CN114115265A

CN114115265A - Path processing method of self-moving equipment and self-moving equipment

Info

Publication number: CN114115265A
Application number: CN202111402836.0A
Authority: CN
Inventors: 不公告发明人
Original assignee: Weilan Continental Beijing Technology Co ltd
Current assignee: Weilan Continental Beijing Technology Co ltd
Priority date: 2021-11-23
Filing date: 2021-11-23
Publication date: 2022-03-01

Abstract

The embodiment of the invention provides a path processing method of self-moving equipment and the self-moving equipment. The path processing method of the self-mobile equipment comprises the following steps: receiving an erasing instruction for indicating to erase at least part of an existing walking path, wherein the position on the existing walking path when the erasing instruction is received from a mobile device is determined as a reference position, and the existing walking path is used for determining the boundary of a target object; responding to the erasing instruction, automatically moving the self-moving equipment along the existing walking path until a movement termination condition is met, wherein the position of the self-moving equipment on the existing walking path when the movement termination condition is met is used as a first correction position; and deleting at least part of the existing walking path between the reference position and the first correction position according to the erasing instruction. The method is more convenient for deleting the path.

Description

Path processing method of self-moving equipment and self-moving equipment

Technical Field

The invention relates to the technical field of intelligent equipment, in particular to a path processing method of self-moving equipment and the self-moving equipment.

Background

The existing self-moving gardening equipment (also called self-service gardening equipment or intelligent gardening equipment or automatic gardening equipment) such as an automatic lawn mower can automatically mow grass under the condition of unattended or controlled, so that the time occupation of a user is reduced, and the repeated labor of the user is also reduced.

In order to ensure that the self-moving device can work in the work area without walking out of the work area, which causes waste of work time or damage to the self-moving device, it is necessary for the self-moving device to be able to identify the boundary of the work area. One way to establish the boundary from the mobile device may be to bury a line at the edge of the work area, and the mobile device identifies the boundary of the work area by sensing the buried line.

Another way to establish a boundary from a mobile device may be to establish a virtual boundary (i.e. without a real buried line), such as by guiding the mobile device to move along the edge of the work area, recording positioning coordinate data of the moving path during the movement, and determining the boundary of the work area, the edge of an obstacle or a passage between different work areas, etc. from these positioning coordinate data.

In this way, if the user does not operate properly in the process of guiding the mobile device to move, the path traveled by the mobile device will not conform to the actually desired boundary, and in this case, if the user wants to correct the wrong path, the wrong path is often difficult to process due to improper operation or insufficient accuracy, and the modified path is difficult to fit, which requires a lot of time.

Disclosure of Invention

In view of the foregoing, embodiments of the present invention provide a method for processing a path of a self-moving device and a self-moving device, so as to solve at least the problem of difficulty in processing an incorrect path when a conventional self-moving device guides movement.

One or more embodiments of the present invention provide a path processing method from a mobile device, including: receiving an erasing instruction for indicating to erase at least part of an existing walking path, wherein the position on the existing walking path when the erasing instruction is received from a mobile device is determined as a reference position, and the existing walking path is used for determining the boundary of a target object; responding to the erasing instruction, automatically moving the self-moving equipment along the existing walking path until a movement termination condition is met, wherein the position of the self-moving equipment on the existing walking path when the movement termination condition is met is used as a first correction position; and deleting at least part of the existing walking path between the reference position and the first correction position according to the erasing instruction.

According to another aspect of the present invention, there is provided a self-moving apparatus including a controller for performing the aforementioned path processing method of the self-moving apparatus.

According to another aspect of the present invention, there is provided a path processing method from a mobile device, the method including: receiving a traveling instruction, and enabling the self-moving equipment to positively travel to a reference position according to the traveling instruction, wherein a path traveled by the self-moving equipment is a first path; and receiving an erasing instruction, and walking backwards from the reference position along the first path by the self-moving equipment according to the erasing instruction.

According to another aspect of the invention, a lawn mower is provided, the lawn mower is used for receiving a travel instruction, the lawn mower walks to a reference position in a forward direction according to the travel instruction, and the path traveled by the self-moving device is a first path; the mower is used for enabling the self-moving device to walk backwards along the first path from the reference position according to the erasing instruction when the traveling instruction is received.

According to another aspect of the present invention, there is provided a control method of a control apparatus, including: receiving traveling operation, determining a traveling instruction according to the traveling operation, and transmitting the traveling instruction to the self-moving equipment; displaying a first path, wherein the first path is a forward walking path of the self-moving equipment according to the traveling instruction; and receiving an erasing operation, and deleting the path of the backward walking path of the self-mobile equipment on the first path according to the erasing operation.

According to another aspect of the present invention, there is provided a control apparatus, comprising a display screen, the display screen including: the traveling instruction area is used for receiving traveling operation and transmitting a traveling instruction corresponding to the traveling operation to the self-moving equipment; a display path area for displaying a first path, wherein the first path is a forward walking path of the self-moving equipment according to the traveling instruction; an erase command area for receiving an erase operation; the display path area is further used for displaying that a path corresponding to the route of the self-mobile device walking backwards on the first path is deleted when the erasing instruction area receives the erasing operation.

According to another aspect of the present invention, there is provided a lawn mower system comprising: a control device and a mower; the control device is used for receiving a traveling operation and outputting a traveling instruction determined by the traveling operation to the mower; the mower is used for walking according to the traveling instruction, collecting position information and outputting the position information to the control device; the control device is used for displaying a first path traveled by the self-moving equipment; the control device is also used for receiving an erasing operation and outputting an erasing instruction determined by the erasing operation to the mower; the mower is used for walking backwards along the first path according to the erasing instruction; the control device is also used for displaying that the path corresponding to the backward walking path of the self-mobile equipment on the first path is deleted.

Through this embodiment, when having had walking route to erase, the user only need input simple instruction, just can make from mobile device automatic along having had walking route original road and return to first correction position, need not the manual work like this and carry from mobile device, has promoted the convenience. At least part of the existing walking path between the reference position and the first correction position is deleted after the self-moving equipment moves to the first correction position, so that the unnecessary existing walking path can be conveniently deleted, the existing walking path can be corrected, a user can conveniently modify the existing walking path, and the self-moving equipment automatically moves along the existing walking path, so that the moving reliability is guaranteed, and the deviation from the existing walking path is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1A is a flowchart illustrating steps of a method for processing a path from a mobile device according to an embodiment of the present application;

FIG. 1B is a schematic diagram of an existing walking path according to a first embodiment of the present application;

fig. 2A is a flowchart illustrating steps of a path processing method from a mobile device according to a second embodiment of the present application;

FIG. 2B is a schematic diagram of an existing walking path according to the second embodiment of the present application;

fig. 2C is a schematic view of backward walking according to the second embodiment of the present application;

fig. 2D is a schematic diagram of u-turn walking according to the second embodiment of the present application;

fig. 3 is a block diagram of a path processing apparatus of a self-moving device according to a third embodiment of the present invention;

fig. 4A is a flowchart illustrating a path processing method from a mobile device according to a fourth embodiment of the present invention;

FIG. 4B is a schematic view of forward walking in the fourth embodiment;

fig. 5 is a flowchart illustrating a control method of a control apparatus according to a fifth embodiment of the present invention;

fig. 6 is a schematic structural diagram of a control device according to a seventh embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

For convenience of explanation and understanding, before explaining a control method of the self-moving device, the structure and the working scene of the self-moving device are briefly explained as follows:

in this embodiment, the self-moving device may be a robotic lawnmower, but of course, in other embodiments, the self-moving device may also be other self-gardening devices. Alternatively, the self-moving device may be another device that can be self-propelled.

The automatic mower can be used for trimming the lawn so as to ensure that the height of grass in the lawn meets the requirements. The automatic mower comprises a driving unit, a controller, a positioning assembly, a mowing knife and the like. The mowing knife is used for mowing. The positioning component may include one or more of satellite positioning, ultra wideband wireless communication positioning (UWB), Inertial Measurement Unit (IMU), and wheel speed meter. The pose of the automatic mower at the current moment can be detected through the positioning assembly. The pose includes its position and pose. The position may be expressed in terms of its coordinates in the X, Y and Z axes of the positioning coordinate system. The attitude may be determined using its angle with respect to the X, Y and Z axes.

The driving unit comprises at least two groups of driving wheels and a driving assembly for controlling the rotating direction and the rotating speed of the at least two groups of driving wheels. The drive assembly may include a motor and a motor controller. Each group of driving wheels can be connected with a motor, and the driving wheels are driven to rotate through the rotation of the motor. The motor controller can be a frequency converter or a PLC chip and the like, and controls the rotation direction and the rotation speed of the motor.

The automatic mower comprises two groups of driving wheels, and each group of driving wheels comprises at least one driving wheel. The two groups of driving wheels rotate at the same speed to realize the forward movement or the backward movement of the automatic mower, and the two groups of driving wheels rotate at different speeds to realize the turning of the automatic mower. In one embodiment, the rear wheels of the robotic lawnmower are drive wheels.

The controller is in electric signal connection with the motor controller and the positioning assembly, generates a control signal according to the pose of the automatic mower detected by the positioning assembly at the current moment, and sends the control signal to the motor controller so as to control the motor to rotate.

In addition, the controller can be connected with a control device, and the control device can be integrated on the automatic mower or independent of the automatic mower. When integrated on an robotic lawnmower, the control device may include a display screen, control buttons, and a mating circuit board. When the control device is independent of the robotic lawnmower, the control device may be any suitable smart terminal, such as a smart phone, PAD, smart watch, or computer. The function that controlling means realized can be realized by intelligent terminal loading APP.

The automatic mower is in data connection with the intelligent terminal, and therefore data interaction is achieved. Taking a smart phone as an example, a control application program of the automatic mower can be run on the smart phone, so that the automatic mower can be controlled through the control application program.

If a user uses the automatic mower to establish a boundary of a target object (which can be a working area, an obstacle or a channel between different working areas), the smart phone and the automatic mower establish data connection, button options for controlling the automatic mower to move or rotate in different directions are displayed on a control application program of the smart phone, and the user controls the automatic mower to move along the boundary of the target object by triggering different button options. The automatic mower collects the self pose at intervals in the moving process, the pose collected each time is used as a track point, and the track points form the existing walking path of the automatic mower. In this way, after walking is completed, the boundary of the target object can be generated according to the existing walking path. The boundary establishing mode does not need to additionally bury a line in the boundary, so that the cost is lower, the efficiency is higher, and the boundary is easier to change.

In the process of guiding the automatic mower to move by the user, the schematic diagram of the existing walking path can be displayed on the smart phone, so that the user can conveniently check the schematic diagram. In the process of guiding the automatic mower to move or in the process of guiding the automatic mower to finish establishing the boundary, the user can control the part or all of the existing walking path to be erased through the smart phone (or the control device integrated on the automatic mower) so as to modify the walking path in the following process, and therefore the existing walking path is more in line with the requirement. The way of erasing the existing walking path by the automatic mower can be realized by the following path processing method of the self-moving device.

The following describes an implementation procedure of a path processing method from a mobile device as follows:

example one

Referring to fig. 1A, a schematic flowchart illustrating a step of a path processing method from a mobile device according to a first embodiment of the present application is shown.

The method comprises the following steps:

step S102: an erase instruction is received to instruct erasing at least a portion of the existing travel path.

And determining the position on the existing walking path as a reference position when the erasing instruction is received from the mobile equipment.

In this embodiment, the existing walking path is used to determine the boundary of the target object. The target object may be a working area of the mobile device, or an obstacle in the working area, or a passage between different working areas, which is not limited in this respect.

The erasing instruction is generated according to the triggering operation of the user on the erasing option on the control device of the self-moving equipment.

The control means may be integrated on the self-moving device, for example, the control means comprises a physical control button (i.e. an erase option) integrated on the robotic lawnmower and a circuit board, and the user presses the control button to cause the circuit board connected to the control button to send an erase instruction to the controller of the self-moving device.

Or the control device is independent of the self-moving equipment and is in communication connection with the self-moving equipment. For example, the control device includes an intelligent terminal, a virtual button (the virtual button is an erasing option) is displayed on a control interface of the intelligent terminal, and the intelligent terminal receives a trigger operation of a user on the virtual button and sends an erasing instruction to the mobile device in response to the trigger operation.

In this embodiment, the erasing instruction is only used to inform the self-mobile device that at least a part of the existing walking path needs to be erased, that is, it is used to indicate the user's intention, and is not used to control the self-mobile device to move itself, so the erasing instruction in this embodiment does not need to acquire or include information of the speed, direction, etc. of the self-mobile device, and the erasing instruction is generated according to the triggering operation of the user on the erasing option.

In an example, the erase instruction may include only a parameter indicating erase, e.g., a parameter value of "1" indicates erase.

In another example, the erasure instruction may include parameters of the path segment to be deleted, such as a start point parameter, an end point parameter, and the like of the path segment to be deleted, in addition to parameters for indicating erasure. For convenience of illustration, the first correction position is used to indicate an end point of a path segment to be deleted in the existing walking path, and the second correction position is used to indicate a start point of the path segment to be deleted.

Of course, the first correction position or the second correction position may be omitted as necessary, and this is not limited. For example, when only the first corrected position is included in the erase command, the reference position at the time of receiving the erase command may be used as the starting point of the path segment to be deleted.

In a specific use scenario, a user presses an erasing button on a control interface of the intelligent terminal, and the intelligent terminal sends an erasing instruction to the self-mobile device. And receiving the erasing instruction from the mobile equipment, and determining the position where the erasing instruction is received as the reference position.

Step S104: and responding to the erasing instruction, and automatically moving the self-moving equipment along the existing walking path until a movement termination condition is met.

And when the moving termination condition is met, the position of the self-moving equipment on the existing walking path is used as a first correction position.

After the erasing instruction is received from the mobile equipment, the mobile equipment can be controlled to automatically move along the existing walking path, so that the user does not need to manually carry the mobile equipment to a first correction position after at least part of the existing walking path is erased, convenience and safety are improved, and the user is prevented from being injured in the carrying process.

In this embodiment, the termination condition includes at least one of: the duration of the non-reception of the erasing instruction meets a duration threshold, a termination instruction for indicating termination of erasing is received, the position of the pose indication at the current moment is matched with the first correction position, and the position of the pose indication at the current moment is matched with the starting point of the existing walking path.

If the control device sends the erase command to the self-mobile device once every a period of time (the duration of the interval can be determined as needed, but is not limited thereto), the termination condition may be that the duration of time during which the erase command is not received satisfies the duration threshold. If the erasing instruction is sent every 100ms, if the erasing instruction is not received for 200ms continuously, the termination condition is determined to be met, otherwise, the termination condition is determined not to be met. And when the termination condition is met, the mobile device terminates the movement, otherwise, when the termination condition is not met, the mobile device continues to move.

If the control device sends the erasing instruction to the self-mobile device only once in an erasing process, the termination condition may be that a termination instruction for instructing termination of erasing is received. For example, the parameter value of the parameter indicating erasure in the termination instruction is "0" to indicate that erasure is terminated.

Or, if the erasure instruction carries the first corrected position, the termination condition may be that the position indicated by the pose at the current time matches the first corrected position, that is, the mobile device moves to the end point of the path segment to be deleted.

Or the termination condition may be that the position of the pose indication at the current time matches the starting point of the existing walking path, that is, the self-moving device has finished walking the existing walking path.

When the mobile device moves to the point a, the position of the mobile device at that time is determined to be the first corrected position, as shown in fig. 1B.

Step S106: and deleting at least part of the existing walking path between the reference position and the first correction position according to the erasing instruction.

And if the erasing instruction does not carry the first correction position and the second correction position, the total existing walking paths from the reference position to the first correction position are deleted.

If the erasing instruction only carries the first correction position, all existing walking paths between the reference position and the first correction position are deleted.

And if the erasing instruction carries the first correction position and the second correction position, the existing walking path from the second correction position to the first correction position is deleted.

Example two

Referring to fig. 2A, a flowchart illustrating steps of a path processing method from a mobile device according to a second embodiment of the present application is shown.

In this embodiment, the method comprises the steps of:

step S202: an erase instruction is received to instruct erasing at least a portion of the existing travel path.

For example, after the user guides the self-moving device to move for a period of time, the self-moving device has recorded a path (for convenience of description, it is referred to as an existing walking path), and as shown in fig. 2B, the self-moving device moves from point O to point B. At this time, the user finds that there is a part of the existing walking path (the part from point a to point B in the figure) which is not right, and the requirement cannot be met. If a portion of the existing walking path deviates too far from the actual boundaries of the working area, the boundaries thus established may result in the lawn in a portion of the working area not being trimmed. And the user sends an erasing instruction to the self-mobile equipment through the smart phone connected with the self-mobile equipment.

In one case, the user directly clicks an erase button displayed on a control interface of the smartphone, thereby sending an erase instruction not including the first corrected location and the second corrected location to the self-mobile device.

In another case, the user may select one or two trace points from the schematic diagram of the existing walking path shown in the control interface of the smart phone as the first correction position and the second correction position, respectively, and then click the erase button. The smart phone sends an erasing instruction containing a first correction position and a second correction position to the self-mobile device.

After the first correction position or the second correction position is selected, the selected first correction position or the second correction position can be modified in a dragging mode, other track points are selected in a clicking mode and the like, and therefore other track points are selected to serve as the first correction position or the second correction position.

According to different requirements, in an erasing process, the control device can send an erasing command to the self-mobile device at intervals, the erasing command sent for the first time can include the first correction position and the second correction position, or can not include the first correction position and the second correction position, and the erasing command not sent for the first time does not include the first correction position and the second correction position, so that the data transmission amount is reduced, and the bandwidth is saved. After the erase command is received from the mobile device for the first time, step S204 may be performed. For convenience of description, the position on the existing walking path (i.e., point B in fig. 2B) when the erasing instruction is received from the mobile device for the first time is determined as the reference position.

Alternatively, the control device may send the erase command only once during one erase, which is not limited in this regard.

Step S204: and responding to the erasing instruction, and automatically moving the self-moving equipment along the existing walking path until a movement termination condition is met.

In order to ensure that other track points can be normally collected after at least part of the existing walking path is subsequently deleted, and boundary fitting is accurately carried out according to the track points of the existing walking path, so that the problems that the boundary is difficult to fit due to the fact that the following existing walking path has the conditions of intervals, jumping and the like because manual carrying cannot accurately place the self-moving equipment on the existing walking path, or path sections which are not walking exist on the existing walking path, and the trafficability of the existing walking path cannot be ensured are solved.

In the present embodiment, step S204 includes the following sub-steps:

substep S2041: and determining the pose of the target track point from the plurality of track points contained in the existing walking path.

As shown in fig. 2B, the self-moving device performs satellite positioning at intervals during the process of moving from the point O to the point B, and determines the pose of the self-moving device during positioning by combining the observed quantities of the IMU unit, the wheel speed meter and the like, where the pose is the pose corresponding to a locus point on an existing walking path.

When determining that the original path needs to be returned along the existing walking path, the process of determining the target track point can be realized as follows:

according to the pose of the self-moving equipment at the current moment, selecting a track point which meets a distance selection condition and is positioned on one side, far away from the reference position, of the self-moving equipment from a plurality of track points contained in the existing walking path as a target track point, and determining the pose of the target track point.

The pose at the current moment can be obtained by positioning the self-moving equipment by adopting the positioning assembly. It should be noted that, because positioning errors exist in satellite positioning, IMU unit positioning, and other manners, and in order to ensure that the self-moving device can return along the existing walking path, the pose at the current time in this embodiment is a pose constrained to the existing walking path. For example, at time T1, pose 1 is obtained by the positioning component, and this pose 1 may not be on the existing walking path due to an error or the like, and after obtaining pose 1, it may be mapped onto the existing walking path, and pose 2 mapped on the existing walking path is taken as the pose at the current time.

It should be noted that the distance selection condition may be determined according to a requirement, for example, the distance selection condition is the minimum distance, or the distance is less than or equal to a certain threshold, which is not limited herein.

For example, if the self-moving device is at point B, any one of the track points is the track point located on the side of the self-moving device away from the reference position, and one of the track points closest to the self-moving device can be selected as the target track point.

Or, if the self-moving device is located at a position between the point B and the point a, the track point located between the point a and the self-moving device is the track point located on the side of the self-moving device far from the reference position, so that the closest one to the self-moving device is selected as the target track point from the track points, or the closest one to a distance threshold (which can be determined as required) is selected as the target track point from the track points.

And after the target track point is selected, the pose of the target track point can be obtained.

Substep S2042: and generating a control instruction according to the pose of the self-moving equipment at the current moment and the pose of the target track point.

In one case, if the mobile device is going back directly, the control command may be generated by the following process:

procedure a 1: and determining the position offset, the angle offset and the advancing state of the self-moving equipment between the self-moving equipment and the target track point according to the current pose of the self-moving equipment and the pose of the target track point.

The position offset may be a distance between the position of the pose indication at the current time and the position of the pose indication of the target track point.

The angular offset may be an angle between a moving direction of the self-moving device and a tangent at a location of the target track point.

The travel state includes a backward movement or a forward movement.

In one possible approach, the self-moving device may walk backwards while returning along an existing walking path. As shown in fig. 2C, when the existing walking path is collected, the mobile device moves along the direction from the point a to the point B, the direction of the head of the mobile device is the direction of the point B, the mobile device can directly keep the direction of the current head without turning around, and then moves backward along the existing walking path, at this time, the moving direction is opposite to the direction of the head, and the traveling state is a backward state.

Procedure B1: and generating the control instruction for indicating the rotating speed and the rotating direction of the at least two groups of driving wheels according to the position offset, the angle offset and the advancing state.

In a possible manner, process B may be implemented as: if the advancing state is backward movement, determining that the rotating direction of the at least two groups of driving wheels is reverse rotation, and determining the rotating speed of the at least two groups of driving wheels according to the position offset and the angle offset; and generating the control instruction according to the determined reverse rotation and the rotation speed. The specific manner of determining the rotation speed and generating the control command according to the reverse rotation and the rotation speed may be determined as needed, and is not limited thereto.

In another case, if the mobile device returns after turning around, the control command may be generated through the following process:

procedure a 2: and executing automatic turning operation according to the pose of the self-moving equipment at the current moment, so that the head orientation of the self-moving equipment rotates by 180 degrees.

The operation of driving the self-moving equipment to automatically turn around can be that the turning-around pose is determined according to the pose at the current moment, a turning-around control instruction is generated according to the turning-around pose and is sent to the driving unit, so that the driving unit drives the self-moving equipment to complete the operation of turning around for 180 degrees according to the turning-around control instruction.

Procedure B2: and determining the position offset, the angle offset and the advancing state of the self-moving equipment between the self-moving equipment and the target track point according to the current pose of the self-moving equipment and the pose of the target track point.

The manner of obtaining the position offset and the angle offset is similar to the manner of obtaining the position offset and the angle offset in the process a1, and therefore, the description thereof is omitted.

As shown in fig. 2D, when the existing walking path is collected, the existing walking path moves along the direction from the point a to the point B, the direction of the head of the self-moving device is the direction of the point B, when the existing walking path returns, the self-moving device turns around first and then moves, the moving direction is the same as the direction of the head, and the traveling state is the forward state.

Procedure C2: and generating the control instruction for indicating the rotating speed and the rotating direction of the at least two groups of driving wheels according to the position offset, the angle offset and the advancing state.

In one possible approach, process C2 may be implemented as: if the advancing state is forward movement, determining that the rotating direction of the at least two groups of driving wheels is forward rotation, and determining the rotating speed of the at least two groups of driving wheels according to the position offset and the angle offset; and generating the control instruction according to the determined forward rotation and the rotation speed. The specific manner of determining the rotation speed and generating the control command according to the reverse rotation and the rotation speed may be determined as needed, and is not limited thereto.

Substep S2043: and sending the control instruction to a driving unit of the self-moving equipment so that the driving unit drives the self-moving equipment to move to the target track point according to the control instruction.

And the control instruction is sent to the driving unit, and a motor controller of the driving unit converts the control instruction into the control on the rotating speed and the rotating direction of the motor so as to control the rotating speed and the rotating direction of the driving wheel.

Substep S2044: and determining whether the termination condition is met, if the termination condition is not met, returning to the step of determining the pose of the target track point from the plurality of track points included in the existing walking path and continuing to execute until the termination condition is met.

It may be determined at intervals whether the termination condition is satisfied. For example, the termination condition is that the duration of not receiving the erase command satisfies a duration threshold, the duration threshold is 200ms, and it is determined whether the erase command is not received for 200ms continuously, and then it is determined that the termination condition is satisfied. That is, in an erasing process, whether the termination condition is satisfied is determined according to the erasing instruction after the erasing instruction is not received for the first time.

Or if the termination condition is that a termination instruction for indicating termination of erasing is received, the termination condition is determined to be met when the user sends the termination of erasing instruction through the intelligent terminal and receives the termination of erasing instruction from the mobile device.

Or the termination condition is that the position indicated by the pose at the current moment is matched with the first correction position, and when the first correction position is reached according to the pose at the current moment, the termination condition is determined to be met.

Or the termination condition is that the position indicated by the pose at the current moment is matched with the starting point of the existing walking path, and when the position indicated by the pose at the current moment is determined to reach the starting point of the existing travel path, the termination condition is determined to be met.

When the termination condition is satisfied, the movement is stopped, and step S206 is performed. If the termination condition is not satisfied, the process returns to step S2041 to return the mobile device.

Step S206: and deleting at least part of the existing walking path between the reference position and the first correction position according to the erasing instruction.

And if the first correction position and the second correction position are not contained in the erasing command, deleting the path segment between the first correction position and the reference position.

Or if the erasing command comprises the first correction position and the second correction position, deleting the path segment between the first correction position and the second correction position.

Optionally, the method further comprises:

step S208: and moving according to the received movement control instruction, and acquiring the self pose in the moving process.

For example, after the mobile device moves to the first corrected position (i.e., point a), the user may guide the mobile device to continue moving (indicated by the dashed long line in fig. 2C or fig. 2D), and acquire the pose of the user from the mobile device at intervals during the moving process.

Step S210: and updating the collected pose to the existing walking path.

The new track points are added in the existing walking path, and the collected pose is used as the pose of the track points, so that the walking path is recorded.

The self-moving equipment automatically moves along the existing walking path in the original way in a simple interactive mode, and the movement can be reverse movement or turn around firstly to advance.

EXAMPLE III

Referring to fig. 3, a block diagram of a path processing apparatus of a self-moving device according to a third embodiment of the present application is shown.

The device includes:

a receiving module 302, configured to receive an erasing instruction for instructing to erase at least part of an existing walking path, where a position on the existing walking path when the erasing instruction is received from a mobile device is determined as a reference position, and the existing walking path is used to determine a boundary of a target object;

a moving module 304, configured to, in response to the erasing instruction, automatically move the self-moving device along the existing walking path until a movement termination condition is met, where a position of the self-moving device on the existing walking path when the movement termination condition is met is used as a first corrected position;

a deleting module 306, configured to delete at least part of the existing walking path between the reference position and the first corrected position according to the erasing instruction.

Optionally, the erasing instruction is generated according to a triggering operation of a user on an erasing option on a control device of the self-moving device, and the control device may be integrated on the self-moving device, or the control device is independent of the self-moving device and is in communication connection with the self-moving device.

Optionally, the erasing instruction includes at least one of a first correction position and a second correction position, where the first correction position is used to indicate an end point of a path segment to be deleted in the existing walking path, and the second correction position is used to indicate a start point of the path segment to be deleted.

Optionally, the moving module 304 is configured to determine a pose of a target track point from a plurality of track points included in the existing walking path; generating a control instruction according to the pose of the self-moving equipment at the current moment and the pose of the target track point; sending the control instruction to a driving unit of the self-moving equipment, so that the driving unit drives the self-moving equipment to move to the target track point according to the control instruction; and determining whether the termination condition is met, if the termination condition is not met, returning to the step of determining the pose of the target track point from the plurality of track points included in the existing walking path and continuing to execute until the termination condition is met.

Optionally, the termination condition comprises at least one of: the duration of the non-reception of the erasing instruction meets a duration threshold, a termination instruction for indicating termination of erasing is received, the position of the pose indication at the current moment is matched with the first correction position, and the position of the pose indication at the current moment is matched with the starting point of the existing walking path.

Optionally, the moving module 304 is configured to, when the pose of the target trace point is determined from the multiple trace points included in the existing walking path, select, as the target trace point, a trace point, which is located on a side of the self-moving device away from the reference position and has a distance from the self-moving device that meets a distance selection condition, from the multiple trace points included in the existing walking path according to the pose of the self-moving device at the current time; and determining the pose of the target track point.

Optionally, the driving unit of the self-moving device comprises at least two groups of driving wheels and a driving assembly for controlling the rotation direction and the rotation speed of the at least two groups of driving wheels, and the moving module 304 is configured to determine a position offset, an angle offset and a traveling state of the self-moving device according to the pose of the self-moving device at the current time and the pose of the target track point when generating a control instruction according to the pose of the self-moving device at the current time and the pose of the target track point, where the traveling state includes backward movement or forward movement; and generating the control instruction for indicating the rotating speed and the rotating direction of the at least two groups of driving wheels according to the position offset, the angle offset and the advancing state.

Optionally, the moving module 304 is configured to, when the control instruction for indicating the rotation speed and the rotation direction of the at least two groups of driving wheels is generated according to the position offset amount, the angle offset amount and the traveling state, determine that the rotation direction of the at least two groups of driving wheels is forward rotation if the traveling state is forward movement, and determine the rotation speed of the at least two groups of driving wheels according to the position offset amount and the angle offset amount; and generating the control instruction according to the determined forward rotation and the rotation speed.

Optionally, the moving module 304 is configured to, when the control instruction for indicating the rotation speed and the rotation direction of the at least two groups of driving wheels is generated according to the position offset amount, the angle offset amount and the traveling state, determine that the rotation direction of the at least two groups of driving wheels is a reverse rotation if the traveling state is a backward movement, and determine the rotation speed of the at least two groups of driving wheels according to the position offset amount and the angle offset amount; and generating the control instruction according to the determined reverse rotation and the rotation speed.

Optionally, the moving module 304 is configured to, when a control instruction is generated according to the pose of the self-moving device at the current time and the pose of the target track point, perform an automatic turning operation according to the pose of the self-moving device at the current time, so that the head of the self-moving device is turned 180 °.

Optionally, the apparatus further comprises:

the acquisition module 308 is configured to move according to the received movement control instruction and acquire the pose of the user during the movement process;

and the updating module 310 is used for updating the acquired pose to the existing walking path.

The device can realize the corresponding effect of the method, and therefore the description is omitted.

Example four

Referring to fig. 4A, a schematic flowchart illustrating steps of a path processing method of a self-moving device according to an embodiment of the present application is shown. In this embodiment, the method includes:

step S402: and receiving a traveling instruction, and walking to a reference position from the mobile equipment in the forward direction according to the traveling instruction.

Wherein the travel instruction is used for instructing the self-mobile device to walk in a forward direction. Forward walking may refer to the direction from the mobile device to gather the trace points of a new path. As in fig. 4B, the arrow indicates the forward walking direction. Based on similar principles, backward walking may refer to moving from the mobile device onto an existing path.

In the process of guided movement of the self-moving device, a user can input a traveling instruction through the control device, the traveling instruction is used for indicating the self-moving device to move, the path which the self-moving device follows according to the traveling instruction is recorded as a first path, in the moving process, the self-moving device collects self pose information and forms track points, and the first path can comprise one or more track points.

The travel instruction may be sent to the self-moving device once every certain time interval (the time interval may be determined as needed), the travel instruction is received from the self-moving device, and the user walks according to the travel instruction.

Optionally, the travel command is derived from at least one of a forward command and a turn command. For example, the user may operate the control device to input a forward command and a rotation command, the forward command may indicate an actual forward direction from the mobile device, and the user may input the forward command by pushing a joystick on the control device, inputting a gesture or a track on a display screen of the control device, and the like, but is not limited thereto. Thus, the self-moving device can conveniently control the moving, steering and the like of the self-moving device through the moving instruction, so that the self-moving device moves along a required boundary.

The rotation instruction is used for indicating the self-moving equipment to turn, so that the functions of turning, turning around and the like are realized. The user may input the rotation command by rotating a joystick on the control device or inputting a gesture or a track indicating the rotation on a display screen of the control device, but is not limited thereto.

The reference position of the self-moving device at different times may be different, e.g. the reference position may be the position of the end of the first path from the current time of the mobile device.

In one embodiment, the self-moving device stops moving when the user stops entering the forward command.

Step S404: and receiving an erasing instruction, and walking backwards from the reference position along the first path by the self-moving equipment according to the erasing instruction.

The erase instruction is used to instruct erasing part or all of the existing paths. In one embodiment, the erase instruction is to instruct erasing the first path a particular distance. For example, the user inputs an erase command by operating the control device, and the control device transmits the erase command to the mobile device. When an erase instruction is received from the mobile device, the location at this time may be considered as a reference location. In response to the erase command, the mobile device walks backward along the first path from the reference position, i.e., walks in a reverse direction along the first path. The backward walk may be a direction in which the head of the self-moving device is still walking forward, but the actual forward direction of the self-moving device is a direction of backward walk. Or, the backward walking can be the direction turning from the mobile device at the reference position, so that the direction of the vehicle head is consistent with the actual forward direction, and the directions are the directions of backward walking.

In a specific embodiment, when a traveling instruction is received from the mobile equipment, two groups of driving wheels of the mobile equipment rotate clockwise, and the head of the mobile equipment faces to the forward direction; when the self-moving equipment receives the erasing instruction, the two groups of driving wheels of the self-moving equipment rotate anticlockwise, the direction of the head of the vehicle is unchanged, and the self-moving equipment starts to walk backwards.

The self-moving equipment has different structures, and the positions and the structures of the two groups of driving wheels can also be different. For example, two sets of driving wheels are respectively arranged on two sides of the self-moving device in the transverse direction (perpendicular to the forward or backward direction), the two sets of driving wheels synchronously rotate in the same direction to realize forward or backward movement, and the two sets of driving wheels rotate in a differential speed to realize turning. It should be noted that each set of drive wheels includes at least one wheel.

During backward walking, the self-mobile device can read the position information of the first path in the memory, the position information of the first path comprises position coordinates and time stamps, and the self-mobile device is controlled to walk backward along the first path by reversely reading the position coordinates stored according to the time stamps. In the backward walking method, the erasing command does not comprise direction information and position information, and is only used for indicating backward movement of the self-moving equipment, turning around is not needed, and the time for path correction is shortened.

In another example, the erasure instruction does not carry information indicating the first corrected position to stop walking backwards. In this case, the method may further include step S406.

Step S406: and stopping receiving the erasing instruction, and stopping backward walking of the self-moving equipment.

The erasing command does not carry the information of the first correction position, so the erasing command needs to be continuously sent to the self-moving equipment, and the self-moving equipment continuously walks backwards; and when the user determines that the required first correction position is reached, stopping sending the erasing instruction to the self-moving equipment, and stopping walking backwards from the self-moving equipment when the self-moving equipment stops receiving the erasing instruction.

It should be noted that step S406 is not an essential step, and may be appropriately executed or not executed as necessary.

In this embodiment, the method further includes step S408.

Step S408: deleting a path on the first path that reverses a walking path from the mobile device.

For example, it may be implemented to delete position information on the first path of the backward walking path from the mobile device. For example, the first path includes position information of a plurality of track points, when a path reversing the walking path is deleted, the reversed path can be conveniently deleted by deleting the position information of the path, so that the erasure of part or all of the paths on the first path is realized, and the updating and the correction of the paths are more convenient and easier.

In a specific embodiment, the path of the backward walking path from the mobile device is deleted while walking.

If the intelligent terminal receives the traveling instruction from the mobile equipment and walks forwards, the walking path can be displayed on a display interface of the intelligent terminal in real time; when the mobile device receives an erasing instruction and walks backwards, the path of the backward walking path disappears in the display interface of the intelligent terminal in real time, namely the path of the first path corresponding to the backward walking path of the mobile device disappears in the display interface of the intelligent terminal in real time, but the path of the first path without the path of the mobile device continues to be displayed in the display interface of the intelligent terminal.

By the mode, the self-moving equipment can automatically walk along the boundary forward under the control of the control device, so that the position information related to the boundary is recorded to obtain the first path, when an erasing instruction is received, the first path is determined to be required to be corrected, at the moment, the self-moving equipment can walk backwards along the first path to erase the position information of the path passing through the backward walking, the first path is conveniently corrected, manual carrying of the self-moving equipment is not needed, convenience is improved, and safety is guaranteed.

EXAMPLE five

In this embodiment, a lawn mower is provided. The mower is used for receiving a traveling instruction and positively traveling to a reference position according to the traveling instruction, and the path traveled by the self-moving equipment is a first path; the mower is used for enabling the self-moving device to walk backwards along the first path from the reference position according to the erasing instruction when the traveling instruction is received.

For example, the lawn mower is in communication connection with the control device through a wireless communication module (such as a WiFi module or a bluetooth module or infrared, etc.) to receive instructions from the control device. In a use scenario, the control device may be a smart phone, which is connected to the lawn mower, and the user operates the smart phone to send a traveling instruction to the lawn mower, where the traveling instruction may be obtained according to an instruction input by the user to move forward or rotate. The mower may walk forward to a reference position according to the travel command. The forward walk may be the direction in which the mower gathers new track points, such that the mower may gather new track points to form the first path. The first path may indicate a boundary when the lawnmower is walking automatically. The reference position may be an end position of the first path and may also be understood as a position when the self-moving device changes from forward walking to backward walking.

In one example, if the user finds a large deviation between the first path and the actual desired boundary, an erase instruction may be sent to the lawnmower by operating the control device to instruct it to erase at least part of the first path. The mower receives the erasing instruction and travels backwards along the first path from the reference position, so that the mower can automatically move to the latest correct position and continue traveling from the correct position, manual carrying of the mower is not needed, users are prevented from being cut, safety is guaranteed, and labor is saved.

In one embodiment, the erase instruction is to instruct erasing the first path a particular distance. The backward walking of the mower can be in the opposite direction of the forward walking, and when the mower walks backwards, the first path is not added with new track points any more.

In another example, the erase instruction does not carry information indicating a first corrected position to stop walking backwards. In this example, the scrub command needs to be sent continuously to the self-moving device, which walks continuously backwards; and when the user determines that the required first correction position is reached, stopping sending the erasing instruction to the self-moving equipment, and stopping walking backwards from the self-moving equipment when the self-moving equipment stops receiving the erasing instruction.

The self-moving device can reverse and delete the path passing through in reverse. If the intelligent terminal receives the traveling instruction from the mobile equipment and walks forwards, the walking path can be displayed on a display interface of the intelligent terminal in real time; when the mobile device receives an erasing instruction and walks backwards, the path of the backward walking path disappears in the display interface of the intelligent terminal in real time, namely the path of the first path corresponding to the backward walking path of the mobile device disappears in the display interface of the intelligent terminal in real time, but the path of the first path without the path of the mobile device continues to be displayed in the display interface of the intelligent terminal.

Alternatively, all the paths traversed in reverse may be deleted after the mobile device stops backing up.

By the mode, the mower can automatically correct the path and can automatically move when the path is corrected, so that the boundary correction is more convenient.

EXAMPLE six

Referring to fig. 5, a flow chart illustrating steps of a control method of a control apparatus is shown.

In this embodiment, the method includes:

step S502: the method comprises the steps of receiving traveling operation, determining a traveling instruction according to the traveling operation, and transmitting the traveling instruction to the self-moving equipment.

The manner in which different control devices receive travel operations may vary. For example, if the control device is a smart device with a touch screen, the travel operation may be an appropriate operation input on the touch screen. Or the control device is a handle with keys, the travel operation may be an operation of one or more keys in the handle. Or, the control device is an intelligent device with an image acquisition sensor, and the traveling operation may be a certain gesture or action of the user, or a combination of the gesture or the action.

Wherein determining a travel instruction from the travel operation comprises: and receiving at least one of forward operation and rotation operation, and obtaining the travel instruction according to at least one of the forward operation and the rotation operation.

For example, if the travel operation includes at least one of a forward operation and a rotation operation, the forward operation may correspond to generating a forward instruction, the rotation operation may correspond to generating a rotation instruction, generating a travel instruction based on at least one of the forward instruction and the rotation instruction, and transmitting the travel instruction to the self-moving device. Wherein the forward command may indicate a forward movement along a straight line. The rotation instruction may indicate a rotation from the mobile device by a certain angle.

The control device sends the traveling instruction to the self-moving equipment, the self-moving equipment can move in the forward direction according to the instruction of the traveling instruction, the position (or the pose) of the self-moving equipment can be collected once every other period of time in the moving process, so that a first path is formed according to the position (or the pose), and the subsequent first path can be used as the boundary of the working area of the self-moving equipment.

Step S504: and displaying a first path, wherein the first path is a forward walking path of the self-moving equipment according to the traveling instruction.

The self-moving equipment can send the first path to the control device, and the first path is displayed by the control device through the connected display screen, so that a user can check the first path. If the user finds that part or all of the first path does not meet the requirements, an erase operation may be entered. The erase operation may be any suitable operation, without limitation.

Step S506: and receiving an erasing operation, and deleting the path of the backward walking path of the self-mobile equipment on the first path according to the erasing operation.

The control device receives an erasing operation input by a user, and in one case, the erasing operation carries information of a starting point and an end point of erasing (namely, a first path indicating an erasing characteristic distance).

In this case, the control device generates an erase command according to the erase operation and transmits it to the own mobile device. The self-moving apparatus walks backward along the first path according to the erasing instruction, and may transmit a position of the backward walking to the control device at intervals. The control means may determine a path of the reverse walking path according to the position of the reverse walking, and delete the path of the reverse walking path until the position of the reverse walking from the mobile device to the destination.

Or, in a specific embodiment, when the traveling instruction is received from the mobile device, the two groups of driving wheels of the mobile device rotate clockwise, and the vehicle head faces the forward direction; when the self-moving equipment receives the erasing instruction, the two groups of driving wheels of the self-moving equipment rotate anticlockwise, the direction of the head of the vehicle is unchanged, and the self-moving equipment starts to walk backwards.

In another case, the erasing operation may not carry the information of the end point or the information of both the start point and the end point, and in this case, the control apparatus may perform step S508 in addition to generating an erasing instruction according to the erasing operation, transmitting to the self-moving device to walk backward along the first path, receiving the position of the backward from the self-moving device at the current time, and deleting the path of the backward walking route according to the position of the backward walking.

Step S508: and stopping receiving the erasing operation and stopping deleting the first path.

When the user does not input the erasing operation any more, the control device stops receiving the erasing operation, on one hand, an erasing stopping instruction can be sent to the self-mobile device after the erasing operation is stopped being received, and on the other hand, the first path can be stopped being deleted, so that the rest paths are the paths meeting the requirements of the user, and the mistaken deletion is avoided.

In this example, the scrub command needs to be sent continuously to the self-moving device, which walks continuously backwards; and when the user determines that the required first correction position is reached, stopping sending the erasing instruction to the self-moving equipment, and stopping walking backwards from the self-moving equipment when the self-moving equipment stops receiving the erasing instruction.

It should be noted that the forward walking and the backward walking have been clearly described in the foregoing embodiments, and therefore, the description thereof is omitted.

By the method, the operation of the user can be received, the forward walking or backward walking of the mobile equipment is controlled based on the operation of the user, the acquisition of the first path and the deletion of part of or all paths are further realized, the first path can be conveniently and accurately established, and the accuracy of the boundary determined based on the first path is further ensured.

EXAMPLE seven

Referring to fig. 6, a schematic diagram of a control device is shown.

In this embodiment, the apparatus includes a display screen including, but not limited to, a travel instruction region, a display path region, and an erase instruction region.

The travel instruction area is used for receiving travel operation and transmitting a travel instruction corresponding to the travel operation to the self-moving equipment. For example, the travel instruction region includes a forward instruction region for receiving a forward operation and a rotation instruction region. The user inputs a forward operation by touching, clicking, or the like, and the control device generates a forward instruction based on the forward operation. The rotation instruction area is used for receiving rotation operation, and the control device generates a rotation instruction based on the rotation operation. And generating a traveling instruction based on at least one of the forward instruction and the rotation instruction, and sending the traveling instruction to the self-moving device, namely, the traveling instruction is determined according to at least one of the forward operation and the rotation operation.

After the moving device receives the traveling instruction, the device walks forwards according to the traveling instruction, and acquires the position (or the pose) of the device in the traveling process so as to generate a first path according to the position (or the pose), and the first path can be sent to the control device. In one embodiment, the self-moving device stops moving when the user stops entering the forward command.

And the display path area is used for displaying a first path, and the first path is a path which is positively traveled by the self-moving equipment according to the traveling instruction. The first path can be conveniently displayed to the user by displaying the path area, so that the user can conveniently check the first path.

The erasing instruction area is used for receiving an erasing operation. If the user finds that part or all of the first path does not meet the requirements of the user when viewing the first path, the user can input the erasing operation by clicking, touching and other operations on the erasing instruction area. The control device receives the erasing operation, generates an erasing instruction according to the erasing operation, and sends the erasing instruction to the self-mobile equipment.

In one embodiment, the erase instruction is to instruct erasing the first path a particular distance. In a specific embodiment, when a traveling instruction is received from the mobile equipment, two groups of driving wheels of the mobile equipment rotate clockwise, and the head of the mobile equipment faces to the forward direction; when the self-moving equipment receives the erasing instruction, the two groups of driving wheels of the self-moving equipment rotate anticlockwise, the direction of the head of the vehicle is unchanged, and the self-moving equipment starts to walk backwards.

In another example, the erase instruction does not carry information indicating a first corrected position to stop walking backwards. In this example, the scrub command needs to be sent continuously to the self-moving device, which walks continuously backwards; and when the user determines that the required first correction position is reached, stopping sending the erasing instruction to the self-moving equipment, and stopping walking backwards from the self-moving equipment when the self-moving equipment stops receiving the erasing instruction. In addition, the display path area is further used for displaying that the path corresponding to the route of backward walking of the mobile device on the first path is deleted when the erasing instruction area receives the erasing operation, so that a user can conveniently view the deleted path in time. For example, when a traveling instruction is received from the mobile device and the mobile device is walking forward, the walking path is displayed in the path display area in real time; when an erasing instruction is received from the mobile device and the mobile device walks backwards, the path of the backward walking path disappears in the displayed path area in real time, namely, the path of the first path corresponding to the backward walking path from the mobile device disappears in real time, but the path of the first path without the path from the mobile device continues to be displayed in the displayed path area.

The control device can conveniently receive the operation of a user, and shows that the first path or the path corresponding to the path of the backward walking of the self-mobile equipment on the first path is deleted, so that the convenience of operation and control is improved.

Example eight

In this embodiment, a lawn mower system is provided, comprising: a control device and a mower; the control device is used for receiving a traveling operation and outputting a traveling instruction determined by the traveling operation to the mower; the mower is used for walking according to the traveling instruction, collecting position information and outputting the position information to the control device; the control device is used for displaying a first path traveled by the self-moving equipment; the control device is also used for receiving an erasing operation and outputting an erasing instruction determined by the erasing operation to the mower; the mower is used for walking backwards along the first path according to the erasing instruction; the control device is also used for displaying that the path corresponding to the backward walking path of the self-mobile equipment on the first path is deleted.

Therefore, a user can conveniently control the movement of the mower through the control device, obtain a first path formed by the movement of the mower, and further erase and other operations on parts, which do not meet requirements, in the first path, so that the boundary of a working area can be established more conveniently.

Optionally, the control device is configured to receive a forward operation and a rotation operation, and obtain the travel instruction according to the forward operation and the rotation operation. For example, a forward command is determined based on the forward operation, a turn command is determined based on the turn operation, and a travel command is determined from the forward command and the turn command. Therefore, the mower can be controlled to advance and turn, and the control convenience is improved.

In one example, when the mower receives a travel command, the two sets of drive wheels of the mower turn clockwise with the head facing in a forward direction. When the user stops inputting the forward command, the mower stops moving.

When the mower receives the erasing instruction, the two groups of driving wheels of the mower rotate anticlockwise, the direction of the mower head is unchanged, and the mower starts to walk backwards.

In a specific embodiment, when the mower receives the traveling command, two groups of driving wheels of the mower rotate clockwise, and the head of the mower faces to the positive direction; when the mower receives the erasing instruction, the two groups of driving wheels of the mower rotate anticlockwise, the direction of the mower head is unchanged, and the mower starts to walk backwards.

During the backward walking process, the mower can read the position information of the first path in the memory, the position information of the first path comprises position coordinates and time stamps, and the mower can control the mower to walk backward along the first path by reversely reading the position coordinates stored according to the time stamps. In the backward walking method, the erasing command does not comprise direction information and position information, and is only used for indicating the backward movement of the mower, so that the turning around is not needed, and the time for path correction is shortened.

In another example, the erase instruction does not carry information indicating a first corrected position to stop walking backwards. In this example, the erase command needs to be sent continuously to the mower, which continues to walk in reverse; when the user determines that the required first correction position has been reached, the sending of the erasing command to the mower is stopped, and when the mower stops receiving the erasing command, the mower stops walking backwards.

The mower can reverse while deleting the path traversed by the reverse. If the mower receives the traveling instruction and walks forwards, the walking path can be displayed on a display interface of the intelligent terminal in real time; when the lawn mower receives the erasing instruction and walks backwards, the path of the backward walking path disappears on the display interface of the intelligent terminal in real time, namely the path of the first path of the backward walking path of the lawn mower disappears on the display interface of the intelligent terminal in real time, but the path of the first path of the backward walking path of the lawn mower continues to be displayed on the display interface of the intelligent terminal.

By the mode, the mower can conveniently establish and erase the path, so that the mower is convenient to use and has a better use effect.

Example nine

In this embodiment, a self-moving device is provided, which includes a controller, where the controller is configured to execute the foregoing path processing method of the self-moving device and implement a corresponding effect, which is not described herein again.

It should be noted that the terms "first" and "second" in the description of the present invention are used merely for convenience in describing different components or names, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

It should be noted that, although the specific embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention should not be construed as limited to the scope of the present invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the present invention as described in the appended claims.

The examples of the embodiments of the present invention are intended to briefly describe the technical features of the embodiments of the present invention, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present invention, and the embodiments of the present invention are not unduly limited.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A path processing method from a mobile device, comprising:

receiving an erasing instruction for indicating to erase at least part of an existing walking path, wherein the position on the existing walking path when the erasing instruction is received from a mobile device is determined as a reference position, and the existing walking path is used for determining the boundary of a target object; responding to the erasing instruction, automatically moving the self-moving equipment along the existing walking path until a movement termination condition is met, wherein the position of the self-moving equipment on the existing walking path when the movement termination condition is met is used as a first correction position;

and deleting at least part of the existing walking path between the reference position and the first correction position according to the erasing instruction.

2. The method of claim 1, wherein the erase instruction is generated based on a user-triggered operation of an erase option on a control device of the self-moving device, wherein the control device is integrated with the self-moving device, or wherein the control device is independent of the self-moving device and is in communication with the self-moving device.

3. The method according to claim 1 or 2, wherein the erasure instruction includes at least one of a first correction position and a second correction position, the first correction position is used for indicating an end point of a path segment to be deleted in the existing walking path, and the second correction position is used for indicating a start point of the path segment to be deleted.

4. The method of claim 1, wherein the automatically moving the self-moving device along the existing walking path in response to the erasing instruction until a movement termination condition is met comprises:

determining the pose of the target track point from a plurality of track points contained in the existing walking path;

generating a control instruction according to the pose of the self-moving equipment at the current moment and the pose of the target track point;

sending the control instruction to a driving unit of the self-moving equipment, so that the driving unit drives the self-moving equipment to move to the target track point according to the control instruction;

and determining whether the termination condition is met, if the termination condition is not met, returning to the step of determining the pose of the target track point from the plurality of track points included in the existing walking path and continuing to execute until the termination condition is met.

5. The method of claim 4, wherein the termination condition comprises at least one of: the duration of the non-reception of the erasing instruction meets a duration threshold, a termination instruction for indicating termination of erasing is received, the position of the pose indication at the current moment is matched with the first correction position, and the position of the pose indication at the current moment is matched with the starting point of the existing walking path.

6. The method of claim 4, wherein determining the pose of the target trajectory point from the plurality of trajectory points included in the existing travel path comprises:

according to the pose of the self-moving equipment at the current moment, selecting track points which are located on one side of the self-moving equipment far away from the reference position and have the distance with the self-moving equipment meeting the distance selection condition from a plurality of track points contained in the existing walking path as target track points;

and determining the pose of the target track point.

7. The method according to claim 4, wherein the driving unit of the self-moving device comprises at least two groups of driving wheels and a driving assembly for controlling the rotation direction and the rotation speed of the at least two groups of driving wheels, and the generating of the control instruction according to the pose of the self-moving device at the current moment and the pose of the target track point comprises:

determining position offset, angle offset and a traveling state of the self-moving equipment according to the current-time pose of the self-moving equipment and the pose of the target track point, wherein the traveling state comprises backward movement or forward movement;

and generating the control instruction for indicating the rotating speed and the rotating direction of the at least two groups of driving wheels according to the position offset, the angle offset and the advancing state.

8. The method of claim 7, wherein generating the control commands for indicating the rotational speed and rotational direction of the at least two sets of drive wheels based on the positional offset, the angular offset, and the travel state comprises:

if the advancing state is forward movement, determining that the rotating direction of the at least two groups of driving wheels is forward rotation, and determining the rotating speed of the at least two groups of driving wheels according to the position offset and the angle offset;

and generating the control instruction according to the determined forward rotation and the rotation speed.

9. The method of claim 7, wherein generating the control commands for indicating the rotational speed and rotational direction of the at least two sets of drive wheels based on the positional offset, the angular offset, and the travel state comprises:

if the advancing state is backward movement, determining that the rotating direction of the at least two groups of driving wheels is reverse rotation, and determining the rotating speed of the at least two groups of driving wheels according to the position offset and the angle offset;

and generating the control instruction according to the determined reverse rotation and the rotation speed.

10. The method according to claim 4, wherein generating the control instruction according to the pose of the self-moving device at the current moment and the pose of the target track point further comprises:

and executing automatic turning operation according to the pose of the self-moving equipment at the current moment, so that the head orientation of the self-moving equipment rotates by 180 degrees.

11. The method of claim 1, further comprising:

moving according to the received movement control instruction, and acquiring the self pose in the moving process;

and updating the collected pose to the existing walking path.

12. An autonomous mobile apparatus comprising a controller for executing the path processing method of the autonomous mobile apparatus according to any one of claims 1 to 11.

13. A method of path processing from a mobile device, the method comprising:

receiving a traveling instruction, and enabling the self-moving equipment to positively travel to a reference position according to the traveling instruction, wherein a path traveled by the self-moving equipment is a first path;

and receiving an erasing instruction, and walking backwards from the reference position along the first path by the self-moving equipment according to the erasing instruction.

14. The method of claim 13, further comprising:

deleting a path on the first path that reverses a walking path from the mobile device.

15. The method of claim 14, wherein the deleting the path on the first path that is the path of the walk-back approach from the mobile device comprises: deleting the location information on the first path of the reverse walking path from the mobile device.

16. The method of claim 13, further comprising:

and stopping receiving the erasing instruction, and stopping backward walking of the self-moving equipment.

17. The method of claim 13, wherein the travel command is derived from at least one of a forward command and a turn command.

18. The mower is used for receiving a traveling instruction, and walking to a reference position in a forward direction according to the traveling instruction, wherein a path traveled by the self-moving equipment is a first path; the mower is used for enabling the self-moving device to walk backwards along the first path from the reference position according to the erasing instruction when the traveling instruction is received.

19. A control method of a control device, characterized by comprising:

receiving traveling operation, determining a traveling instruction according to the traveling operation, and transmitting the traveling instruction to the self-moving equipment;

displaying a first path, wherein the first path is a forward walking path of the self-moving equipment according to the traveling instruction;

and receiving an erasing operation, and deleting the path of the backward walking path of the self-mobile equipment on the first path according to the erasing operation.

20. The method of claim 19, further comprising:

and stopping receiving the erasing operation and stopping deleting the first path.

21. The method of claim 19, wherein determining travel instructions from travel operations comprises:

and receiving at least one of forward operation and rotation operation, and obtaining the travel instruction according to at least one of the forward operation and the rotation operation.

22. A control device, comprising a display screen, the display screen comprising:

the traveling instruction area is used for receiving traveling operation and transmitting a traveling instruction corresponding to the traveling operation to the self-moving equipment;

a display path area for displaying a first path, wherein the first path is a path which is positively traveled by the self-moving equipment according to the traveling instruction;

an erase command area for receiving an erase operation;

the display path area is further used for displaying that a path corresponding to the route of the self-mobile device walking backwards on the first path is deleted when the erasing instruction area receives the erasing operation.

23. The control device of claim 22, wherein the display path area is further configured to stop deleting the first path when the erase operation stops being received.

24. The control device according to claim 22, wherein the travel instruction section includes:

a forward instruction area for receiving forward operation;

and the rotating instruction area is used for receiving rotating operation, and the traveling instruction is obtained according to at least one of forward operation and rotating operation.

25. A lawn mower system, comprising: a control device and a mower;

the control device is used for receiving a traveling operation and outputting a traveling instruction determined by the traveling operation to the mower;

the mower is used for walking according to the traveling instruction, collecting position information and outputting the position information to the control device;

the control device is used for displaying a first path traveled by the self-moving equipment;

the control device is also used for receiving an erasing operation and outputting an erasing instruction determined by the erasing operation to the mower;

the mower is used for walking backwards along the first path according to the erasing instruction;

the control device is also used for displaying that the path corresponding to the backward walking path of the self-mobile equipment on the first path is deleted.

26. The mower system of claim 25, wherein the control device is configured to receive a forward operation and a rotational operation and to derive the travel command based on at least one of the forward operation and the rotational operation.