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CN-119148693-B - Control method of self-mobile device, self-mobile device and storage medium

CN119148693BCN 119148693 BCN119148693 BCN 119148693BCN-119148693-B

Abstract

The application discloses a control method of a self-mobile device, which comprises the steps of obtaining a grid map of a target area, wherein the grid map comprises a plurality of grids, the grids are arranged according to the size of the grids, obtaining a planned path of the self-mobile device in the grid map, the interval distance of adjacent planned paths is a first integral multiple of the size of the grids, controlling the self-mobile device to work according to the planned path, marking the grids covered by the effective working width of the self-mobile device in the working process as the working areas on the grid map, and the effective working width is a second integral multiple of the size of the grids. Therefore, by controlling the effective working width of the self-moving equipment and the interval distance between adjacent planning paths to be integer times of the grid size in the grid map, the corresponding operated areas of the self-moving equipment in the working process along the planning paths each time are ensured to only contain complete grids, the grids corresponding to the operated areas are conveniently and accurately marked, and the working efficiency is improved.

Inventors

  • YANG XIAOQI

Assignees

  • 苏州宝时得电动工具有限公司

Dates

Publication Date
20260508
Application Date
20230612

Claims (11)

  1. 1. A method of controlling a self-mobile device, the method comprising: acquiring a grid map of a target area, wherein the grid map comprises a plurality of grids, and the grids are arranged according to the size of the grids; Acquiring a planned path of the self-mobile device in the grid map, wherein the interval distance between adjacent planned paths is a first integer multiple of the grid size; Controlling the self-mobile equipment to work according to the planned path, and marking a grid covered by the effective working width of the self-mobile equipment in the working process as a working area on the grid map, wherein the effective working width is a second integer multiple of the size of the grid; The target area comprises a shadow area, and the shadow area is an area in which satellite positioning signals do not meet the quality requirement; In the shadow region, the first integer multiple is smaller than the second integer multiple, wherein the integers in the first integer multiple and the second integer multiple are both greater than or equal to 2; The interval distance is equal to the difference value between the effective working width and the width of the overlapping area; And the width of the overlapping area is used for representing the width of the grid which is repeatedly covered by the effective working width and is perpendicular to the movement advancing direction of the self-moving equipment in the process of respectively working along the adjacent planning paths.
  2. 2. The method of claim 1, wherein the step of determining the position of the substrate comprises, The target area comprises an open area, and the open area is an area where satellite positioning signals meet preset quality requirements; in the open area, the first integer multiple is equal to the second integer multiple.
  3. 3. The method of claim 1, wherein the step of determining the position of the substrate comprises, The target area comprises a gradient area, and the gradient area is an area with a gradient angle value equal to or larger than a preset gradient angle value; In the gradient region, the first integer multiple is less than the second integer multiple; The interval distance is equal to the difference value between the effective working width and the width of the overlapping area; And the width of the overlapping area is used for representing the width of the grid which is repeatedly covered by the effective working width and is perpendicular to the movement advancing direction of the self-moving equipment in the process of respectively working along the adjacent planning paths.
  4. 4. The method of claim 1, wherein the planned path coincides with a midline of the effective working width.
  5. 5. The method of claim 1, wherein the effective working width is a projected width of a working portion of the self-moving device perpendicular to a direction of motion advancement of the self-moving device.
  6. 6. The method of claim 5, wherein if the self-moving device includes a plurality of working portions, the effective working width is a sum of projection widths of the plurality of working portions perpendicular to a moving advancing direction of the self-moving device.
  7. 7. The method of claim 1, wherein the effective working width is a difference between a projected width of a working portion of the self-moving device in a direction perpendicular to a direction of movement of the self-moving device and a set working deviation that characterizes a width of an area within a coverage range of the working portion but not covered by the effective working width perpendicular to the direction of movement of the self-moving device.
  8. 8. The method of claim 1, wherein the grid dimensions comprise a grid length and/or a grid width.
  9. 9. The method of claim 8, wherein if the grid dimensions include a grid length and a grid width, the grid length is equal to the grid width.
  10. 10. A self-mobile device comprising a processor, a memory and a computer program stored on the memory and executable by the processor, the computer program implementing the method according to any one of claims 1 to 9 when executed by the processor.
  11. 11. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, which is loaded and executed by a processor to implement the method of any of claims 1 to 9.

Description

Control method of self-mobile device, self-mobile device and storage medium Technical Field The present invention relates to the field of intelligent control technologies, and in particular, to a control method of a self-mobile device, and a computer readable storage medium. Background The resolution of a conventional grid map, i.e. the grid size, is usually only set according to the accuracy requirements, i.e. if a higher accuracy is required, the resolution is set to be larger, whereas if a lower accuracy is required, the resolution is set to be smaller. During operation of the self-mobile device, the operated area needs to be marked in the grid map to be distinguished from the non-operated area, and the marking is performed in a single grid unit, that is, only the whole grid can be marked by one marking. If the working area contains incomplete grids, only the processed parts of the grids cannot be marked in the grid map, if the whole grids are marked, the unprocessed parts of the grids are omitted, and if the whole grids are not marked, the processed parts of the grids are repeatedly processed, so that the working efficiency is affected. Disclosure of Invention To overcome the problems in the related art, the present disclosure provides a control method of a self-mobile device, and a computer-readable storage medium To achieve the above object: In a first aspect, an embodiment of the present application provides a method for controlling a self-mobile device, where the method includes: acquiring a grid map of a target area, wherein the grid map comprises a plurality of grids, and the grids are arranged according to the size of the grids; Acquiring a planned path of the self-mobile device in the grid map, wherein the interval distance between adjacent planned paths is a first integer multiple of the grid size; And controlling the self-mobile equipment to work according to the planned path, and marking a grid covered by the effective working width of the self-mobile equipment in the working process as a working area on the grid map, wherein the effective working width is a second integer multiple of the size of the grid. In one possible implementation manner, the target area includes an open area, where the satellite positioning signal meets a preset quality requirement; in the open area, the first integer multiple is equal to the second integer multiple. In a possible implementation manner, the target area includes a shadow area and/or a gradient area, the shadow area is an area where the satellite positioning signal does not meet the quality requirement, and the gradient area is an area where the gradient angle value is equal to or greater than a preset gradient angle value; in the shadow region and/or gradient region, the first integer multiple is less than the second integer multiple; The interval distance is equal to the difference value between the effective working width and the width of the overlapping area; And the width of the overlapping area is used for representing the width of the grid which is repeatedly covered by the effective working width and is perpendicular to the movement advancing direction of the self-moving equipment in the process of respectively working along the adjacent planning paths. In one possible implementation, the planned path coincides with a midline of the effective working width. In one possible implementation, the effective working width is a projection width of the working portion of the self-moving device in a direction perpendicular to a movement proceeding direction of the self-moving device. In one possible implementation, if the self-moving device includes a plurality of working portions, the effective working width is a sum of projection widths of the plurality of working portions perpendicular to a movement advancing direction of the self-moving device. In one possible implementation, the effective working width is a difference between a width of the working portion of the self-moving device in a direction perpendicular to a movement advancing direction of the self-moving device and a set working deviation, and the working deviation is used for representing a width of an area range which is within a coverage range of the working portion but is not covered by the effective working width and perpendicular to the movement advancing direction of the self-moving device. In one possible implementation, the grid dimensions include a grid length and/or a grid width. In one possible implementation, if the grid size includes a grid length and a grid width, the grid length is equal to the grid width. In a second aspect, an embodiment of the present application provides a self-mobile device, including a processor and a memory storing a computer program, which when run by the processor, implements the steps of the method described above. In a third aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored the