigation. The gyroscope is
configured to control the autonomous lawn mower to move along a
straight line, to prevent the moving direction of the autonomous
lawn mower from deviating. After the autonomous lawn mower
completes movement on a segment of the path, a DGPS positioning
signal is used to calibrate the moving direction. Specifically, the
control module determines whether the current position of the
autonomous lawn mower is on the preset path. If the current
position of the autonomous lawn mower deviates from the preset
path, the moving direction of the autonomous lawn mower is adjusted
to enable the autonomous lawn mower to return to the preset path.
When moving along a next segment of the path, the autonomous lawn
mower moves along a straight line again in a calibrated direction
by using the gyroscope. As the autonomous lawn mower moves, if
determining that a distance by which the current position of the
autonomous lawn mower deviates from the preset path is greater than
a preset value, the control module may calibrate the moving
direction of the autonomous lawn mower in real time, or may redraw
segments.
[0184] As shown in FIG. 10(b), in this embodiment, the autonomous
lawn mower moves along parallel paths. When reaching the boundary,
the autonomous lawn mower steers to move in an opposite direction.
When steering, the autonomous lawn mower covers a plurality of
points F and G between adjacent parallel paths, to ensure complete
coverage, thereby avoiding a problem that a region near the
boundary is not covered due to steering by a right angle (referring
to FIG. 10(a)).
[0185] In this embodiment, as the autonomous lawn mower moves, if
an exception occurs in communication between the base station and
the mobile station, for example, communication is interrupted or a
DGPS signal is poor and as a result the navigation module keeps
outputting low precision positioning signals, the autonomous lawn
mower is controlled to adjust a movement manner. When the
autonomous lawn mower adjusts the movement manner, the autonomous
lawn mower is switched between working states. For example, the
autonomous lawn mower is switched to a random walking mode, or
returns to the charging station, or enters a search mode to search
for strong satellite signals. Alternatively, when the autonomous
lawn mower adjusts the movement manner, the autonomous lawn mower
enables the task execution module to stop working, reverse, steer,
stop or perform another operation.
[0186] In this embodiment, a path generation module is further
configured to generate a return path. The working region shown in
FIG. 11 is used as an example, and currently the charging station 2
is located inside the working region. When the autonomous lawn
mower 1 needs to return to the charging station 2, a path
generation module computes a shortest path from the autonomous lawn
mower 1 to the charging station 2 according to information about
the current position of the autonomous lawn mower 1 and the map
information and generates a return path 53. The control module
controls the autonomous lawn mower 1 to move along the return path
53 to return to the charging station 2. The computation of the
shortest path is related to the position of the charging station 2,
and is further related to obstacle distribution in the working
region and whether there is a passage between the autonomous lawn
mower 1 and the charging station 2. The autonomous lawn mower 1
passes through the fewest raster cells when moving along the
shortest path. In this embodiment, the control module records the
return path of the autonomous lawn mower 1. When the autonomous
lawn mower 1 starts to return again, the control module compares a
newly generated return path with a previous return path or several
previous return paths to determine whether an overlapping portion
exists between the newly generated return path and the previous
return path or the several previous return paths. If an overlapping
portion exists, the return path is modified to avoid a return path
overlap. For example, a part of the return path is offset by a
distance. By using the foregoing method, if the autonomous lawn
mower 1 needs to pass through a passage when returning to the
charging station 2, an overlap of a part of path from the passage
to the charging station 2 can be effectively avoided, thereby
preventing the autonomous lawn mower 1 from repeatedly returning
along a same segment of the path to crush the lawn.
[0187] In a seventh embodiment of the present invention, a method
for generating a return path by the path generation module is
different from the method in the first embodiment. As shown in FIG.
7, after the map generation module generates the map, a path
generation module sets several return paths 53 according to the
generated map. When needing to return to the charging station 2,
the autonomous lawn mower 1 moves to one of the return paths 53.
Specifically, the control module determines shortest distances from
the autonomous lawn mower 1 to the several return paths 53, selects
a closest return path 53, and controls the autonomous lawn mower 1
to move to the nearest return path 53 along a path with the
shortest distance and return to the charging station 2 along the
return path 53. Certainly, the autonomous lawn mower 1 may
alternatively move to the nearest return path 53 randomly.
Alternatively, when needing to return to the charging station 2,
the autonomous lawn mower 1 moves randomly, and when the control
module determines that the autonomous lawn mower 1 is located on
one of the return paths 53, the autonomous lawn mower 1 is
controlled to return to the charging station 2 along the return
path 53. By using the foregoing method, the autonomous lawn mower 1
can be prevented from returning along a same path to crush the
lawn. It may be understood that a return path may be alternatively
recorded by the user during map recording. Specifically, the user
holds the mobile station and moves from different positions in the
working region to the charging station, and positions covered by
the movement are recorded to form the return path.
[0188] In an eighth embodiment of the present invention, a method
for generating a return path by the path generation module is
different from the method in the first embodiment. As shown in FIG.
13, when needing to return to the charging station 2, the
autonomous lawn mower 1 first moves to the boundary 200, moves to
the position of the charging station 2 along the boundary 200, and
then moves to the charging station 2. Specifically, the path
generation module determines a point, on the boundary 200, having
the shortest distance from the autonomous lawn mower 1 according to
the current position of the autonomous lawn mower 1 and the
position of the boundary 200, connects the current position of the
autonomous lawn mower 1 and the point to form a first segment of
the path, computes, according to the position of the point and the
position of the charging station 2, the shortest path for the
autonomous lawn mower 1 to move from the point along the boundary
200 and then move from the boundary 200 to a position right in
front of the charging station 2, generates a second segment of the
path according to the computed shortest path, and joins the first
segment of the path and the second segment of the path to generate
the return path 53. In this embodiment, when the charging station 2
is located on the boundary 200, the autonomous lawn mower 1 can
directly move to the position right in front of the charging
station 2 along the boundary 200. When the charging station 2 is
not located on the boundary 200, the autonomous lawn mower 1 moves
towards the charging station 2 along the boundary 200 and then
reaches the position right in front of the charging station 2. In
this embodiment, the autonomous lawn mower 1 moves along the
boundary 200 on a different path each time. Specifically, the
autonomous lawn mower 1 moves along the boundary 200 at a variable
distance from the boundary 200. That is, during each return, the
autonomous lawn mower 1 moves along the boundary 200 at a different
distance from the boundary 200. In this way, the autonomous lawn
mower 1 can be prevented from returning along the boundary 200 at a
fixed distance to crush the lawn.
[0189] In the first embodiment of the present invention, after the
autonomous lawn mower 1 moves to the position right in front of the
charging station 2, for example, at about 1 m in front, a docking
process is started. Because a docking angle, a tilt angle, and the
like are recorded during map recording, the autonomous lawn mower 1
may be docked in a constant direction based on the information, so
that a docking error is mitigated.
[0190] In the first embodiment of the present invention, the
autonomous lawn mower may further autonomously determine a work
schedule according to properties such as an area and a shape of a
map. The work schedule includes a working time for each sub-region,
a work order for the sub-regions, a quantity of times of covering
each sub-region, and the like.
[0191] In this embodiment, a DGPS clock may be used to replace a
clock chip.
[0192] In this embodiment, the navigation module and an environment
detection sensor are combined to address a safety problem. The
environment detection sensor includes a step sensor, a lawn sensor,
an optical sensor, a camera, a radar, an ultrasound sensor, a
collision detection sensor, and the like. When the environment
detection sensor detects an exception environment, the navigation
module is used to record the current position and a corresponding
exception on a map. When the autonomous lawn mower moves to the
position, the movement manner of the autonomous lawn mower is
adjusted to avoid a safety accident.
[0193] In this embodiment, the map and the path are respectively
generated by the map generation module and the path generation
module of the mobile station. It may be understood that in other
embodiments, the control module of the autonomous lawn mower
obtains position coordinates recorded by the mobile station, and
the control module may generate the map and the path.
[0194] In a ninth embodiment of the present invention, the charging
station is a wireless charging station. The autonomous lawn mower
can approach the charging station from any direction to perform
docking. Therefore, according to the current position of the
autonomous lawn mower and the position of the charging station, the
autonomous lawn mower can be conveniently guided by using DGPS
navigation to return to the charging station and be docked to the
charging station.
[0195] Exemplary Dividing Method
[0196] As discussed above, to enable a self-moving device to safely
and efficiently cover a working region, the working region of the
self-moving device needs to be divided.
[0197] FIG. 14 is a schematic flowchart of a dividing method for a
working region of a self-moving device according to an embodiment
of the present invention. As shown in FIG. 14, the dividing method
for a working region of a self-moving device according to this
embodiment including: S510, detecting whether a working region
includes a shaded region, the shaded region being a region in which
a positioning signal received by the self-moving device does not
satisfy a quality condition; S520, determining a boundary condition
of the working region; S530, determining a contour condition of the
shaded region; and S540, dividing the working region into a
plurality of sub-working regions based on the boundary condition of
the working region and the contour condition of the shaded region,
a part of the shaded region in any sub-working region being a
sub-shaded region, the sub-shaded region having a length direction
and a width direction, and the division enabling a length of the
sub-shaded region in the width direction to be less than a
predetermined threshold. The predetermined threshold is less than
10 meters or 5 meters or 2 meters.
[0198] In some embodiments, the sub-shaded region has an
approximately regular shape, for example, an approximately
rectangular shape. In this case, the length direction and the width
direction are respectively a long side direction and a short side
direction of a rectangle. Alternatively, the sub-shaded region has
an approximately elliptical shape. In this case, the length
direction and the width direction are respectively a major axis
direction or a minor axis direction of an ellipse. In some
embodiments, the sub-shaded region has an irregular shape. In this
case, a mathematical method known in the industry may be used to
approximate the irregular shape into a regular shape for
processing. Alternatively, another method may be used to determine
the length direction and the width direction of the sub-shaded
region. Subsequent steps are then performed based on the determined
length direction and width direction.
[0199] In some embodiments, if the width direction of the shaded
region is already less than the predetermined threshold and there
is no other case in which the shaded region needs to be divided, it
is not necessary to divide the shaded region into different
sub-regions, and the sub-shaded region is the shaded region
itself.
[0200] In some embodiments, if the width direction of the shaded
region is greater than the predetermined threshold, the shaded
region is divided into a plurality of sub-regions. For each
sub-region, a width of the sub-shaded region is less than the
predetermined threshold. A specific division manner is a known
mathematical processing process, and details are not described
herein.
[0201] After the divided sub-regions are obtained, the self-moving
device works in the sub-regions in the following manner. That is,
the dividing method for a working region of a self-moving device
according to this embodiment further includes: controlling the
self-moving device to travel in the width direction in the
sub-shaded region.
[0202] Herein, a person skilled in the art may understand that if
the self-moving device is controlled to travel in the width
direction, there may be an error between a travel direction and the
width direction. To be specific, provided that the error between
the travel direction of the self-moving device and the width
direction is within a range, it is considered that the self-moving
device travels in the width direction in the sub-shaded region.
[0203] Because the self-moving device travels in the width
direction and a length in the width direction is less than that in
the length direction, it may be understood that a travel distance
in the shaded region in the width direction is shorter than that in
the length direction, so that an accumulated error is relatively
small, and positioning is more accurate. Further, because the
predetermined threshold is set, the accumulated error may be
controlled in an acceptable range.
[0204] It may be understood that it is necessary to control an
accumulated length of a path covered by the self-moving device in
the shaded region, so as to control the accumulated error to be
within a predetermined acceptable range. Therefore, the approximate
width direction should be construed relatively flexibly, so that
the travel distance of the self-moving device in the direction is
usually less than the travel distance in the length direction. In
an embodiment, the direction is between the width direction minus
30.degree. and the width direction plus 30.degree.. In another
optional embodiment, the direction is between the width direction
minus 20.degree. and the width direction plus 20.degree., the width
direction minus 15.degree. and the width direction plus 15.degree.,
the width direction minus 10.degree. and the width direction plus
10.degree., the width direction minus 5.degree. and the width
direction plus 5.degree. or the width direction minus 3.degree. and
the width direction plus 3.degree..
[0205] Specifically, the traveling in the width direction in the
sub-shaded region includes: [0206] entering the sub-shaded region
from one side approximately in the width direction; and keeping
traveling in the width direction to reach the other side of the
sub-shaded region.
[0207] Further, the traveling in the width direction in the
sub-shaded region further includes: [0208] leaving the sub-shaded
region from the other side; or [0209] turning around at the other
side to leave from the side, where a travel direction after the
turnaround is approximately the width direction.
[0210] Herein, the shaded region mentioned in this embodiment is a
region in which a positioning signal, for example, a satellite
positioning signal, received by the self-moving device has poor
signal quality. Specifically, the shaded region may be determined
by determining whether a positioning signal received by the
self-moving device satisfies the quality condition. The positioning
signal may be directly output by a positioning module, for example,
a GPS module, or may be output by a processor of mobile station by
combining various input data. Preferably, the positioning signal is
output by the processor of the mobile station by combining various
input data. The reason is that the positioning module only outputs
a current signal quality index, while the processor further
considers a quantity of signal sources, for example, a quantity of
satellites, of currently received signals. Apparently, when the
quantity of signal sources is larger, the signal quality is better.
If signals can be received from only a small number of signal
sources, even if the positioning signal output by the positioning
module has a very high precision grade, the overall signal quality
is not necessarily desirable. Therefore, in the dividing method for
a working region of a self-moving device in this embodiment, the
positioning signal involves the quantity of signal sources and the
signal quality of the signal sources.
[0211] For example, a GPS system outputs positioning precision
information of the GPS system when an RTK positioning technology of
the GPS system is used. For example, in an NMEA table, GPGGA
outputs 4 to represent high positioning precision that may
generally reach a centimeter level, and outputs 3 to represent
relatively poor positioning that generally reaches only a decimeter
level. 1 or 2 represents that the positioning precision only
reaches a meter level. Based on this, in the dividing method for a
working region of a self-moving device in this embodiment, for
example, any region may be determined as the shaded region unless 4
is output.
[0212] Because the self-moving device cannot receive a positioning
signal, for example, a satellite signal, in the shaded region,
positioning precision is reduced, and high precision positioning
can only be maintained for a short time (referred to as a tolerance
time). Specifically, a working time of a positioning system of an
autonomous lawn mower in the shaded region generally cannot exceed
1 minute to 2 minutes. Therefore, to ensure positioning precision
of the self-moving device in the working region, the self-moving
device cannot cross a shaded region with a relatively large area.
Therefore, in the dividing method for a working region of a
self-moving device in this embodiment, a working region is divided
based on a contour shape of the shaded region, so that the shaded
region with a relatively large area is divided into shaded regions
with small areas, so as to form different paths to save the
self-moving device from crossing the shaded region with a
relatively large area. In the dividing method for a working region
of a self-moving device in this embodiment, a short side of each of
the plurality of sub-working regions is less than a predetermined
length threshold, for example, 10 meters. In addition, the
self-moving device enters each sub-working region in a short side
direction during working. In this way, duration during which the
self-moving device remains in the shaded region does not exceed the
foregoing tolerance time, thereby ensuring that the self-moving
device can maintain high precision positioning even if working in
the shaded region.
[0213] FIG. 15(a) to FIG. 15(c) are schematic diagrams of
performing division based on a shaded region according to an
embodiment of the present invention. As shown in FIG. 15(a) and
FIG. 15(b), when a building is rectangular, a shaded region is also
rectangular. Therefore, a direction of a narrow side of the shaded
region is selected to perform division, so that the self-moving
device walks in the direction of the narrow side of the shaded
region. An actual application scenario is shown in FIG. 15(c), a
building (or another obstacle) exists in a working region, and
signals are blocked around the building to form the shaded region.
The working region is divided into a plurality of sub-regions
according to the shaded region. In this way, the self-moving device
may enter the shaded region in a plurality of directions to perform
working. A walking direction of the self-moving device is basically
perpendicular to a contour line of the shaded region. For example,
when the autonomous lawn mower cuts grass in the shaded region, it
can be ensured that the autonomous lawn mower cuts the grass in the
shaded region as completely as possible. Herein, the shaded region
may be known during the generation of a map or may be learned by
the self-moving device during working. The latter will be further
described below.
[0214] Moreover, as discussed above, because the self-moving device
needs to work in a range of the working region, during division, a
boundary condition of the working region also needs to be
considered.
[0215] In the dividing method for a working region of a self-moving
device according to this embodiment, the dividing the working
region into a plurality of sub-working regions based on the
boundary condition of the working region and the contour condition
of the shaded region includes: determining whether an area of the
shaded region is greater than a predetermined area threshold; and,
dividing the working region into the plurality of sub-working
regions in response to determining that the area of the shaded
region is greater than the predetermined area threshold.
[0216] That is, if the area of the shaded region is not large,
division of the working region may be skipped. That is, in the
working region, as few as possible divided regions are ensured to
ensure efficient coverage of the self-moving device in the working
region. In addition, if signal quality is good, a quantity of times
that the self-moving device turns around should be kept as small as
possible, thereby improving working efficiency of the self-moving
device.
[0217] In addition, if the area of the shaded region is relatively
large, for example, as shown in FIG. 15(c), the self-moving device
preferably enters the shaded region in different directions from
the plurality of divided sub-working regions, so that duration
during which the self-moving device remains in the shaded region
does not exceed the foregoing tolerance time.
[0218] Therefore, each time when the self-moving device enters the
shaded region, to shorten the duration during which the self-moving
device moves in the shaded region, preferably, the self-moving
device enters the shaded region in a direction of a narrow side of
a contour of the shaded region and leaves the shaded region in the
same direction, so that the self-moving device covers a shortest
distance in the shaded region.
[0219] Moreover, if the self-moving device enters the shaded region
in different directions based on the plurality of divided
sub-working regions to perform working, the number of times that
the self-moving device enters the shaded region to work is a
predetermined number of times. For example, the self-moving device
enters the shaded region from two ends of the shaded region
respectively to work, so that the self-moving device enters the
shaded region twice to work. In this case, if the working region in
which the self-moving device enters the shaded region twice to work
cannot cover the shaded region, division further needs to be
performed.
[0220] That is, in the dividing method for a working region of a
self-moving device in this embodiment, the dividing the working
region into a plurality of sub-working regions based on the
boundary condition of the working region and the contour condition
of the shaded region includes: dividing the working region into the
plurality of sub-working regions based on the boundary condition of
the working region and the contour condition of the shaded region,
so that the self-moving device enters the shaded region in
different directions in the plurality of sub-working regions.
[0221] In addition, in the dividing method for a working region of
a self-moving device in this embodiment, that the self-moving
device enters the shaded region in different directions in the
plurality of sub-working regions includes: determining whether a
predetermined number of movements of the self-moving device in
different directions cover the shaded region; and, further
dividing, in response to that the predetermined number of movements
of the self-moving device in different directions do not cover the
shaded region, the plurality of sub-working regions obtained after
the division.
[0222] In the dividing method for a working region of a self-moving
device in this embodiment, the dividing the working region into a
plurality of sub-working regions based on the boundary condition of
the working region and the contour condition of the shaded region
includes: dividing the plurality of sub-working regions so that
adjacent working regions of the plurality of sub-working regions
have an overlapping portion.
[0223] That is, overlapping divided regions are used to provide an
overlapping portion between adjacent sub-working regions, so that
it is ensured that the self-moving device can cover edge parts of
all the divided regions.
[0224] In the dividing method for a working region of a self-moving
device in this embodiment, the dividing the working region into a
plurality of sub-working regions based on the boundary condition of
the working region and the contour condition of the shaded region
further includes: detecting a working area corresponding to a
working time of a power supply of the self-moving device;
determining whether an area of each of the plurality of sub-working
regions is greater than the working area; and, further dividing the
sub-working region in response to determining that an area of one
of the plurality of sub-working regions is greater than the working
area, so that an area of the working region obtained after the
division is less than the working area.
[0225] That is, a maximum working area of the self-moving device is
restricted by a working time of a power supply, for example, a
battery pack, of the self-moving device. Division is further
performed according to that the working time of the power supply,
for example, a working time of a single battery pack, is exceeded,
so as to prevent the self-moving device from returning to a
charging station to perform charging during working in a
sub-working region, thereby improving working efficiency of the
self-moving device. Herein, after returning to the charging station
to perform charging, the self-moving device needs to find again an
interruption point during previous working, resulting in low
working efficiency.
[0226] Therefore, for an open region with a large area, for
example, a Golf course, even if the region has very few shaded
regions or obstacles, the region needs to be divided based on the
foregoing reason.
[0227] As shown in FIG. 8(a) and FIG. 8(b), an obstacle, for
example, an obstacle 9, may exist in the working region. When an
obstacle is encountered, a size of the obstacle may be determined.
A divided region does not need to be formed for a small obstacle.
Instead, the self-moving device moves around the small object (as
shown in FIG. 8(a)) or turns around at the small object (as shown
in FIG. 8(b)). A vector image of moving around the obstacle may be
formed by using a DGPS system or an inertial navigation system, so
that the self-moving device moves around the obstacle. In addition,
division may be performed for a large obstacle. The reason is that
if an obstacle is relatively large or there are a relatively large
number of obstacles in the working region, the self-moving device
cannot traverse all regions one time. If division is not performed,
some regions may fail to be covered. Therefore, division is
performed for an obstacle, so that a coverage ratio of the working
region can be ensured.
[0228] Therefore, the dividing method for a working region of a
self-moving device in this embodiment further includes: detecting
whether an obstacle exists in the working region; determining
whether a size of the obstacle is greater than a predetermined size
threshold; and dividing the working region based on the obstacle in
response to that the size of the obstacle is greater than the
predetermined size threshold.
[0229] Moreover, the dividing method for a working region of a
self-moving device in this embodiment further includes: skipping
division of the working region in response to that the size of the
obstacle is less than the predetermined size threshold; and
controlling the self-moving device to move around the obstacle or
turn around at the obstacle to move on.
[0230] In addition, in the dividing method for a working region of
a self-moving device in this embodiment, stationary and moving
obstacles may further be distinguished. Specifically, obstacles in
the working region are recorded on a map of the working region to
form an "obstacle map". The self-moving device detects an obstacle
via, for example, a sensor, during working, and determines whether
to update the obstacle map according to a detection result. When
the number of times that the self-moving device encounters an
obstacle at a position reaches the threshold, the obstacle map is
updated, and division is performed again according to the updated
map. The self-moving device may move around a stationary obstacle
or turn around at a stationary obstacle, and move around a moving
obstacle.
[0231] Therefore, in the dividing method for a working region of a
self-moving device in this embodiment, the determining whether a
size of the obstacle is greater than a predetermined threshold
includes: detecting that a state of the obstacle is moving or
stationary; detecting, in response to that the state of the
obstacle is stationary, whether the size of the obstacle is greater
than the predetermined size threshold.
[0232] Moreover, the dividing method for a working region of a
self-moving device in this embodiment further includes: skipping
division of the working region in response to that the state of the
obstacle is moving; and controlling the self-moving device to move
around the obstacle or turn around at the obstacle to move on.
[0233] In addition, as shown in FIG. 1, a narrow passage 400 may
exist in the working region. In this case, the passage is
separately presented. For example, the passage is marked when a map
is created, or the passage is recognized by using a recognition
algorithm. Two regions connected by the passage may be used as
sub-working regions.
[0234] As discussed above, a common scenario of a passage is that
the front yard and back yard of a user's house are connected via
one passage in the middle. If division is not performed based on a
passage, the self-moving device may work in the front yard for a
while and then move to the back yard to work, and then runs out of
power and returns to perform charging. For example, when the
autonomous lawn mower performs grass cutting work in the front yard
and the back yard, if the foregoing case occurs, it seems to a
customer that neither of the front yard and the back yard has been
completely cut. A passage division technology in the dividing
method for a working region of a self-moving device in this
embodiment is used to recognize a passage or a user defines a
passage, so that the self-moving device considers the front yard
and the back yard as two independent regions, and finishes working
in one region before moving to the other region. In this way, the
customer may have better use experience.
[0235] Therefore, the dividing method for a working region of a
self-moving device in this embodiment further includes: detecting
whether a passage exists in the working region; and dividing, in
response to that a passage exists in the working region, the
working region into a first sub-working region on one side of the
passage and a second sub-working region on the other side of the
passage.
[0236] In addition, the dividing method for a working region of a
self-moving device in this embodiment further includes: detecting a
vegetation growth condition in the working region; and dividing the
working region based on the vegetation growth condition.
[0237] That is, for the self-moving device such as the autonomous
lawn mower, division may further be performed according to a
vegetation health/growth condition. In addition, division may
further be performed by combining various factors.
[0238] After the working region is divided, the self-moving device
further determines strategies for covering different sub-regions.
The strategies include the following cases:
[0239] 1) Circle strategy: As shown in FIG. 15(c), the self-moving
device works in an order of A-B-C-D-E-F-G-H.
[0240] 2) Neighbor strategy: The self-moving device finishes work
in one sub-working region and then enters an adjacent region to
work.
[0241] 3) Search for a nearest starting point: FIG. 15(c) is still
used as an example. Several starting points are set in advance for
each sub-working region, and are usually vertex positions. After
finishing work in one sub-working region, the self-moving device
searches for a nearest starting point and moves to a sub-working
region corresponding to the starting point to work.
[0242] 4) Search for an optimal point: An optimal point is
calculated based on the foregoing starting points and an algorithm.
Consideration factor in the algorithm may include moving as few
obstacles as possible, walking directly, and the like. This may
show a user that the self-moving device is highly intelligent.
[0243] In addition, in the dividing method for a working region of
a self-moving device in this embodiment, a dividing strategy may
keep being updated as the self-moving device works. For example,
during working, the autonomous lawn mower evaluates a point that
the autonomous lawn mower walks through, for example, to find out
whether the point is in the shaded region or whether there is an
obstacle at the point, updates the map, and adjusts the dividing
strategy according to updated map information.
[0244] Specifically, when the self-moving device works for the
first time, there is only contour information of a boundary, an
obstacle, and the like on the map but no detail information about
the interior of the map. At this time, the self-moving device
decides that the remaining regions are free of shaded regions, and
first performs division once to work. During working, the
self-moving device draws detail information on the map according to
information received by the GPS. In this case, being restricted by
a working time (the working time generally does not exceed 1 minute
to 2 minutes) of the self-moving device in a shaded region, the
self-moving device may fail to work in some regions.
[0245] After completing work for the first time, the self-moving
device performs division again according to known information of
the interior and attempts to obtain a map of an unknown region
through walking. After repeated walking, the self-moving device
usually can update all map information. A dividing strategy updated
after all information is obtained is relatively preferred.
[0246] Certainly, during working, the self-moving device may be
involved in some accidents. For example, the self-moving device
slides down a slope, deviates from a path, or is moved by a user.
In this case, the self-moving device performs division again
according to a region in which the self-moving device has finished
working and plans a walking path.
[0247] Moreover, if an unworked region, for example, a region in
which the autonomous lawn mower has not cut grass, exists in the
working region, a divided region is added for the unworked region,
that is, the unworked region is used as a sub-working region.
[0248] Therefore, the dividing method for a working region of a
self-moving device in this embodiment further includes: in a
process of controlling the self-moving device to move in the
working region, obtaining map information of a path covered by the
self-moving device; and updating a dividing strategy of the working
region based on the map information.
[0249] Moreover, the dividing method for a working region of a
self-moving device in this embodiment further includes: determining
whether an unworked region in which the self-moving device has not
performed work exists in the working region; and dividing the
working region to use the unworked region as a new sub-working
region.
[0250] Exemplary Dividing Apparatus and System
[0251] FIG. 16 is a schematic block diagram of a dividing apparatus
according to an embodiment of the present invention. As shown in
FIG. 16, the dividing apparatus 600 is configured to divide a
working region of a self-moving device, and includes: a shaded
region detection unit 610, configured to detect whether a shaded
region exists in the working region, the shaded region being a
region in which a positioning signal received by the self-moving
device does not satisfy a quality condition; a working region
determining unit 620, configured to determine a boundary condition
of the working region; a shaded contour determining unit 630,
configured to determine a contour condition of the shaded region
detected by the shaded region detection unit 610; and a dividing
unit 640, configured to divide the working region into a plurality
of sub-working regions based on the boundary condition of the
working region determined by the working region determining unit
620 and the contour condition of the shaded region determined by
the shaded contour determining unit 630, a part of the shaded
region in any sub-working region being a sub-shaded region, the
sub-shaded region having a length direction and a width direction,
and the division enabling a length in the width direction to be
less than a predetermined threshold.
[0252] In an example, in the dividing apparatus 600, the
predetermined threshold is less than 10 meters or 5 meters or 2
meters.
[0253] In an example, the dividing apparatus 600 further includes:
a control unit, configured to control the self-moving device to
travel in the width direction in the sub-shaded region.
[0254] In an example, in the dividing apparatus 600, the control
unit is configured to: control the self-moving device to enter the
sub-shaded region from one side in the width direction; and,
control the self-moving device to keep traveling in the width
direction to reach the other side of the sub-shaded region.
[0255] In an example, in the dividing apparatus 600, the control
unit is further configured to: control the self-moving device to
leave the sub-shaded region from the other side; or, control the
self-moving device to turn around at the other side to leave from
the side, where a travel direction after the turnaround is the
width direction.
[0256] In an example, in the dividing apparatus 600, the dividing
unit 640 is configured to: determine whether an area of the shaded
region is greater than a predetermined area threshold; and, divide
the working region into the plurality of sub-working regions in
response to determining that the area of the shaded region is
greater than the predetermined area threshold.
[0257] In an example, in the dividing apparatus 600, the dividing
unit 640 is configured to: divide the working region into a
plurality of sub-working regions based on the boundary condition of
the working region and the contour condition of the shaded region;
and control the self-moving device to enter the shaded region in
different directions in the plurality of sub-working regions.
[0258] In an example, in the dividing apparatus 600, the dividing
unit 640 is configured to: determine whether a predetermined number
of movements of the self-moving device in different directions
cover the shaded region; and, further divide, in response to that
the predetermined number of movements of the self-moving device in
different directions do not cover the shaded region, the plurality
of sub-working regions obtained after the division.
[0259] In an example, in the dividing apparatus 600, the dividing
unit 640 is configured to divide the plurality of sub-working
regions so that adjacent working regions of the plurality of
sub-working regions have an overlapping portion.
[0260] In an example, the dividing apparatus 600 further includes:
a working area detection unit, configured to detect a working area
corresponding to a working time of a power supply of the
self-moving device; and a working area determining unit, configured
to determine whether an area of each of the plurality of
sub-working regions is greater than the working area, where the
dividing unit is configured to further divide the sub-working
region in response to determining that an area of one of the
plurality of sub-working regions is greater than the working area,
so that an area of the working region obtained after the division
is less than the working area.
[0261] In an example, the dividing apparatus 600 further includes:
an obstacle detection unit, configured to detect whether an
obstacle exists in the working region; and an obstacle determining
unit, configured to determine whether a size of the obstacle is
greater than a predetermined size threshold, where the dividing
unit is configured to divide the working region based on the
obstacle in response to that the size of the obstacle is greater
than the predetermined size threshold.
[0262] In an example, in the dividing apparatus 600, the dividing
unit 640 is configured to skip division of the working region in
response to that the size of the obstacle is less than the
predetermined size threshold; and the control unit is configured to
control the self-moving device to move around the obstacle or turn
around at the obstacle to move on.
[0263] In an example, in the dividing apparatus 600, the obstacle
determining unit is configured to: detect that a state of the
obstacle is moving or stationary; and detect, in response to that
the state of the obstacle is stationary, whether the size of the
obstacle is greater than the predetermined size threshold.
[0264] In an example, in the dividing apparatus 600, the dividing
unit 640 is configured to: skip division of the working region in
response to that the state of the obstacle is moving; and control
the self-moving device to move around the obstacle or turn around
at the obstacle to move on.
[0265] In an example, the dividing apparatus 600 further includes:
a passage detection unit, configured to detect whether a passage
exists in the working region, where the dividing unit 640 is
configured to divide, in response to that a passage exists in the
working region, the working region into a first sub-working region
on one side of the passage and a second sub-working region on the
other side of the passage.
[0266] In an example, the dividing apparatus 600 further includes:
a vegetation detection unit, configured to detect a vegetation
growth condition in the working region, where the dividing unit is
configured to divide the working region based on the vegetation
growth condition.
[0267] In an example, the dividing apparatus 600 further includes:
a map information obtaining unit, configured to: in a process of
controlling the self-moving device to move in the working region,
obtain map information of a path covered by the self-moving device,
where a dividing strategy update unit, configured to update a
dividing strategy of the working region based on the map
information.
[0268] In an example, the dividing apparatus 600 further includes:
a blank region detection unit, configured to detect whether an
unworked region in which the self-moving device has not performed
work exists in the working region, where the dividing unit 640 is
configured to divide the working region to use the unworked region
as a new sub-working region.
[0269] Herein, a person skilled in the art may understand that
other details of the dividing apparatus in this embodiment of the
present invention are identical with corresponding details in the
dividing method for a working region of a self-moving device in the
embodiments of the present invention described above. Herein,
details are not described again to avoid redundancy.
[0270] An embodiment of the present invention further relates to an
autonomous working system, including: a self-moving device, moving
and working within a working region defined on a map; and the
dividing apparatus discussed above.
[0271] In the autonomous working system, the self-moving device is
an autonomous lawn mower.
[0272] In the autonomous working system, the autonomous working
system is an autonomous lawn mower.
[0273] An embodiment of the present invention further relates to a
self-moving device, moving and working within a working region
defined on a map, and including the foregoing dividing
apparatus.
[0274] Compared with the prior art, the beneficial effect of the
present invention is as follows: A shaded region in a working
region is detected and is divided based on a boundary condition of
the working region and a contour condition of the shaded region, so
that it can be ensured that a self-moving device safely and
efficiently covers the working region.
[0275] Exemplary Electronic Device
[0276] An electronic device according to an embodiment of the
present invention is described below with reference to FIG. 17. The
electronic device may be an electronic device integrated in a
mobile station of a self-moving device or a standalone device
independent of the mobile station. The standalone device may
communicate with the mobile station to implement the dividing
method for a working region of a self-moving device in the
embodiments of the present invention.
[0277] FIG. 17 is a schematic block diagram of an electronic device
according to an embodiment of the present invention.
[0278] As shown in FIG. 17, the electronic device 700 includes one
or more processors 710 and a memory 720.
[0279] The processor 710 may be a central processing unit (CPU) or
another form of processing unit having a data processing capability
and/or an instruction execute capability, and may control other
components in the electronic device 700 to perform desired
functions.
[0280] The memory 720 may include one or more computer program
products. The computer program product may include various forms of
computer readable storage media, for example, a volatile memory
and/or a non-volatile memory. The volatile memory may include, for
example, a random-access memory (RAM) and/or a cache. The
non-volatile memory may include, for example, a read-only memory
(ROM), a hard disk, and a flash memory. The computer readable
storage medium may store one or more computer program instructions.
The processor 710 may execute the computer program instructions to
implement the foregoing dividing method for a working region of a
self-moving device in various embodiments of the present invention
and/or other desired functions. The computer readable storage
medium may further store a variety of content such as a boundary
condition of a working region, a contour condition of a shaded
region, and obstacle information.
[0281] In an example, the electronic device 700 may further include
an input apparatus 730 and an output apparatus 740. These
components are interconnected by using a bus system and/or another
form of connection mechanism (not shown).
[0282] For example, the input apparatus 730 may be configured to
receive a user input.
[0283] The output apparatus 740 may directly output various types
of information or control the mobile station to send a signal.
[0284] Certainly, for simplicity, FIG. 17 shows only some of the
components related to the present application in the electronic
device 700, and components such as a bus, an input/output interface
and the like are omitted. In addition, according to specific
application, the electronic device 700 may further include any
other appropriate component.
[0285] Exemplary Computer Program Product and Computer Readable
Storage Medium
[0286] In addition to the foregoing methods and devices, an
embodiment of the present application may further be a computer
program product, including computer program instructions, where
being executed by a processor, the computer program instructions
enable the processor to perform the steps in the dividing method
for a working region of a self-moving device according to various
embodiments of the present invention described in the foregoing
"exemplary dividing method" portion of this specification.
[0287] In the computer program product, one or any combination of a
plurality of programming languages may be used to compile a program
code used to perform the operations in this embodiment of the
present application. The programming languages include
object-oriented programming languages such as Java and C++, and
further include conventional procedural programming languages such
as "C" language or similar programming languages. The program code
may be completely executed on a user computing device, partially
executed on user equipment, executed as an independent software
package, partially executed on the user computing device and
partially executed on a remote computing device, or completely
executed on a remote computing device or server.
[0288] In addition, an embodiment of the present application may
further be a computer readable storage medium, storing computer
program instructions, where when being executed by a processor, the
computer program instructions enable the processor to perform the
steps in the dividing method for a working region of a self-moving
device according to various embodiments of the present invention
described in the foregoing "exemplary method" portion of this
specification.
[0289] The computer readable storage medium may use one or any
combination of a plurality of readable media. The readable medium
may be a readable signal medium or a readable storage medium. The
readable storage medium may include, but is not limited to, an
electrical, magnetic, optical, electromagnetic, infrared or
semiconductor system, apparatus or device or any combination of the
foregoing. A more specific example (a nonexhaustive list) of the
readable storage medium includes the following: an electrical
connection with one or more leads, a portable disk, a hard disk, a
RAM, a ROM, an erasable programmable ROM (EPROM or a flash memory),
an optical fiber, a portable compact disc ROM (CD-ROM), an optical
storage device, a magnetic storage device, or any suitable
combination of the foregoing.
[0290] The basic principle of the present application has been
described above with reference to specific embodiments. However, it
should be noted that the advantages, benefits, effects and the like
mentioned in the present application are only exemplary but are not
limitative. It cannot be considered that every embodiment of the
present application may have these advantages, benefits, effects
and the like. In addition, the specific details disclosed above are
only used as examples for ease of understanding but are not
limitative. The foregoing details do not limit that the present
application may be implemented by using the foregoing specific
details.
[0291] The block diagrams of the devices, apparatuses, equipment,
and systems used in the present application are only exemplary but
are not intended to require or imply identical connections,
arrangements, and configurations in the manners shown in the block
diagrams. For example, a person skilled in the art will conceive of
that these devices, apparatuses, equipment, and systems may be
connected, arranged or configured in any manner. The words such as
"include", "comprise", and "have" are non-exclusive words and mean
"include, but is not limited to", and these words may be used
interchangeably. The words "or" and "and" used herein mean the word
"and/or", and these words may be used interchangeably, unless
explicitly indicated otherwise in the context. The words "for
example" used herein means the words "for example, but is not
limited to", and these words may be used interchangeably.
[0292] It should be further noted that in the apparatuses, devices
and methods of the present application, the parts or the steps may
be divided and/or recombined. These divisions and/or recombinations
should be considered as equivalent solutions of the present
application.
[0293] The foregoing description of the disclosed aspects enables a
person skilled in the art to implement or use the present
application. It is apparent to a person skilled in the art to make
various changes to these aspects. The general principle defined
herein is applicable to other aspects without departing from the
scope of the present application. Therefore, the present
application is not limited to the aspects shown herein, and instead
is to meet the widest range consistent with the principles and
novel features disclosed herein.
[0294] The foregoing description has been presented for
illustration and description purposes. In addition, the description
is not intended to limit the embodiments of the present application
to the form disclosed herein. Although a plurality of example
aspects and embodiments have been discussed in the foregoing, a
person skilled in the art will conceive of some variations,
modifications, changes, additions, and sub-combinations of the
example aspects and embodiments.
[0295] Embodiment of the present invention provides a moving method
of a self-moving device. A self-moving device moves and works
within a defined working region. In this embodiment, the
self-moving device 1 is an autonomous lawn mower. In another
embodiment, the self-moving device may be an autonomous leaf
blower, an autonomous water sprinkler, a multifunctional machine,
an autonomous vacuum cleaner or the like. Referring to FIG. 18 and
FIG. 19, in the present embodiment, the moving method of a
self-moving device includes the following steps: step S100:
presetting a movement path of the self-moving device 1; step S200:
enabling the self-moving device 1 to move along the walking path;
and step S300: checking whether a moving direction of the
self-moving device 1 deviates from the preset movement path, and
when the moving direction of the self-moving device 1 deviates from
the preset movement path, calibrating the moving direction of the
self-moving device 1, to enable the self-moving device 1 to move
along the preset movement path. Specifically, as shown in FIG. 19,
in this embodiment, in step S100, the preset movement path includes
several first path segments S1, the first path segment S1 is
divided into several sub-path segments Ln (n is a positive
integer), and an end point of the sub-path segment Ln is referred
to as a node P1n (n is a positive integer). In step S300, the
calibrating the moving direction of the self-moving device 1
includes: using the node P1n as a target point, and calibrating the
moving direction of the self-moving device 1. Further, the
self-moving device 1 arrives at the node, and a next node in the
moving direction is used as the target point to determine the
moving direction of the self-moving device 1. For example, when the
self-moving device 1 arrives at a node P12, a next node P13 in the
moving direction is used as the target point to determine the
moving direction of the self-moving device 1. Specifically, when
moving from the previous P12 to the next node P13, the self-moving
device 1 may walk along a straight line. Specifically, in an
embodiment, in step S100, several nodes may be preset to divide the
first path segment into the several sub-path segments Ln. In
another embodiment, in step S100, the node may be set and/or
updated as the self-moving device moves along the preset movement
path, to divide the first path segments into the several sub-path
segments Ln.
[0296] In the present embodiment, the walking path including the
several first path segments S1 of the self-moving device is preset,
the first path segment S1 is divided into several sub-path segments
Ln, an end point of each sub-path segment is used as the node P1n,
and each node P1n is used as the target point to calibrate the
moving direction of the self-moving device, so as to calibrate the
moving direction of the self-moving device at each sub-path segment
Ln, so that a smallest unit for calibrating the moving direction of
the self-moving device is reduced, thereby effectively improving
working precision of the self-moving device. For example, if the
self-moving device walks continuously along a straight line by 20
meters, the self-moving device deviates by 34 cm, and the direction
of the self-moving device deviates by only one 1 degree. Generally,
the angle needs to be adjusted as soon as the self-moving device
deviates by 10 cm. Therefore, it is necessary to divide a straight
line segment into several segments. For example, each segment is 1
m long, and the self-moving device calculates a deviation angle
every time the self-moving device moves by 1 m. In this way, the
self-moving device may respond to a deviation of a position in
time, thereby improving working precision of the self-moving
device.
[0297] In the present embodiment, an extending direction of the
first path segment may be a straight line direction shown in FIG.
19 and FIG. 20a. The straight line direction includes a vertical
straight line direction shown in FIG. 19 or an inclined straight
line direction shown in FIG. 20a. Alternatively, the extending
direction may be a non-straight line direction shown in FIG. 20b.
The non-straight line direction includes a polygonal line segment
direction, an arc direction, an irregular direction or the like.
However, general directions of the first path segments are
consistent. For example, as shown in FIG. 19, FIG. 20a, and FIG.
20b, the self-moving device 1 keeps moving in an upward direction.
That is, general moving directions of the self-moving device 1
along the first path segments are consistent. Specifically, in an
embodiment, as shown in FIG. 19 and FIG. 20a, the first path
segment S1 may include a straight line segment. In another
embodiment, as shown in FIG. 20b, the first path segment S1 may
include a polygonal line segments, and the node P1n includes a
turning point of the polygonal line segment.
[0298] Specifically, the following two manners are used to check
whether the moving direction of the self-moving device 1 deviates
from the preset movement path. First manner: In step S300, the
checking whether a moving direction of the self-moving device
deviates from the preset movement path includes: providing an angle
sensor, for example, a gyroscope, where the angle sensor outputs an
angle parameter of a movement of the self-moving device, and
determines, according to the angle parameter, whether a current
moving direction of the self-moving device is consistent with a
preset moving direction, so as to determine whether the moving
direction of the self-moving device deviates from the preset
movement path. Second manner: As shown in FIG. 20c, in step S300,
the checking whether the moving direction of the self-moving device
1 deviates from the preset movement path includes: providing a
positioning device, outputting a current position Y of the
self-moving device 1, calculating a deviation angle .alpha. of the
self-moving device according to a direction X2 from the current
position Y of the self-moving device to a target position P12 and a
direction X1 of the preset movement path P, and determining,
according to whether the deviation angle .alpha. is greater than a
preset threshold, whether the moving direction of the self-moving
device 1 deviates from the preset movement path. Specifically, when
the second manner is used to check the moving direction of the
self-moving device 1, the deviation angle of the self-moving device
may be calculated at an interval of a preset time, and it may be
determined, according to whether the deviation angle is greater
than the preset threshold, whether the moving direction of the
self-moving device deviates from the preset movement path.
[0299] Specifically, if the self-moving device 1 has a small
deviation, the first manner is preferably used to check whether the
moving direction of the self-moving device 1 deviates from the
preset movement path, and the direction of the self-moving device 1
is calibrated. When the self-moving device 1 has a large deviation,
the second manner is preferably used to check whether the moving
direction of the self-moving device 1 deviates from the preset
movement path, so as to enable the self-moving device 1 to deflect
in a direction towards the preset path.
[0300] In a specific embodiment, as shown in FIG. 19, in step S100,
the preset movement path further includes a second path segment S2,
the second path segment S2 connects a movement path of the
self-moving device 1 before steering and a movement path of the
self-moving device 1 after steering, and the self-moving device 1
steers along the second path segment S2. In this embodiment, the
second path segments S2 connect two adjacent first path segments S1
extend in opposite directions, to enable the self-moving device 1
to steer along the second path segment S2. The second path segment
S2 is located near an edge position of a working region of the
self-moving device 1. To be specific, the self-moving device 1
moves along the second path segment S2 at the edge position of the
working region. FIG. 21a and FIG. 21b are enlarged views of the
second path segment S2. Several nodes P2n are set in the second
path segment S2. The self-moving device 1 sequentially uses the
several nodes P2n on the second path segments S2 as the target
point to move along the second path segment S2. Specifically, in an
embodiment, as shown in FIG. 21a, the second path segment S2
includes an arc segment. To be specific, when approaching the edge
position of the working region, the self-moving device 1 moves
along the arc-shaped second path segment S2. Referring to FIG. 21c,
a conventional autonomous lawn mower usually makes a U turn. As a
result, during working, the lawn mower may fail to completely cover
a region 41 near an edge 4. In the embodiments of the present
invention, an autonomous lawn mower makes an arc turn when
approaching an edge of the working region and moves along the
arc-shaped second path segment S2. A right angle is adjusted to be
a plurality of coverage points P2n, so that a coverage ratio for an
edge of the working region can be improved, thereby improving a
working effect.
[0301] In another embodiment, as shown in FIG. 21b, the second path
segment S2 includes an irregular path segment. A region between the
movement path before steering and the movement path after steering
is referred to as a middle region N. The irregular path segment
includes a middle segment S2n located inside the middle region N
and an extended segment S2m located outside the middle region N.
Specifically, in this embodiment, the second path segment S2
includes a starting point P21 and an end point P2x. The extended
segment S2m is a path segment beyond a region between the starting
point P21 and the end point P2x of the second path segment. The
second path segment S2 is located near the edge position of the
working region of the self-moving device 1. To be specific, the
self-moving device 1 moves along the second path segment S2 at the
edge position of the working region. When moving along the extended
segment S2m of the second path segment S2, the self-moving device 1
at least partially covers an edge region that is not covered when
the self-moving device 1 moves along an adjacent second path
segment. For example, as shown in FIG. 19, when moving along the
extended segment S2m of the second path segment S2, the self-moving
device 1 at least partially covers an edge region M that is not
covered when the self-moving device 1 moves along an adjacent
second path segment S2', so that as the self-moving device 1 moves
along a next second path segment S2, an uncut region from a
previous second path segment S2' is filled, thereby leaving as few
as possible uncut regions in an entire cutting process and
improving a coverage ratio for an edge of the working region.
[0302] In an optimal embodiment, as shown in FIG. 19, the preset
movement path includes parallel reciprocating paths, the first path
segment S1 is a parallel path, and the second path segment S2
connects parallel paths among the parallel reciprocating paths.
Certainly, in other embodiments, the preset movement path is not
limited to parallel reciprocating paths, and further includes
non-parallel reciprocating paths. For example, the first path
segment S1 shown in FIG. 20b is a non-straight line path, several
first path segments S1 constitute several irregular reciprocating
paths, and the second path segments S2 connect the irregular
reciprocating paths. Certainly, when the first path segment S1 is a
straight line path, the several first path segments S1 may
constitute several non-parallel reciprocating paths, and the second
path segments S2 connect the non-parallel reciprocating paths.
[0303] Embodiments of the present invention further provides a
storage medium, storing computer instructions, where when the
computer instructions are invoked, the foregoing moving method of a
self-moving device 1 is performed.
[0304] Embodiments of the present invention further provides a
server, including a memory and a processor, where the memory stores
computer readable instructions, and the processor invokes the
computer readable instructions and performs the foregoing moving
method of a self-moving device 1.
[0305] Embodiments of the present invention further provide a
self-moving device 1. The self-moving device 1 moves and works
within a defined working region. As shown in FIG. 22, the
self-moving device 1 includes a preset module 20 and a control
module 30. As shown in FIG. 22, and referring to FIG. 18 and FIG.
19, the preset module 20 is configured to preset a preset movement
path of the self-moving device 1, the preset movement path
including several first path segments S1, the first path segment S1
being divided into several sub-path segments Ln, and an end point
of the sub-path segment Ln being referred to as a node P1n.
Specifically, the preset module 20 is further configured to preset
the node, to divide the first path segments S1 into the several
sub-path segments Ln. The control module 30 is configured to:
enable the self-moving device 1 to move along the preset movement
path, check whether a moving direction of the self-moving device 1
deviates from the preset movement path, and when the moving
direction of the self-moving device 1 deviates from the preset
movement path, use the node P1n as a target point to calibrate the
moving direction of the self-moving device, to enable the
self-moving device 1 to move along the preset movement path.
[0306] As shown in FIG. 23, in a specific embodiment, the control
module 30 includes an angle sensor, for example, a gyroscope. The
angle sensor outputs an angle parameter of a movement of the
self-moving device. The control module 30 determines, according to
the angle parameter, whether a current moving direction of the
self-moving device 1 is consistent with a preset moving direction,
so as to determine whether the moving direction of the self-moving
device 1 deviates from the preset movement path. The control module
30 further includes a calculation unit 38 and a determining unit
36. The calculation unit 38 is configured to calculate a deviation
angle of the self-moving device 1 according to a direction from a
current position of the self-moving device 1 to a target position
and a direction of the preset movement path. The determining unit
36 is configured to determine, according to whether the deviation
angle is greater than the preset threshold, whether the moving
direction of the self-moving device 1 deviates from the preset
movement path. Specifically, the calculation unit 38 is configured
to calculate the deviation angle of the self-moving device 1 at an
interval of a preset time, and the determining unit 36 is
configured to determine, according to whether the deviation angle
is greater than the preset threshold, whether the moving direction
of the self-moving device 1 deviates from the preset movement path.
The control module 30 further includes an update unit 34. The
update unit 34 is configured to set and/or update the node as the
self-moving device 1 moves along the preset movement path. When the
self-moving device 1 arrives at the node P1n, the control module 30
further uses a next node in the moving direction as the target
point to determine the moving direction of the self-moving device
1.
[0307] The following clearly and completely describes the technical
solutions in the embodiments of the present invention with
reference to the accompanying drawings in the embodiments of the
present invention. Apparently, the described embodiments are merely
some of the embodiments of the present invention rather than all of
the embodiments. All other embodiments obtained by a person of
ordinary skill in the art based on the embodiments of the present
invention without creative efforts shall fall within the protection
scope of the present invention.
[0308] An autonomous working system such as an autonomous lawn
mower system can autonomously complete a lawn maintenance task or
the like, and becomes increasingly popular among consumers. In the
autonomous working system, a self-moving device such as an
autonomous lawn mower is restricted to move inside a working
region. When the autonomous lawn mower leaves the working region, a
safety problem may occur. In addition, an obstacle may exist in the
working region. The obstacle includes a pit, a flowering shrub, and
the like. The autonomous lawn mower should avoid the obstacle in
the working region during working to prevent accidents such as
falling or trapping. To ensure the safety of the autonomous working
system and improve the working efficiency of the autonomous lawn
mower, the autonomous lawn mower needs to recognize the working
region. The recognizing the working region includes recognizing a
boundary of the working region and the obstacle in the working
region.
[0309] In a method used by a conventional autonomous lawn mower to
recognize a working region, a boundary line is arranged along a
boundary of the working region, and a boundary line may be arranged
along a periphery of an obstacle. A boundary line transmits an
electrical signal to generate an electromagnetic field. A sensor on
the autonomous lawn mower detects an electromagnetic field signal
to determine whether the autonomous lawn mower is located inside or
outside a region defined by a boundary line.
[0310] Such a method requires complex arrangement of a boundary
line and adversely affects the look of a lawn.
[0311] To enable an autonomous lawn mower to recognize a working
region without arranging a boundary line, a method for creating a
map of a working region may be used. In the method for creating a
map of a working region, position coordinates of a boundary, an
obstacle, and the like of a working region are recorded, a
coordinate system is established, and a map of the working region
is generated. When an autonomous working system works, a position
of the autonomous lawn mower on the map is observed to determine
whether the autonomous lawn mower is inside a safe working
region.
[0312] An autonomous working system using this method needs to have
a navigation function to enable an autonomous lawn mower to
accurately acquire the position of the autonomous lawn mower during
working. One method for implementing high precision navigation is
to use a DGPS module to implement navigation. The DGPS module
includes a base station and a mobile station. Therefore, another
technical problem in using this method is how to enable the base
station and the mobile station to reliably and efficiently provide
navigation data to the autonomous working system.
[0313] Some regions with weak satellite navigation signals may
exist in a working region. When a lawn mower moves in these
regions, navigation precision may be affected, and a navigation
effect of the lawn mower is affected accordingly.
[0314] To prevent navigation precision of the lawn mower from
decreasing during working in a shaded region, for example, an
inertial navigation system may be used to help with the navigation
precision of the machine. However, as time elapses, errors in
inertial navigation accumulate. To eliminate an accumulated error
of the inertial navigation system and improve positioning precision
of the self-moving device, the accumulated error in inertial
navigation may be corrected by using positioning coordinates from a
satellite navigation system after the inertial navigation system
has worked for a period of time, thereby ensuring navigation
precision of the self-moving device in the shaded region.
[0315] In addition, duration during which the machine remains in
the shaded region to work may further be shortened to reduce a
navigation error. In one aspect, if the machine works for a short
time in the shaded region, duration during which satellite
navigation signals are weak is shortened, so that duration during
which the machine can be accurately located is extended. In another
aspect, because the machine works for a short time in the shaded
region, the accumulated error in inertial navigation is further
reduced. In addition, satellite navigation may further frequently
correct the errors in inertial navigation. Therefore, working
precision of the machine in the working region can be greatly
improved.
[0316] Specifically, embodiments of the present invention provide a
working method of a self-moving device. Referring to FIG. 24, the
method includes: S10. obtaining a shaded region in a working
region; S20. recognizing information about features of the shaded
region; S30. determining, according to the features of the shaded
region, a direction in which a self-moving device enters the shaded
region; and S40. enabling the self-moving device to enter the
shaded region in the direction. In the working method provided in
the present embodiment, an entry direction into the shaded region
is selected according to the features of the shaded region, so that
duration during which a machine remains in the shaded region can be
reduced, thereby improving navigation positioning precision of the
machine; or, to ensure positioning precision, the machine goes
deeper into the shaded region and covers more shaded regions when
duration during which the machine remains in the shaded region is
limited.
[0317] In an embodiment, the recognizing information about features
of the shaded region includes: recognizing a geometric feature of
the shaded region, so that a longitudinal axis may be defined after
the geometric shape of the shaded region is obtained.
[0318] In some embodiments, the shaded region has an approximately
regular shape, for example, an approximately rectangular shape. In
this case, the longitudinal axis is parallel to a long side
direction of the rectangle. Alternatively, the shaded region has an
approximately elliptical shape. In this case, the longitudinal axis
is a major axis of an ellipse. In some embodiments, the shaded
region has an irregular shape. In this case, a mathematical method
known in the industry may be used to approximate the irregular
shape into a regular shape for processing. Alternatively, another
method may be used to determine the longitudinal axis of the shaded
region. Subsequent steps are then performed based on the determined
longitudinal axis.
[0319] In this embodiment, the entry direction may be a direction
approximately perpendicular to the longitudinal axis of the shaded
region.
[0320] Alternatively, it is defined that the shaded region includes
a first edge located on a side of the longitudinal axis of the
shaded region, and the entry direction is an approximately normal
direction of the first edge.
[0321] Alternatively, it is defined that the shaded region includes
a first edge and a second edge that are respectively located on two
sides of the longitudinal axis of the shaded region, and the entry
direction is a direction in which a distance between the first edge
and the second edge is the shortest.
[0322] Alternatively, it is defined that the shaded region includes
a first edge near an obstacle and a second edge far away from the
obstacle, and the entry direction includes an approximately normal
direction in the first edge or the second edge, or the entry
direction is a direction in which a distance between the first edge
and the second edge is the shortest.
[0323] The self-moving device travels in the direction
approximately perpendicular to the longitudinal axis of the shaded
region, or an approximately normal direction in the first edge or
the second edge, or a direction in which a distance between the
first edge and the second edge is the shortest. Therefore, it may
be understood that a travel distance in the shaded region in the
direction is shorter than those in other directions, so that an
accumulated error is relatively small, and positioning is more
accurate.
[0324] The approximately perpendicular/approximately normal
direction should be construed relatively flexibly. In an
embodiment, the direction is between the vertical direction/normal
direction minus 30.degree. and the vertical direction/normal
direction plus 30.degree.. In another optional embodiment, the
direction is between the vertical direction/normal direction minus
20.degree. and the vertical direction/normal direction plus
20.degree., the vertical direction/normal direction minus
15.degree. and the vertical direction/normal direction plus
15.degree., the vertical direction/normal direction minus
10.degree. and the vertical direction/normal direction plus
10.degree., the vertical direction/normal direction minus 5.degree.
and the vertical direction/normal direction plus 5.degree. or the
vertical direction/normal direction minus 3.degree. and the
vertical direction/normal direction plus 3.degree..
[0325] Referring to FIG. 25a, the longitudinal axis is the
hypotenuse 64 of a triangular shaded region 60. The lawn mower 1
may enter, in a direction approximately perpendicular to the
hypotenuse 64, the shaded region 60 formed by an obstacle 50 to cut
grass, and steer when meeting an edge of the shaded region 60, so
that the lawn mower 1 exits the shaded region 60 in a direction
opposite to the entry direction. The approximately perpendicular
direction includes a direction that deviates from a direction
perpendicular to the hypotenuse 64 by an angle to the left or
right.
[0326] During a grass cutting operation of the lawn mower 1, the
lawn mower 1 may enter, in the foregoing direction (the direction
shown by an arrow in the figure), the shaded region 60 formed by
the obstacle 50 to cut grass, and may exit the shaded region 60 in
a direction shown by the arrow after cutting grass. After repeated
entries and exits, a grass cutting task in the shaded region 60 may
be completed. The foregoing principle of selecting a direction may
enable the lawn mower 1 to remain in the shaded region 60 for a
time as short as possible, thereby preventing weak satellite
navigation signals from affecting positioning precision of the lawn
mower 1. It should be noted that the lawn mower 1 may enter the
shaded region 60 in a same direction or different directions. For
example, the direction in which the lawn mower enters the shaded
region 60 may be determined according to the geometric features of
the shaded region 60. However, during grass cutting work,
preferably, the lawn mower 1 may keep entering the same shaded
region 60 in a same direction to prevent a user from having an
impression that the lawn mower 1 works in disorderly fashion,
thereby improving user experience.
[0327] Referring to FIG. 25c, according to a longitudinal axis X of
the shaded region 60, an edge of the shaded region 60 may be
divided into a first edge 62 and a second edge 64 that are
respectively located on two sides of the longitudinal axis. In this
case, the shaded region 60 is formed by the first edge 62 and the
second edge 64. The lawn mower 1 may enter the shaded region 60 in
a direction approximately perpendicular to the longitudinal axis X
or in an approximately normal direction of the first edge 62 or the
second edge 64. It may be understood that the direction is also a
direction in which a distance between the first edge and the second
edge is the shortest.
[0328] Referring to FIG. 25d, the lawn mower 1 may enter the shaded
region 60 in a direction in which a distance between the first edge
62 and the second edge 64 is the shortest. The lawn mower 1 may
select any direction to enter the shaded region 60. Compared with
other directions, a path from the second edge 64 to the first edge
62 is the shortest in a direction indicated by a solid line arrow.
Herein, the shortest distance is not limited to an absolute
shortest distance, but instead is an optimal path from the second
edge 64 to the first edge 62. It may be understood that the
shortest distance may also be understood as a smallest average
value of movement distances of the lawn mower 1 from the first edge
62 to the second edge 64 and movement distances of the lawn mower 1
from the second edge 64 to the first edge 62 when the lawn mower 1
uses paths parallel to the entry direction to complete cutting in
the shaded region 60.
[0329] It should be noted that the shaded region in this embodiment
is determined according to the strength of a DGPS signal received
by the self-moving device/mobile station. Specifically, a quality
threshold of a received DGPS signal may be preset. When a quality
parameter of a DGPS signal received by the self-moving device does
not satisfy a preset DGPS signal quality threshold, it is
considered that the region is the shaded region.
[0330] The DGPS technology may be a real-time kinematic (RTK)
technology, that is, a carrier-phase differential technology. For
example, the mobile station may perform computation by using a
carrier-phase algorithm. The DGPS technology may be alternatively a
continuously operating satellite reference station (CORS)
technology.
[0331] Continue to refer to FIG. 25a and FIG. 25b. Generally, the
shaded region 60 in the working region is caused by the presence of
a building or another obstacle, and consequently regions with
weakened signals are formed on one or more sides of the building or
obstacle. For example, the shape of the shaded region 60 may be a
shape extending outward from a lower edge of the building or
obstacle. In this case, the first edge 62 may be an intersecting
line between the building or obstacle and the working region, and
the second edge 64 may be formed by connecting points that are
located near the building or the obstacle and from which the
quality parameter of the DGPS signal starts to satisfy a preset
threshold (the principle of the preset threshold is, for example,
whether the strength of a satellite navigation signal can support
precise navigation). The first edge 62 and the second edge 64 may
form a closed shape. For example, the first edge and the second
edge may form a semicircular closed structure shown in FIG. 25b.
During working of the machine, to enable the machine to remain in
the shaded region for a shortest time, for example, the machine may
enter the shaded region in an approximately normal direction of the
first edge 62 or the second edge 64 or in a direction (the
directions shown by the arrows in FIG. 25a and FIG. 25b) in which
the distance between the first edge 62 and the second edge 64 is
the shortest.
[0332] The walking path of the self-moving device may be set by a
program. The program may simulate various walking manners of the
self-moving device, and determine the length of a path through the
shaded region in a walking manner, so as to select a walking manner
in which the self-moving device has a shortest walking path in the
shaded region. Preferably, walking directions of the self-moving
device in a region may be consistent and continuous. To be
specific, a direction is not adjusted according to minor changes in
a shape of a boundary, so as to prevent the user from having an
impression that the self-moving device is "unintelligent".
[0333] In an embodiment of the present invention, the method may
further include: presetting a quality threshold of a DGPS signal in
the self-moving device; and the detecting a shaded region in a
working region includes: the self-moving device determines,
according to that an obtained DGPS signal does not satisfy a
quality requirement, that the self-moving device is located in the
shaded region.
[0334] In an embodiment, the method may further include: presetting
a quality threshold of a DGPS signal in the self-moving device, and
the detecting a shaded region in a working region S10 further
includes: loading a map of the working region; and marking an
initial shaded region on the map, updating the initial shaded
region according to that a DGPS signal detected by the self-moving
device does not satisfy the quality threshold, and using the
updated shaded region as the shaded region. Specifically, the
shaded region may be determined by comparing the strength of the
detected DGPS signal with a preset quality threshold. For example,
the threshold may be determined according to the principle that
whether a satellite navigation signal can support precise
positioning. For example, when the machine can be precisely
located, even if a DGPS signal is somewhat weakened, it is still
not necessary to determine the region as a shaded region.
Generally, for example, a region with navigation signals weakened
by blockage of a building or an obstacle may be partially marked as
a shaded region, so as to prevent inappropriate division of a
shaded region from increasing the work load of the machine.
[0335] In an embodiment, the method further includes: presetting a
quality threshold of a DGPS signal in the self-moving device. The
enabling the self-moving device to enter the shaded region in the
foregoing direction includes: when the DGPS signal obtained by the
self-moving device does not satisfy the quality threshold,
enabling, by the self-moving device, an inertial navigation signal.
When the DGPS signal obtained by the self-moving device satisfies
the quality threshold, the satellite navigation signal is regained.
In this embodiment of the present invention, switching between an
inertial navigation signal and a satellite navigation signal is
implemented according to the strength of signals, so that accurate
positioning of the machine can be ensured.
[0336] In an embodiment, for example, the enabling the self-moving
device to enter the shaded region in the foregoing direction
includes: enabling both satellite navigation and inertial
navigation; and using a weighted value of a satellite navigation
result and an inertial navigation result as a navigation result. As
discussed above, an error in inertial navigation gradually
increases as time elapses, resulting in decreasing navigation
precision. In this embodiment of the present invention, inertial
navigation and satellite navigation are combined in a complementary
manner to locate a machine in the shaded region more precisely.
[0337] In this embodiment, a first weight for the satellite
navigation result and a second weight for the inertial navigation
result may further be dynamically adjusted according to a change in
the strength of a DGPS signal. The first weight is decreased and
the second weight is increased when the DGPS signal weakens. The
first weight is increased and the second weight is decreased when
the DGPS signal improves. To be specific, weights of the inertial
navigation signal and the satellite navigation signal may be
determined according to the strength of the DGPS signal. In extreme
cases, that is, when the satellite navigation signal is very
strong, the weight of the inertial navigation signal may be zero.
In other words, the satellite navigation signal alone is used as a
basis for navigation positioning. Similarly, when the satellite
navigation signal is very weak, the weight of the satellite
navigation signal may be zero. In other words, the inertial
navigation signal alone is used as a basis for navigation
positioning. A person skilled in the art may know that the weight
of the satellite navigation signal and the weight of the inertial
navigation signal may be separately functions of signal strength.
Further, the first weight and the second weight may be functions of
a distance by which the self-moving device enters the shaded
region.
[0338] After the self-moving device exits the shaded region in an
exit direction opposite the entry direction, the method may further
include: correcting an inertial navigation signal by using a DGPS
signal. Specifically, each time after the machine exits the shaded
region, the inertial navigation signal may be corrected by using
the satellite navigation signal, so as to ensure navigation
precision of inertial navigation after the machine enters the
shaded region.
[0339] In another embodiment, another positioning device may be
used in place of the foregoing satellite positioning device, is
referred to as a first positioning device, and outputs a first
positioning signal. The first positioning device may be
alternatively a UWB positioning device, an ultrasonic beacon
positioning device or the like.
[0340] In another embodiment, another positioning device may be
used in place of the foregoing inertial navigation device, is
referred to as a second positioning device, and outputs a second
positioning signal. The second positioning device may be
alternatively an image acquisition device, a capacitive lawn
detection device or the like.
[0341] Another aspect of the present embodiment provides a
self-moving device. Referring to FIG. 26a, the machine 10 includes
a detection module 110 and a control module 120. The detection
module 110 is configured to obtain a shaded region in a working
region. The control module 120 is configured to: recognize
information about a features of the shaded region, where the
features include a geometric feature of the shaded region;
determine, according to the geometric feature of the shaded
regions, a direction in which the self-moving device enters the
shaded region; and enable the self-moving device to enter the
shaded region in an entry direction. For the machine provided in
the present embodiment, the shaded region is marked in a working
region, and a direction in which a machine enters the shaded region
is selected according to the features of the shaded region, so that
duration during which the machine remains in the shaded region can
be reduced, thereby improving positioning precision.
[0342] In this embodiment, the entry direction may be a direction
approximately perpendicular to a longitudinal axis of the shaded
region.
[0343] Alternatively, it is defined that the shaded region includes
a first edge located on a side of the longitudinal axis of the
shaded region, and the entry direction is an approximately normal
direction of the first edge.
[0344] Alternatively, it is defined that the shaded region includes
a first edge and a second edge that are respectively located on two
sides of the longitudinal axis of the shaded region, and the entry
direction is a direction in which a distance between the first edge
and the second edge is the shortest.
[0345] Alternatively, it is defined that the shaded region includes
a first edge near an obstacle and a second edge far away from the
obstacle, and the entry direction includes an approximately normal
direction in the first edge or the second edge, or the entry
direction is a direction in which a distance between the first edge
and the second edge is the shortest.
[0346] The self-moving device travels in the direction
approximately perpendicular to the longitudinal axis of the shaded
region, or an approximately normal direction in the first edge or
the second edge, or a direction in which a distance between the
first edge and the second edge is the shortest. Therefore, it may
be understood that a travel distance in the shaded region in the
direction is shorter than those in other directions, so that an
accumulated error is relatively small, and positioning is more
accurate.
[0347] The approximately perpendicular/approximately normal
direction should be construed relatively flexibly. In an
embodiment, the direction is between the vertical direction/normal
direction minus 30.degree. and the vertical direction/normal
direction plus 30.degree.. In another optional embodiment, the
direction is between the vertical direction/normal direction minus
20.degree. and the vertical direction/normal direction plus
20.degree., the vertical direction/normal direction minus
15.degree. and the vertical direction/normal direction plus
15.degree., the vertical direction/normal direction minus
10.degree. and the vertical direction/normal direction plus
10.degree., the vertical direction/normal direction minus 5.degree.
and the vertical direction/normal direction plus 5.degree. or the
vertical direction/normal direction minus 3.degree. and the
vertical direction/normal direction plus 3.degree..
[0348] Referring to FIG. 26b, in an embodiment, the control module
120 includes a recognition unit 121 and an enable unit 122. The
recognition unit 121 is configured to recognize a geometric shape
of the shaded region. The enable unit 122 is configured to enable
the self-moving device to enter the shaded region in the direction
approximately perpendicular to the longitudinal axis of the shaded
region or an approximately normal direction in the first edge or
the second edge or a direction in which a distance between the
first edge and the second edge of the shaded region is the
shortest.
[0349] The detection module may obtain the shaded region. For
example, the strength of a satellite navigation signal is detected
to determine the shaded region. Specifically, a quality threshold
for a received DGPS signal may be set in the control module, and
the machine is enabled to walk near, for example, a building (or a
DGPS mobile station is manually detached and carried to move near
positions at which signal strength is close to the quality
threshold, points at which the signal strength does not satisfy the
quality threshold are recorded, and these points are subsequently
connected to obtain a shape of the shaded region). Therefore,
points at which a quality parameter of the DGPS signal is less than
or equal to a preset DGPS signal quality threshold are marked on
the map, and after sufficient feature signal points are chosen,
these points in a boundary may be connected to obtain the shaded
region.
[0350] Alternatively, when moving in the working region, a robot
determines, according to strength of a satellite positioning signal
received by the robot, whether the robot is currently in the shaded
region, so as to make marks on a map of the working region to
update the shaded region.
[0351] In this embodiment, for example, the control module 120 may
control, by combining a current position and attitude information
of the machine and shape and position information of the shaded
region, the machine to adjust an attitude when the machine arrives
at an outer edge of the shaded region, to enable the machine to
enter the shaded region in a specific direction. Alternatively, a
general walking direction of the machine in the region is adjusted
according to the shape of the shaded region in the region, to make
the walking of the machine continuous.
[0352] Referring to FIG. 25a, for example