CN114815814A

CN114815814A - Operation method of self-moving device, computer device and storage medium

Info

Publication number: CN114815814A
Application number: CN202210334217.0A
Authority: CN
Inventors: 王雷; 陈熙
Original assignee: Ecoflow Technology Ltd
Current assignee: Ecoflow Technology Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-07-29

Abstract

The application is applicable to the technical field of mobile control, and provides an operation method of a self-moving device, a computer device and a storage medium, wherein the method comprises the following steps: after the target work subarea, the moving path and the operation path are obtained, the self-moving equipment is controlled to move from the initial position to the starting point of the target work subarea along the moving path, the operation is carried out in the target work subarea from the starting point along the operation path, and after the end point of the target work subarea is reached, the operation is finished and the target position is returned along the moving path; according to the method and the device, the moving path is at least partially arranged in the target working sub-area and is arranged on one side of the area to be worked, so that the occupied time of the working area in the working process can be reduced; meanwhile, the size of the target working sub-area is set to be smaller than or equal to the maximum working coverage area determined by the self-moving equipment based on the cruising electric quantity, so that the working time of the self-moving equipment and the reliability and stability of the working area can be ensured, and the working efficiency of the self-moving equipment is improved.

Description

Operation method of self-moving device, computer device and storage medium

Technical Field

The present application belongs to the field of mobile control technologies, and in particular, to an operating method of a mobile device, a computer device, and a storage medium.

Background

With the pursuit of high efficiency and automation of people, self-moving equipment is applied in more and more fields, and the requirements of various aspects such as work production and the like are met by reliably completing specified work tasks. However, the conventional self-moving device has low working efficiency due to working time, instability of a working area and long occupation time of the working area.

Disclosure of Invention

The embodiment of the application provides an operation method of a self-moving device, a computer device and a storage medium, and can improve the working efficiency of the self-moving device.

In a first aspect, the present application provides a method for operating a mobile device, where the method may include:

acquiring a target working subarea, a moving path and an operation path; the target working subarea is positioned in a to-be-worked area, the moving path is at least partially positioned in the target working subarea, and the moving path is positioned on one side of the to-be-worked area; the starting point and the end point of the work path are both positioned in the moving path; the area of the target working subarea is smaller than or equal to the maximum working coverage area of the self-moving equipment; the maximum working coverage area of the self-moving equipment is determined according to the endurance electric quantity of the self-moving equipment;

and controlling the self-moving equipment to move from a starting position to the starting point along the moving path, performing operation on the target work subregion along the operation path, and returning to the target position along the moving path after reaching the end point so as to complete the operation task on the target work subregion.

In a second aspect, an embodiment of the present application provides a working apparatus from a mobile device, where the working apparatus may include:

the acquisition module is used for acquiring a target work subarea, a moving path and a working path; the target working subarea is positioned in a to-be-worked area, the moving path is at least partially positioned in the target working subarea, and the moving path is positioned on one side of the to-be-worked area; the starting point and the end point of the work path are both positioned in the moving path; the area of the target working subarea is smaller than or equal to the maximum working coverage area of the self-moving equipment; the maximum working coverage area of the self-moving equipment is determined according to the endurance electric quantity of the self-moving equipment;

and the driving module is used for controlling the self-moving equipment to move from a starting position to the starting point along the moving path, and after the self-moving equipment works on the target working subarea along the working path, the self-moving equipment returns to a target position along the moving path after reaching the end point so as to complete a working task on the target working subarea.

In a third aspect, the present application provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of the first aspect when executing the computer program.

In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method of the first aspect.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of the first aspect.

It is to be understood that the beneficial effects of the second to fifth aspects can be seen from the description of the first aspect, and are not repeated herein.

Compared with the prior art, the application has the beneficial effects that: according to the method and the device, after the target working subregion, the moving path and the working path are obtained, the self-moving equipment is controlled to move from the initial position to the starting point of the target working subregion along the moving path, the operation is performed in the target working subregion from the starting point along the working path, and after the end point of the target working subregion is reached, the operation is completed and the target position is returned along the moving path; according to the method and the device, the moving path is at least partially arranged in the target working sub-area and is arranged on one side of the area to be worked, so that the occupied time of the working area in the working process can be reduced; meanwhile, the size of the target working subarea is set to be smaller than or equal to the maximum working coverage area determined by the self-moving equipment based on the cruising electric quantity, so that the problem of returning to charge of the self-moving equipment due to insufficient electric quantity is avoided, meanwhile, the working time of the self-moving equipment and the reliability and stability of the working area can be ensured, and the working efficiency of the self-moving equipment is improved; has strong usability and practicability.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flowchart of an operating method of a self-moving device according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a job scenario of a self-moving device provided by an embodiment of the present application;

fig. 3 is a schematic flowchart of a method for determining a target work sub-area according to an embodiment of the present application;

FIG. 4 is a schematic diagram of work area division provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of determining a maximum working coverage area provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of determining a job path provided by an embodiment of the present application;

fig. 7 is a schematic structural diagram of a working device of a self-moving apparatus according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a computer device provided in an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

With the development of science and technology, self-moving equipment is widely applied to various fields of production and life as a novel tool. Under certain specific fields and working environments, the working efficiency and safety can be improved through the self-moving equipment. For example, in the field of environmental greening, a mowing robot is used for managing a lawn with a large area; in the technical field of mine clearance and mine exploration, a mine clearance task is realized by using a mine sweeping robot; and in the household appliance field, the environment cleaning task is completed by the floor cleaning robot or the floor washing robot, and the like.

At present, due to the complexity and diversification of the working environment of the self-moving equipment, the traditional self-moving equipment needs to consume a large amount of manpower, and the defects of unreasonable working area planning, long working area occupation time, instability and the like can exist, so that the working efficiency of the self-moving equipment is low.

In the case of a mowing robot, since the mowing robot is provided with a cutting blade rotating at a high speed during work, there is a certain risk that the mowing robot needs to secure safety of a work area while performing work. When the working area of the traditional mowing robot is too large, the whole working area is directly divided into a plurality of subareas, in the working process of one of the subareas, the mowing robot monitors the electric quantity of a battery, returns to a charging seat to charge when the electric quantity is insufficient, then returns to the point interrupted last time to continue to complete the rest of work until the work of the working subarea is completed, and the point of returning to charge and the point of completing to charge and interrupt may pass through the area which has completed the work; or after the work of the work sub-area is finished, returning to the charging seat or the starting position, waiting for the next time and continuing to work in the next work sub-area, and when entering the next work sub-area from the charging seat or the starting position, possibly passing through the last work sub-area which finishes the work; therefore, when the lawn area is large, due to unreasonable work area division and instability of work time of the mowing robot, for example, when and where the mowing robot returns to charge and when to return to the interrupt point to continue working, the mowing robot may pass through or appear in a certain area in the lawn at an irregular time, and a user cannot determine the working state of the mowing robot and the safe state whether the work area is available, so that a large amount of manpower is consumed for tracking.

Moreover, after the mowing robot completes the operation of the previous working subarea, when the mowing robot operates the next working subarea, the mowing robot may need to pass through the previous working subarea, namely, the mowing robot continues to occupy the previous working subarea, so that in the process of managing a large lawn, the occupying time of a part of the working subarea is long, the overall working efficiency of the mowing robot is low, and the safety factor in the operation process is also low.

In view of the above existing defects, the embodiment of the present application provides an operation method for a self-moving device, which can ensure the stability of the working time and the working area, reduce the occupied time of the working area, and improve the overall working efficiency by planning and setting the working area and the working time by an automatic device and performing operation according to the set path and the set working mode.

The embodiment of the application provides an operation method of self-moving equipment. The specific process of implementing the method is described in the embodiment of the present application.

Referring to fig. 1, fig. 1 is a flowchart illustrating an operating method of a self-moving device according to an embodiment of the present disclosure. As shown in fig. 1, the method comprises the steps of:

s101, acquiring a target work subarea, a moving path and a working path.

In some embodiments, the execution subject of the method may be a self-moving device, or a computer device integrated on the self-moving device, or a computer device which communicates with the self-moving device in a wired or wireless manner and controls the self-moving device to perform work in a wired or wireless manner. In the embodiment of the present application, a self-moving device is taken as an example, and the self-moving device is taken as an execution subject for description.

Referring to fig. 2, fig. 2 is a schematic view of an operation scenario of a self-moving device according to an embodiment of the present disclosure. As shown in fig. 2, the work area of the self-moving apparatus may include a work-performed work sub-area, a work-to-be-performed area, and a moving path. The moving path can be positioned at one side of a to-be-worked area, and the to-be-worked area comprises a target working subarea to be operated; the part region of the movement path may be located within the target work subarea, for example one side of the part segment of the movement path is located within the corresponding target work subarea. In each target work sub-area a start point and an end point of a job are included, which may be located within the movement path, e.g. on one side of a part of a section of the movement path, which part of the section is located within the target work sub-area.

Correspondingly, the starting position corresponding to the working area may be a charging position of the mobile device; when the self-moving device needs to enter the target work sub-area to perform work, a moving path from the starting position to the starting point of the target work sub-area may be recorded as a round-trip distance corresponding to the current target work sub-area. In each target work subarea, the self-moving equipment plans a corresponding work path according to the corresponding round-trip distance and the power consumption which can be generated in the target work subarea, and enables the end point of the work path to be in the moving path area. The operation path may be in other forms, which is only illustrated in fig. 2 by way of example, for example, based on the current view in fig. 2, and may be a track where the operation is performed in the left-right direction from the starting point to the side away from the movement path; when the operation path is a track for back-and-forth operation in the left-and-right direction, the end point of the operation path can return to the position of the starting point; that is, the positions of the operation path and the end point of the target work sub-area are not particularly limited, and may be set based on the maximum work coverage area that can be correspondingly realized by charging the mobile device once.

The area of the target work subarea is smaller than or equal to the area of the maximum work coverage subarea of the mobile device, as shown in fig. 2, the maximum work coverage subarea includes the target work subarea. For example, when a partial section of the movement path is completely located in the corresponding target work sub-region, the area of the target work sub-region is equal to the area of the maximum work coverage sub-region, and when one side of the partial section of the movement path is partially located in the corresponding target work sub-region, the area of the target work sub-region is smaller than the area of the maximum work coverage sub-region. The width of the moving path can be set according to the working width of the mobile device and the area corresponding to the target working subregion.

For example, the area of the maximum working coverage sub-area may be determined according to the cruising power of the self-mobile device, or based on the cruising power and the round-trip distance of the target working sub-area from the starting position.

It should be noted that fig. 2 only illustrates an exemplary manner of planning a working area when the self-moving device performs work, and for working areas with different shapes, flexible planning may also be performed based on the cruising power of the self-moving device, the area of a target working sub-area, a moving path, and the like, and based on the division of the moving path, the stability of the working sub-area where the work has been performed in the working area is ensured; ensuring the relative stability of the region to be worked based on the calculation of the maximum working coverage area of the maximum working coverage sub-region; and the maximum working coverage area is determined according to the endurance electric quantity of the self-moving equipment, so that the timeliness of each target working subarea is ensured, and the efficiency of operating the whole working area is improved.

Exemplarily, as shown in fig. 2, the target work subarea is located in the to-be-worked area, the moving path is at least partially located in the target work subarea, and the moving path is located at one side of the to-be-worked area; the starting point and the end point of the work path are both positioned in the moving path; the area of the target working subarea is smaller than or equal to the maximum working coverage area of the self-moving equipment; the maximum working coverage area of the self-moving equipment is determined according to the endurance electric quantity of the self-moving equipment.

For example, before a work area is worked on from a mobile device, the entire work area may be mapped. For example, the mobile device may receive control of another mobile terminal, move around the boundary of the work area and record boundary information and obstacle position information, or obtain the boundary of the work area and obstacle position information input by the user on a map, or obtain the boundary information and obstacle position information recorded around the boundary of the work area and transmitted by another mobile positioning device.

When the mobile device tracks the boundary, the map can be built based on the acquired boundary information, and the whole map corresponding to the whole working area is obtained. For example, the position information of the map, the size information of the whole map, the position information of the obstacle in the map, and the like are determined based on the tracked track.

Exemplary implementation algorithms for mapping from the mobile device include, but are not limited to, an overlay grid mapping algorithm, a counting mapping algorithm, or a Truncated Signed Distance Function (TSDF) based mapping algorithm.

In some embodiments, after the mobile device completes the map building, the range of the common working area may be divided according to the map shape feature corresponding to the current working area.

For example, the self-moving device may partition an edge path as a common work area according to the obtained boundary information of the work area and the corresponding map shape feature, for example, a range through which a path trajectory shown in fig. 2 passes; or after the map is built by the self-moving equipment, the map corresponding to the working area can be displayed to the user through the display screen, so that the user can directly operate the map and a common working area is divided; or after the self-mobile equipment completes the drawing construction, the self-mobile equipment transmits the drawing to the user terminal in a wired or wireless mode, and the self-mobile equipment receives a common working area set by the user and fed back by the user terminal; or after the mobile device completes the map building, the common working area determined by other mobile devices in the map is received in a wired or wireless manner, the other mobile devices may be remote-controlled robots or handheld positioning devices, and the determined common working area may be an area range selected by a user in the map by the remote-controlled robot or an area range determined by the user through the handheld positioning devices; or after the mobile device determines the initial common working area according to the boundary information and the shape characteristics of the map, receiving adjustment information input by a user, and adjusting the initial common working area according to the adjustment information to obtain the finally determined common working area.

In some embodiments, the self-moving device may further divide the working area according to boundary information of the working area, obstacle position information, information of a finally determined common working area, and mileage information (or mileage) of the self-moving device, and divide each working sub-area in the established map, for example, the working sub-area 1, the working sub-area 2, the working sub-area 3, and a moving path (common working area) located on one side of the working sub-area, as shown in (a) of fig. 4.

As shown in fig. 2, the start point and the end point of the divided work sub-area are located in the common work area, and the operation of the work sub-area is completed according to the operation path from the start position to the start point of the work sub-area by the mobile device and is returned to the start position or the charging dock, which can be completed within the maximum power of the mobile device.

For example, after the self-moving device performs the region segmentation, adjustment information for each working sub-region, which is input by a user, may be received, and the working region is re-segmented based on the adjustment information, for example, the adjustment information may be information for increasing an overlapping region between two adjacent working sub-regions, so as to ensure that the operation of the self-moving device at the boundary between the two working sub-regions is more complete, improve the operation coverage rate, and avoid a trace region where no operation occurs at the boundary between the adjacent working sub-regions where the operation has been completed; the adjustment information may also be information for adjusting the boundary of the common working area at least partially located in the working sub-area, for example, if the common working area is divided along a first boundary of the working area, the first boundary is in a curved line form, a second boundary of the common working area may be adjacent to the working sub-area or partially located in the working sub-area, and the adjustment information may also be used to adjust the second boundary of the common working area to be in a curved line form parallel to the first boundary, as shown in (c) of fig. 4. The adjustment information of the user is not particularly limited, and the adjustment information input by the user for the region segmentation may be directly or indirectly received from the mobile device.

For example, after determining the divided work sub-area, a job plan input by the user is received from the mobile device, where the job plan may be a job task that needs to be completed for a certain time unit, for example, a job for completing one work area or several work sub-areas in one day, etc. And the self-moving equipment regularly completes the operation of the corresponding area according to the operation plan and the operation path of each work subarea.

The working area may be an outdoor lawn area to be cleaned, an indoor ground to be cleaned, or a mine laying area to be detected. Fig. 2 illustrates only the position relationship and the division form of the work subarea and the common work area by way of example, and the position relationship and the division form are not limited to these, and may be determined by division according to the actual application and the shape feature of the work area. For example, the position relationship between the working sub-area and the common working area may be a position relationship between the common working area and the working sub-area corresponding to the moving path 1 or the moving path 2 as shown in (b) in fig. 4, or a position relationship between the common working area and the working sub-area before the common working area as shown in (c) in fig. 4.

S102, controlling the self-moving equipment to move from the starting position to the starting point along the moving path, performing operation on the target work subarea along the operation path, and returning to the target position along the moving path after reaching the end point so as to complete the operation task on the target work subarea.

In some embodiments, the map of the work area stored in the mobile device is divided, and then the position information of each work sub-area and the position information of the movement path are obtained, and the start point information and the work path corresponding to each work sub-area are obtained.

For example, as shown in fig. 2, according to the position information and the position information of the movement path of the target work sub-region, and the start point information and the work path corresponding to the target work sub-region, the self-moving device moves from the start position of the work region to the start point of the target work sub-region along the movement path, performs a work on the target work sub-region along the work path, and returns to the target position along the movement path after reaching the end point of the target work sub-region, so as to complete the work task on the target work sub-region.

Through the embodiment of the application, the self-mobile equipment can map the working area according to the boundary information of the working area and the position information of the obstacle, the working sub-areas and the common working areas are divided based on the built map, the division of the working area and the working state corresponding to each working sub-area are more stable, meanwhile, each working sub-area is divided based on the maximum electric quantity of the self-mobile equipment, the operation is periodically finished according to a preset working plan, the completion efficiency of the whole operation progress can be improved, the occupied time of the working sub-areas with finished operation is reduced, and the safety in the operation process is improved.

Based on the overall implementation flow of the self-moving device operation method, a specific calculation process of the self-moving device on the work subarea and the movement track is further described below.

Referring to fig. 3, fig. 3 is a schematic flowchart of a method for determining a target work sub-area according to an embodiment of the present application. In some embodiments, prior to acquiring the target work sub-region, the method may further comprise the steps of:

s301, determining the maximum working coverage area according to the endurance electric quantity of the self-moving equipment;

for example, the endurance capacity of the self-moving device may represent a corresponding relationship between the total capacity and the endurance mileage of the self-moving device after the self-moving device completes one charge, the self-moving device may correspond to different endurance mileage in different working areas, and the consumed capacity corresponding to the maximum endurance mileage is used as the endurance capacity of the self-moving device.

Illustratively, the self-moving device calculates the power consumption of the self-moving device in the real-time moving process according to a route which needs to be moved and a speed curve corresponding to the route in the working area, a first parameter related to the self-moving device in the moving process and a second parameter acquired when the self-moving device builds a map, determines the maximum distance which can be moved by the self-moving device according to the power consumption and the consumption percentage of the power, and determines the maximum working coverage area based on the maximum distance which can be moved in the working area.

It should be noted that, since the self-moving device can cover a certain width (for example, the width of a mowing robot cutting knife) during moving, the maximum working coverage area can be determined by the distance moved by the cruising power amount during operation.

S302, determining a target work subarea according to the maximum work coverage area of the mobile equipment.

For example, for the shape feature of the working area and the maximum working coverage area M supported by the cruising power of the mobile device, a sub-area with equal area may be divided in the working area, and then the sub-area is compensated and adjusted by combining the movement path planned from the mobile device and the working track to obtain a working sub-area, such as M shown in (a) diagram in fig. 5 ₁ The moving path corresponding to the common working area may be partially located in the working sub-area, and the size of the common working area located in the working sub-area may be determined based on the working track and the maximum working coverage area. For example, in fig. 2, the start point and the end point of the target working sub-region need to fall within the common working region, and if the middle part track of the working track does not pass through the common working region and the end point of the working track cannot fall within the common working region under the cruising electric quantity, the area of the working track passing through the common working region may need to be increased, and the lateral expansion of the working track is reduced, so that the end point of the working track falls within the common working region.

Illustratively, and in the same manner, M is determined ₁ Next working subregion M adjacent to the working subregion ₂ (ii) a When dividing M ₂ When working a sub-region, it is also necessary to calculate the round-trip distance between the starting point and the starting position of the working sub-region, as shown in (b) of fig. 5, and M is determined according to the maximum working coverage area M ₂ The area of the working sub-region is required to be M ₂ Adding from B to B on the basis of the area of the working sub-region ₂ The round trip distance between the two. By analogy with thatAnd determining each working subarea in the subsequent to-be-worked areas.

Illustratively, if an obstacle exists in the to-be-worked area, the area of the actually-divided working sub-area is M _n Plus the area occupied by the barrier; wherein M is _n The area of the nth working sub-region calculated for the nth time.

By the mode, the work subarea is divided based on the maximum work coverage area supported by the cruising electric quantity of the self-moving equipment, the divided work subarea is compensated and adjusted by combining the moving path planned by the self-moving equipment and the operation track to obtain the target work subarea, the work area can be divided more accurately, and meanwhile, the occupied time of the work subarea can be controlled based on the determination of the cruising electric quantity of the self-moving equipment on the maximum operation mileage, so that the occupied time of the work subarea is reduced, the occupied time of the work subarea is shortened, the self-moving equipment is in a saturated operation state with the maximum cruising electric quantity, and the operation efficiency of the whole work area is improved.

In some embodiments, determining the maximum operating coverage area based on the endurance charge from the mobile device comprises:

acquiring an initial position and a cruising electric quantity of the mobile equipment; determining a starting point of an operation path and a round-trip distance from the starting point to the starting position in the area to be worked according to the starting position and the moving path; determining the maximum operating distance of the self-moving equipment according to the round-trip distance and the endurance electric quantity; and determining the maximum working coverage area according to the maximum working distance and the single working width of the self-moving equipment.

For example, the cruising mileage information of the self-mobile device is generally a mapping relationship between cruising power and a driving distance, that is, the distance that the self-mobile device can move under a certain cruising power can be determined according to the mapping relationship. A fixed value of the driving range information may be stored in the self-moving device. Or, the self-moving equipment is provided with a function related to parameters such as the altitude of the target area, and the cruising electric quantity and the driving distance are mapped through the function. Or, calculating the corresponding driving range information under a certain electric quantity by acquiring the second parameter and the first parameter of the mobile device in the process of establishing the graph.

For example, the power consumption may be calculated based on the working distance, and the corresponding calculation function may be represented as u — F (x, y, z), where x may represent a route that the self-moving device needs to move, y may represent a speed curve corresponding to the route, z may represent a first parameter corresponding to the self-moving device and a second parameter obtained in the mapping process, and u may represent the power consumed by the self-moving device to perform the movement or a percentage of the power. The calculation function may be an equivalent electric quantity function, and the electric quantity consumption percentage corresponding to the current working distance is calculated through the equivalent electric quantity function based on a corresponding relationship between the electric quantity consumption characteristic and a first parameter related to power of the self-moving device and a corresponding relationship between the electric quantity consumption characteristic and indexes such as the driving range, and the like, in different moving stages of the self-moving device.

For example, the first parameter may include a weight of the self-moving device, a motor torque-rotational speed-power curve of the self-moving device, a battery life curve, a tire parameter, a kinematic model, a static power consumption, etc., and the first parameter may be directly read from a state specification parameter of the self-moving device. The second parameter may include terrain, gradient, ground friction, altitude information, etc. of the working area, and the second parameter may be acquired by the mobile device through a camera or a positioning device during the mapping process.

Correspondingly, when the maximum working distance is determined according to the round-trip distance and the cruising electric quantity, the maximum working distance of the mobile equipment under the current cruising electric quantity can be determined based on the inverse operation of the calculation function, and the maximum working coverage area can be obtained by multiplying the maximum working distance and the single working width by further combining the single working width of the mobile equipment.

In some embodiments, determining a maximum working distance from the mobile device based on the round trip distance and the endurance charge comprises:

determining round-trip electricity consumption quantity from the mobile equipment to move from the starting position to the starting point and from the starting point to return to the target position according to the round-trip distance; determining the maximum operation available electric quantity of the self-moving equipment according to the endurance electric quantity and the round-trip electric quantity; acquiring unit time power consumption and movement speed of the mobile equipment in an operation state; and determining the maximum working distance according to the power consumption of the self-moving equipment in the working state per unit time, the movement speed and the maximum working available power.

For example, the power consumption and movement speed per unit time obtained from the mobile device in the working state includes:

for a certain moment t in the course of motion ₀ And decomposing the motion speed of the mobile equipment onto corresponding wheels according to the target path, the topographic information obtained by mapping and the kinematic model of the robot. In the embodiment of the present application, the target path may include a path from the initial position to the start point of the work sub-region, a path from the end point of the work sub-region back to the initial position, and a path through which the work track in the work sub-region passes; the topographic information obtained by mapping may include a ground slope, a ground friction, elevation information, and the like corresponding to the target path.

And calculating the torque and the rotating speed corresponding to each motor in the sub-mobile equipment according to the weight of the robot, the ground friction force, the tire parameters and the altitude information.

Illustratively, for a certain time t during the movement ₀ The self-moving equipment is subjected to ground friction and the power of the advancing wheels; the torque corresponding to each motor can be calculated according to the equations (1) to (4), and the equations (1) to (4) are expressed as follows:

a＝F/m (1)

F＝F _m -f-mg*sinθ (2)

f＝k*f ₀ (3)

F _m ＝L/r (4)

wherein a is the current time t ₀ The acceleration of the mobile equipment can be acquired through an acceleration sensor; f is the current time t ₀ The resultant force experienced by the mobile device; m is the mass of the mobile equipment and can be obtained by reading the specification parameters of the mobile equipment; f _m For the power of advancing wheelsThe current rotating speed of the motor corresponds to and can be directly read; f is the ground friction; theta is the ground gradient and can be obtained during map building; g is the acceleration of gravity; f. of ₀ Measuring standard friction corresponding to a standard field and a standard tire; k is a compensation coefficient; l is the torque of the motor; r is the wheel radius.

For example, during the mapping process of the self-moving device, when the acceleration is 0 in a constant speed form, the current friction force f can be calculated according to the formula (2), and the current friction force f can be calculated according to f and f ₀ The compensation coefficient k can be obtained by equation (3).

Correspondingly, different tire pairs correspond to different standard frictional forces f ₀ The standard friction force can also change along with the service life of the tire, and the change rule can be measured based on a standard field of a laboratory environment or obtained by a table look-up method.

Illustratively, the current time t ₀ According to the operating speed v of the self-moving apparatus _c The rotating speeds of the right wheel motor and the left wheel motor are calculated according to the kinematics model decomposition, namely the linear speed of the wheels can be calculated according to the movement speed of the self-moving equipment based on the inverse kinematics model of the two-wheel differential self-moving equipment; the formula is expressed as follows:

wherein v is _r Indicating linear velocity, v, of the right-wheel motor _l Indicating the linear speed of the left wheel motor. v. of _c Representing a velocity of movement from a mobile device center point; ω represents the angular velocity of rotation from the mobile device itself; d _ab Representing the distance between the left and right wheels of the self-moving device.

Calculating the rotating speeds of the left wheel and the right wheel according to a formula (6) and a formula (7); the expressions (6) and (7) are expressed as follows:

ω _r ＝v _r /(π*D) (6)

ω _l ＝v _l /(π*D) (7)

wherein D represents a self-moving deviceThe diameter of the wheel of (a); pi is the circumference ratio; omega _r The rotational speed, omega, of the right-wheel motor _l The rotating speed of the left wheel motor.

Then, calculating to obtain the power corresponding to the left wheel motor and the right wheel motor respectively according to the rotating speed of the left wheel motor, the rotating speed of the right wheel motor and the corresponding relation between the power of the motors and the rotating speed; the corresponding relation between the power and the rotating speed of the motor can be directly obtained from preset information of a manufacturer of the mobile equipment, or a torque-rotating speed-power curve is obtained through a torque-rotating speed-power test experiment; calculating the power of each motor according to a preset torque-rotating speed-power curve of the motor, wherein the power can comprise the power P of the left wheel motor _l And power P of right wheel motor _r 。

The current time t can be calculated according to the power of each motor and the static power consumption of the self-moving device ₀ The total system current I corresponding to the entire self-moving device. The formula is calculated under the drawing:

I＝(P _l +P _r )/U+I _s (8)

wherein U is the current working voltage; i is _s The static power consumption of the system is a fixed value and can be read from the internal parameters of the system.

The above logic calculation is performed for each motion phase in the whole motion process of the mobile device, and the power of the mobile device at each time is integrated to obtain the power consumption (absolute value) of each motion phase and the whole motion process.

Wherein, the motion process of the self-moving equipment can comprise the motion stages of uniform acceleration, uniform speed, uniform deceleration and stop. The system of the self-moving device discretizes each motion phase according to a certain operation period, for example, 50hz, namely, one calculation period is 20 ms. For each calculation cycle, determining the acceleration a and the speed v of the current self-moving equipment according to the motion phase _c According to the above calculation method, the current I corresponding to the mobile device in the current calculation cycle is obtained ₀ Solving each calculation cycle of each motion phase in the whole motion process, and then solving the whole motion processThe currents are summed to obtain the amount of electricity (absolute value) cap consumed in the whole movement process.

Finally, the percentage of power consumption is calculated based on the battery life. The calculation formula is expressed as follows:

cap_percentage＝cap/cap_max (9)

wherein, cap _ percentage is the percentage of power consumption; cap _ max is the battery full charge.

For example, the full charge of the battery may be calculated by: when the mobile device is shipped from the factory, the full charge amount C is obtained, the battery cycle number is N (i.e., the cycle number when 80% C is reached), that is, the current battery cycle number N is known, and then the full charge amount of the current battery is: cap _ max ═ C (1-0.2/N ═ N).

For example, based on the above calculation, the power consumption amount (or power consumption percentage) per unit time and the movement speed from the mobile device may be calculated; corresponding electricity consumption can be calculated for different movement stages, for example, the round-trip electricity consumption corresponding to the movement stages from the starting position to the starting point of the mobile equipment and from the starting point to the target position is calculated according to the round-trip distance; subtracting the round-trip electricity consumption from the endurance electricity to obtain the maximum operation available electricity of the mobile equipment; and then, calculating the maximum working distance according to the power consumption of the self-moving equipment in the working state per unit time, the movement speed and the maximum working available power.

In a possible implementation manner, a mapping relation table of the cruising electric quantity and the working distance is stored in the self-mobile device, and the corresponding maximum working distance when the cruising electric quantity is the maximum working available electric quantity can be inquired according to the mapping relation table.

In some embodiments, determining the target work sub-region from the maximum work coverage area of the self-moving device comprises:

determining a maximum working coverage sub-area from the area to be worked according to the starting point, the maximum working coverage area and the moving path; segmenting the maximum working coverage sub-area according to the single-time operation width along the direction of the moving path to obtain a plurality of unit operation areas; the width of the unit operation area is less than or equal to the width of the single operation, and the moving path is at least partially positioned on one side of the unit operation area; when the number of the unit operation areas is an uneven number, adjusting the maximum working coverage sub-area according to a preset adjusting strategy to obtain a target working sub-area; when the number of the unit working areas is an even number, the maximum working coverage sub-area is set as the target working sub-area.

For example, since there may be a round-trip distance between the initial position and the starting point, based on the starting point, within the region to be worked, a maximum working coverage sub-region having an area smaller than or equal to the maximum working coverage area is determined; and dividing the maximum working coverage sub-area along the direction of the moving path according to the single-time working width, and obtaining a plurality of unit working areas as shown in (a) in the figure. The single-job width corresponds to the actual job width that can be achieved by the mobile device, and the width of the unit job region may be adjusted according to the number of unit job regions that can be divided by the maximum work coverage sub-region, so that the width of the unit job region is less than or equal to the single-job width, as shown in (f) of fig. 6, the number of unit job regions divided based on the single-job width is odd, in order to ensure that the moving path is at least partially located at one side of the unit job region, the number of unit job regions needs to be even, in order to ensure sufficient cruising power, the initially divided unit job region needs to be reduced, and a reduced unit job region having a width less than the single-job width is obtained.

As shown in (a) and (b) of fig. 6, when the number of the divided unit work areas is even, the work path is directly planned, and the maximum work coverage sub-area is taken as the target work sub-area; when the number of the divided unit operation areas is an uneven number (possibly an odd number or an area with a width smaller than the single operation width is remained), the maximum working coverage sub-area is adjusted according to a preset adjustment strategy to obtain a target working sub-area.

In some embodiments, determining the maximum working coverage sub-area from the area to be worked according to the starting point, the maximum working coverage area and the moving path includes:

acquiring boundary information of a region to be worked; the boundary information comprises a terminal boundary of the area to be worked; generating a boundary distance mapping relation according to the distance between the terminal boundary of the area to be worked and the moving path; the terminal boundary is the boundary of one side of the region to be worked away from the moving path; and determining the maximum working coverage sub-area in the area to be worked according to the starting point, the moving path and the boundary distance mapping relation.

For example, as shown in (d) of fig. 4, when the boundary of the region to be worked (the region corresponding to the working sub-region 2 and the working sub-region 3) is an irregular curved boundary, the distance between the terminal boundary on the side away from the movement path and the movement path may include the distance corresponding to each segment of the working track, such as the first distance and the second distance; when the terminal boundary is in an irregular curve or zigzag form and is not parallel to another opposite boundary, the corresponding distance of each segment of the operation track is different, for example, the first distance and the second distance may be different, so that a boundary distance mapping relationship between the terminal boundary and the distance is established.

For example, as shown in (d) of fig. 4, when the boundary on the side of the moving path is also an irregular curved or broken line boundary, the moving distance from the moving device from the start position to the start point of the work sub-area 2 and the moving distance from the end point back to the start position may be a straight moving distance or a curved moving distance, such as the first moving distance and the second moving distance shown in (d) of fig. 4. In the moving path, when the moving distance from the starting point to the end point of the working subregion 2 is small, the moving distance can be ignored, and only the reciprocating moving distance from the initial position to the starting point is calculated; or when the operation track close to the moving path side is positioned in the moving path, the distance from the starting point to the end point is directly calculated to be in the maximum working coverage sub-area. And determining the maximum working coverage sub-area in the area to be worked based on the boundary distance mapping relation, the first movement distance and the second movement distance in the working sub-area 2.

It should be noted that the range corresponding to the maximum operating coverage sub-region shown in the diagram (d) in fig. 4 is only schematically illustrated, and the range of the maximum operating coverage sub-region is limited, for example, the range may be a region range excluding a part of the moving path.

By the mode, the maximum working coverage sub-area corresponding to the mobile equipment can be more accurately determined based on the boundary information or the shape characteristics of the area to be worked, and the reliability of the operation progress of the mobile equipment under the specific cruising electric quantity is ensured.

In some embodiments, when the number of the unit work areas is an uneven number, adjusting the maximum work coverage sub-area according to a preset adjustment strategy to obtain the target work sub-area includes:

when the number of the unit operation areas is 2n + lambda, determining the area covered by the 2n unit operation areas as a target work subarea, wherein lambda is more than or equal to 0 and less than 2; alternatively, the area of the unit working area is reduced or the overlapping area between two adjacent unit working areas is increased so that the maximum working coverage sub-area can be divided by an even number of unit working areas.

For example, as shown in (a) and (b) of fig. 6, when an even number of unit work areas are divided based on the work width of the self-moving apparatus, a corresponding work path may be determined based on the central axis of each unit work area; when the divided unit working areas are odd as shown in fig. 6 (c), the area covered by one unit working area is reduced as the area of the target working sub-area as shown in fig. 6 (d); or increasing the overlapping area between two adjacent unit working areas so that the maximum working coverage sub-area can be divided by an even number of unit working areas, as shown in (e) of fig. 6; or the area of the unit working area is reduced so that the maximum working coverage sub-area can be divided by an even number of unit working areas, as shown in (f) diagram in fig. 6.

By the mode, the starting point and the end point of each working subarea can be ensured to be positioned in the common working area, so that the self-moving equipment can only move back and forth between the starting position and the working subarea based on the moving path, the occupied time of the working area when other areas to be operated are operated is reduced, the stability of the operation route is ensured, the operation efficiency is improved, and the safety of the whole working area when the whole working area is operated is ensured.

In some embodiments, prior to obtaining the job path, the method further comprises:

taking the central axis of each unit operation area as a sub-path of the self-moving equipment in the unit operation area; and connecting the head and the tail of the sub-path of each unit work area from the unit work area where the starting point is located to obtain the work path from the mobile equipment.

For example, as shown in (a) of fig. 6, for one work sub-area M, the work sub-area may be divided into an even number of unit work areas based on the unit work width of the mobile device, the central axis of each unit work area is used as a path, and then the paths of each unit work area are connected end to plan a motion path of the robot, as shown in (b) of fig. 6.

In some embodiments, obtaining a movement path comprises:

receiving a moving path input by a user side; or determining a moving path according to the position of the starting position or the target position of the mobile equipment relative to the area to be worked, so that the moving path is positioned on one side of the area to be worked and the target position is positioned on the moving path.

For example, the self-moving device may partition a common work area at an edge of one side as a moving path according to the obtained boundary information of the work area and the corresponding map shape feature; or after the map is built by the mobile equipment, the built map is displayed on a display screen, a moving path dividing instruction input by a user is received, and area information corresponding to the moving path is generated; or receiving the moving path information fed back by the user based on other mobile devices in a wired or wireless mode. Or determining a moving path according to the position of the starting position or the target position relative to the area to be worked; for example, if the start position is at the end point of a boundary in the entire working area, the movement path is divided along the boundary, such as movement path 1 shown in (b) of fig. 5; if the start position is at the midpoint of one boundary, the moving path is divided along the boundary or another boundary connected to the boundary, as shown in fig. 4 (b) as moving path 2. The position of the charging seat can be an initial position or a target position.

According to the embodiment of the application, after the target work subarea, the moving path and the operation path are obtained, the self-moving equipment is controlled to move from the initial position to the initial point of the target work subarea along the moving path, the operation is performed in the target work subarea from the initial point along the operation path, and after the end point of the target work subarea is reached, the operation is completed and the target position is returned along the moving path; according to the method and the device, the moving path is at least partially arranged in the target working sub-area and is arranged on one side of the area to be worked, so that the occupied time of the working area in the working process can be reduced; meanwhile, the size of the target working subregion is set to be smaller than or equal to the maximum working coverage area determined by the self-moving equipment based on the cruising electric quantity, so that the working time (cruising time) of the self-moving equipment and the reliability and stability of the working region can be ensured, and the working efficiency of the self-moving equipment is improved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 7 shows a block diagram of a working device of a self-moving apparatus according to an embodiment of the present application, and only a part related to the embodiment of the present application is shown for convenience of description.

Referring to fig. 7, the working device of the self-moving apparatus includes:

an obtaining module 71, configured to obtain a target work subarea, a moving path, and a work path; the target working subarea is positioned in a to-be-worked area, the moving path is at least partially positioned in the target working subarea, and the moving path is positioned on one side of the to-be-worked area; the starting point and the end point of the work path are both positioned in the moving path; the area of the target working subarea is smaller than or equal to the maximum working coverage area of the self-moving equipment; the maximum working coverage area of the self-moving equipment is determined according to the endurance electric quantity of the self-moving equipment;

and the driving module 72 is configured to control the self-moving device to move from a starting position to the starting point along the moving path, perform operation on the target work sub-area along the operation path, and return to the target position along the moving path after reaching the end point, so as to complete an operation task on the target work sub-area.

According to the embodiment of the application, after the target work subarea, the moving path and the operation path are obtained, the mobile equipment is controlled to move from the initial position to the starting point of the target work subarea along the moving path, the operation is performed in the target work subarea along the operation path from the starting point, and after the end point of the target work subarea is reached, the operation is completed and the target position is returned along the moving path; according to the method and the device, the moving path is at least partially arranged in the target working sub-area and is arranged on one side of the area to be worked, so that the occupied time of the working area in the working process can be reduced; meanwhile, the size of the target working subregion is set to be smaller than or equal to the maximum working coverage area determined by the self-moving equipment based on the cruising electric quantity, so that the working time (cruising time) of the self-moving equipment and the reliability and stability of the working region can be ensured, and the working efficiency of the self-moving equipment is improved.

It should be noted that, for the information interaction, execution process, and other contents between the above devices/units, the specific functions and technical effects thereof based on the same concept as those of the method embodiment of the present application can be specifically referred to the method embodiment portion, and are not described herein again.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.

Fig. 8 is a schematic structural diagram of a computer device 8 according to an embodiment of the present application. As shown in fig. 8, the computer device 8 of this embodiment includes: at least one processor 80 (only one shown in fig. 8), a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, the steps in the above embodiments being implemented when the computer program 82 is executed by the processor 80.

The computer device 8 may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of the computer device 8 and does not constitute a limitation of the computer device 8, and may include more or less components than those shown, or combine certain components, or different components, such as input output devices, network access devices, etc.

The Processor 80 may be a Central Processing Unit (CPU), and the Processor 80 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 81 may in some embodiments be an internal storage unit of the computer device 8, such as a hard disk or a memory of the computer device 8. The memory 81 may also be an external storage device of the computer device 8 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the computer device 8. The memory 81 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 81 may also be used to temporarily store data that has been output or is to be output.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunication signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A method of operating from a mobile device, the method comprising:

2. The method of claim 1, wherein prior to said acquiring the target work sub-region, the method further comprises:

determining the maximum working coverage area according to the cruising electric quantity of the self-moving equipment;

and determining the target working subarea according to the maximum working coverage area of the self-moving equipment.

3. The method of claim 2, wherein said determining the maximum operating coverage area based on the range power of the self-moving device comprises:

acquiring the initial position and the endurance electric quantity of the self-moving equipment;

according to the starting position and the moving path, determining a starting point of the operation path and a round-trip distance from the starting point to the starting position in the area to be worked;

determining the maximum working distance of the self-moving equipment according to the round-trip distance and the endurance electric quantity;

and determining the maximum working coverage area according to the maximum working distance and the single working width of the self-moving equipment.

4. The method of claim 3, wherein said determining a maximum operating distance of said self-moving device based on said round trip distance and said endurance charge comprises:

determining round-trip electricity consumption of the self-moving equipment moving from the starting position to the starting point and returning from the starting point to the target position according to the round-trip distance;

determining the maximum operation available electric quantity of the self-moving equipment according to the cruising electric quantity and the round-trip electric quantity;

acquiring the power consumption and the movement speed of the self-moving equipment in the working state in unit time;

and determining the maximum working distance according to the power consumption of the self-moving equipment in the working state per unit time, the movement speed and the maximum working available power.

5. The method of claim 2, wherein said determining the target operating sub-region from the maximum operating coverage area of the self-moving device comprises:

determining a maximum working coverage sub-area from the area to be worked according to the starting point, the maximum working coverage area and the moving path;

segmenting the maximum working coverage sub-area according to the single-time operation width along the direction of the moving path to obtain a plurality of unit operation areas; the width of the unit operation area is smaller than or equal to the single operation width, and the moving path is at least partially positioned on one side of the unit operation area;

when the number of the unit operation areas is an uneven number, adjusting the maximum working coverage sub-area according to a preset adjustment strategy to obtain the target working sub-area;

and when the number of the unit operation areas is even, taking the maximum work coverage sub-area as the target work sub-area.

6. The method of claim 5, wherein determining a maximum working coverage sub-area from the area to be worked according to the starting point, the maximum working coverage area, and the movement path comprises:

acquiring boundary information of the area to be worked; the boundary information comprises a terminal boundary of the area to be worked;

generating a boundary distance mapping relation according to the distance between the terminal boundary of the area to be worked and the moving path; the terminal boundary is the boundary of one side of the area to be worked away from the moving path;

and determining the maximum working coverage sub-area in the area to be worked according to the starting point, the moving path and the boundary distance mapping relation.

7. The method according to claim 5, wherein when the number of the unit work areas is an uneven number, adjusting the maximum work coverage sub-area according to a preset adjustment strategy to obtain the target work sub-area comprises:

when the number of the unit operation areas is 2n + lambda, determining the area covered by the 2n unit operation areas as the target work subarea, wherein lambda is more than or equal to 0 and less than 2; alternatively, the first and second electrodes may be,

reducing the area of the unit working area or increasing the overlapping area between two adjacent unit working areas so that the maximum working coverage sub-area can be divided by an even number of the unit working areas.

8. The method of claim 5, wherein prior to said obtaining a job path, the method further comprises:

taking the central axis of each unit operation area as a sub-path of the self-moving equipment in the unit operation area;

and connecting the head and the tail of the sub-path of each unit work area from the unit work area where the starting point is located to obtain the work path of the mobile equipment.

9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.