阅读说明：本技术 一种区域识别方法、自移动设备及存储介质 (Area identification method, self-moving equipment and storage medium ) 是由 汪圆圆 于 2020-05-25 设计创作，主要内容包括：本申请提供一种区域识别方法、自移动设备及存储介质,其中,所述区域识别方法包括：确定区域：基于探测到的所在环境的边界点确定待探索区域；作业控制：在待探索区域内选择至少一个工作点,控制自移动设备依次行进至所述至少一个工作点进行作业；探测控制：在行进至工作点的过程中以及行进至工作点时,控制自移动设备继续探测新的边界点,基于继续探测到的新的边界点确定下一个待探索区域；在下一个待探索区域内执行作业控制和探测控制,直至边界点被探测完毕。本方法实现自移动设备的分区域行进,使得自移动设备的行进轨迹更加规律,从而对区域边界的识别更加高效。(The application provides a region identification method, a self-moving device and a storage medium, wherein the region identification method comprises the following steps: determining a region: determining a region to be explored based on the detected boundary point of the environment; and (3) operation control: selecting at least one working point in an area to be explored, and controlling the mobile equipment to sequentially move to the at least one working point for operation; detection control: in the process of moving to the working point and when the mobile device moves to the working point, controlling the mobile device to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point; and executing operation control and detection control in the next area to be explored until the boundary point is detected. The method realizes the regional traveling of the self-moving equipment, so that the traveling track of the self-moving equipment is more regular, and the regional boundary is more efficiently identified.)

1. An area identification method, which is suitable for an autonomous mobile device, is characterized by comprising the following steps:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

2. The method of claim 1, wherein selecting at least one working point within the area to be explored comprises:

selecting a plurality of travel points uniformly distributed in the area to be explored as the working points, wherein the travel points comprise boundary points and/or area points.

3. The method of claim 1, wherein in the event a new boundary point is detected during travel, the method further comprises:

maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

4. The method of claim 1, wherein the self-moving device is provided with a sensor;

determining a region to be explored based on the detected boundary points of the environment, comprising:

determining a real boundary based on the boundary points detected by the sensor;

determining the area to explore based on the real boundaries of closed connections.

5. The method of claim 1, wherein the self-moving device is provided with a sensor;

determining a region to be explored based on the detected boundary points of the environment, comprising:

determining a real boundary based on the boundary points detected by the sensor;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the area to explore based on the real boundary and the virtual boundary of the closed connection.

6. A method according to claim 1 or 3, wherein determining the next area to be explored based on new boundary points that continue to be detected comprises:

taking the area to be explored after the movement is finished as a taboo area;

determining an update region based on the new boundary points and the detected boundary points;

determining a next to-be-explored area based on a difference value between the update area and the tabu area.

7. The method of claim 6, wherein the self-moving device is provided with a sensor;

determining an update region based on the new boundary points and the detected boundary points, comprising:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining the update region based on the real boundary of closed connections.

8. The method of claim 6, wherein the self-moving device is provided with a sensor;

determining an update region based on the new boundary points and the detected boundary points, comprising:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the update region based on the real boundary and the virtual boundary of a closed connection.

9. The method of any one of claims 1-5, further comprising:

under the condition that the mobile equipment is controlled to move to the working point, the abnormal working point is recorded, and the mobile equipment is controlled to move to other working points continuously;

and under the condition that the self-moving equipment finishes moving to other working points, continuing to plan a moving route according to the abnormal working points so as to control the self-moving equipment to sequentially move to the abnormal working points.

10. The method of any one of claims 1-5, wherein the boundary points are detected by:

controlling the self-moving equipment to scan the surrounding environment and generating an environment map;

and determining boundary points according to the environment map.

11. A self-moving device, comprising a machine body, wherein the machine body is provided with at least one processor and at least one memory for storing computer instructions;

the at least one processor is configured to execute computer instructions to implement the following method:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

12. The self-moving device of claim 11, wherein the at least one processor is specifically configured to: and in the case that a new boundary point is detected in the process of traveling, maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

13. The self-moving device of claim 11 or 12, wherein the at least one processor is specifically configured to: and taking the advanced to-be-searched area as a tabu area, determining an updating area based on the new boundary point and the detected boundary point, and determining the next to-be-searched area based on the difference value between the updating area and the tabu area.

14. The self-moving device of claim 11 or 12, wherein the at least one processor is specifically configured to: under the condition that the mobile equipment is controlled to move to the working point, the abnormal working point is recorded, and the mobile equipment is controlled to move to other working points continuously;

and under the condition that the self-moving equipment finishes moving to other working points, continuing to plan a moving route according to the abnormal working points so as to control the self-moving equipment to sequentially move to the abnormal working points.

15. An autonomous device as claimed in claim 11 or 12 wherein the autonomous device is provided with a sensor;

the at least one processor is specifically configured to:

controlling the self-moving equipment to scan the surrounding environment and generating an environment map;

and determining boundary points according to the environment map.

16. A computer readable storage medium storing computer instructions that when executed by a processor perform the steps of:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

Technical Field

The present application relates to the field of self-moving devices, and in particular, to a region identification method, a self-moving device, and a storage medium.

Background

During the process of executing tasks, the self-moving device needs to identify the surrounding areas so as to determine the boundaries of the areas needing to execute the tasks, such as air purification tasks and the like.

Disclosure of Invention

In view of this, embodiments of the present application provide a region identification method, a self-moving device, and a storage medium, so as to solve technical defects in the prior art.

The embodiment of the application provides a region identification method, which is suitable for self-moving equipment and comprises the following steps:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

Optionally, selecting at least one working point within the area to be explored includes:

selecting a plurality of travel points uniformly distributed in the area to be explored as the working points, wherein the travel points comprise boundary points and/or area points.

Optionally, in the case that a new boundary point is detected during the traveling, the method further includes:

maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

Optionally, the self-moving device is provided with a sensor;

determining a region to be explored based on the detected boundary points of the environment, comprising:

determining a real boundary based on the boundary points detected by the sensor;

determining the area to explore based on the real boundaries of closed connections.

Optionally, the self-moving device is provided with a sensor;

determining a region to be explored based on the detected boundary points of the environment, comprising:

determining a real boundary based on the boundary points detected by the sensor;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the area to explore based on the real boundary and the virtual boundary of the closed connection.

Optionally, determining a next area to be explored based on the new boundary points continuously detected comprises:

taking the area to be explored after the movement is finished as a taboo area;

determining an update region based on the new boundary points and the detected boundary points;

determining a next to-be-explored area based on a difference value between the update area and the tabu area.

Optionally, the self-moving device is provided with a sensor;

determining an update region based on the new boundary points and the detected boundary points, comprising:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining the update region based on the real boundary of closed connections.

Optionally, the self-moving device is provided with a sensor;

determining an update region based on the new boundary points and the detected boundary points, comprising:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the update region based on the real boundary and the virtual boundary of a closed connection.

Optionally, the method further comprises: under the condition that the mobile equipment is controlled to move to the working point, the abnormal working point is recorded, and the mobile equipment is controlled to move to other working points continuously;

and under the condition that the self-moving equipment finishes moving to other working points, continuing to plan a moving route according to the abnormal working points so as to control the self-moving equipment to sequentially move to the abnormal working points.

Optionally, the boundary point is detected by: controlling the self-moving equipment to scan the surrounding environment and generating an environment map; and determining boundary points according to the environment map.

The embodiment of the application discloses a self-moving device, which comprises a mechanical body, wherein at least one processor and at least one memory for storing computer instructions are arranged on the mechanical body;

the at least one processor is configured to execute computer instructions to implement the following method:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

Optionally, the at least one processor is specifically configured to: and in the case that a new boundary point is detected in the process of traveling, maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

Optionally, the at least one processor is specifically configured to: and taking the advanced to-be-searched area as a tabu area, determining an updating area based on the new boundary point and the detected boundary point, and determining the next to-be-searched area based on the difference value between the updating area and the tabu area.

Optionally, the at least one processor is specifically configured to: under the condition that the mobile equipment is controlled to move to the working point, the abnormal working point is recorded, and the mobile equipment is controlled to move to other working points continuously;

and under the condition that the self-moving equipment finishes moving to other working points, continuing to plan a moving route according to the abnormal working points so as to control the self-moving equipment to sequentially move to the abnormal working points.

Optionally, the self-moving device is provided with a sensor; the at least one processor is specifically configured to: controlling the self-moving equipment to scan the surrounding environment and generating an environment map; and determining boundary points according to the environment map.

An embodiment of the application discloses a computer-readable storage medium storing computer instructions, which when executed by a processor implement the steps of:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

According to the area identification method, the area to be explored is determined based on the boundary points, at least one working point is selected in the area to be explored, and the mobile equipment is controlled to sequentially move to the working point for operation; and under the condition that new boundary points are continuously detected in the operation process, the self-moving equipment is not controlled to change the traveling route, but after the current area to be searched is completely traveled, the next area to be searched is determined according to the new boundary points, and the self-moving equipment is controlled to execute operation control and detection control in the next area to be searched until all the boundary points are completely detected, so that the sub-area traveling of the self-moving equipment is realized, the traveling track of the self-moving equipment is more regular, and the area boundary is more efficiently identified.

Secondly, when a new boundary point is detected in the process of traveling, after the current area to be explored travels, the area to be explored which has traveled is listed as a taboo area, an updating area is determined based on the new boundary point and the detected boundary point, and the next area to be explored is determined based on the difference value between the updating area and the taboo area, so that the area traveling from the mobile equipment is realized, and unnecessary crossed routes or repeated routes are prevented from being generated from the mobile equipment.

And thirdly, under the condition that the abnormal working points exist in the traveling process, the mobile equipment is continuously controlled to travel to other working points, and under the condition that the mobile equipment finishes traveling to other working points, the traveling route is continuously planned according to the abnormal working points so as to control the mobile equipment to sequentially travel to the abnormal working points, so that all the working points can be traversed by the mobile equipment, and the task execution effect is ensured.

Drawings

Fig. 1 is a schematic flowchart of a region identification method according to a first embodiment of the present invention;

FIG. 2 is a first schematic diagram illustrating the determination of an area to be explored by the method provided in the first embodiment;

FIG. 3 is a schematic diagram of determining a region to be explored by the method provided in the first embodiment;

FIG. 4 is a third schematic diagram illustrating the determination of an area to be explored by the method provided in the first embodiment;

fig. 5 is a schematic flowchart of a region identification method according to the second embodiment;

FIG. 6 is a schematic diagram of determining an area to be explored by the method provided in the second embodiment;

fig. 7 is a schematic frame diagram of a self-moving device according to a third embodiment.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

In order to solve the technical problems that the running track of the self-moving device is disordered and the efficiency is low due to the method in the prior art, the application provides a region identification method, the self-moving device and a computer readable storage medium, and the region boundary is identified by controlling the self-moving device to divide regions, so that the running track of the self-moving device is more regular, and the region boundary is identified more efficiently, and the method is described in detail in the following embodiments one by one.

First, the self-moving apparatus to which the present application relates is schematically explained. The self-moving equipment mentioned in the application can be various intelligent equipment with a cleaning function, for example, the self-moving equipment with a cleaning function comprises a self-moving equipment with a cleaning function, and the like. The mobile equipment is provided with sensors for following functions, such as a camera, a pulse radio (UWB) sensor and the like, and the sensors are matched with a proper algorithm to realize an effective and robust drawing establishing function.

The sensor includes various types, such as a vision sensor, a laser ranging sensor, an infrared sensor, a laser sensor, and the like, and the present embodiment is schematically described by taking the laser sensor as an example. A laser sensor is a radar system that collects information from the environment surrounding a mobile device by emitting a laser beam. The environmental data collected by the laser sensor comprises: distance, angle, etc. from objects surrounding the mobile device. The distance between the mobile device and the boundary of the area can be detected through the laser sensor, so that the position of the boundary point can be accurately positioned.

More specifically, the number of the sensors may be one or a plurality of sensors, and the sensors may be disposed on the top of the mobile device or disposed on the peripheral side of the mobile device, so that the distance between the boundary points located in each direction of the mobile device can be detected more quickly.

In addition, the use scene of the area identification performed by the mobile device in the application includes the ground of places such as families, shopping malls, schools and the like, and also can include the surfaces of various objects, such as flat plate surfaces and the like. The self-moving device of the application can be various, such as an air purification self-moving device, so as to realize air purification in an area.

In this application, the various shapes of the self-moving device are not limited, such as an oval, a circle, a convex polygon, etc., and the self-moving device may implement the method logic of controlling the travel of the self-moving device by installing software, APP, or writing a program in a corresponding device inside the self-moving device in a controller used with the self-moving device.

The embodiment of the application discloses a region identification method, as shown in fig. 1, comprising the following steps 101-104:

101. determining a region: and determining the area to be explored based on the boundary point of the detected environment.

In this embodiment, the boundary points are detected by the following method: controlling the self-moving equipment to scan the surrounding environment, and generating an environment map through a related mapping algorithm; and determining boundary points according to the environment map.

Specifically, the environment map may include at least one of a visual map and a grid map. The visual map is constructed in advance based on the environment image acquired by the visual sensor, and can describe the surrounding environment where the mobile device is located to a certain extent. The data acquired by the vision sensor comprises information of a tow bar environment image, including the pose of the mobile device corresponding to the environment image, feature points contained in the environment image, description words of the feature points and the like. A grid map is constructed based on environmental data collected by the laser sensors, the grid map being the product of digital rasterization of the environment from the area where the mobile device is located. Each grid in the grid map corresponds to a small area of the environment where the mobile device is located, each grid comprises information such as coordinates and whether the grid is occupied by an obstacle, and probability values of the occupied grids represent environment information of the corresponding area. The more grids in the grid map, the more detailed the grid map describes the environment in which the mobile device is located, and the higher the positioning accuracy.

In a specific use scene, the self-moving device is initially powered on and starts to work, the self-moving device scans the surrounding environment through the laser sensor to obtain an environment map of the surrounding environment, and then boundary points are determined based on the environment map.

The boundary points of the area to be searched are detected by a visual sensor provided in the mobile device. The area to be explored should be an area with a closed boundary, and the determination of the closed boundary includes the following two cases:

one is that the boundaries of the area to be explored are made up of boundary points detected by sensors, as shown in fig. 2. In this case, step 101 includes: and determining a real boundary based on the boundary points detected by the sensors, and determining a region to be explored based on the real boundary of the closed connection.

The other is that the boundaries of the area to be explored are not all real boundaries, and some of the boundaries are virtual boundaries determined by the detection range in which the sensor does not detect the boundary points, as shown in fig. 3, the solid line boundary is a real boundary, and the boundary with the diagonal line is a virtual boundary. In this case, step 101 includes: the method comprises the steps of determining a real boundary based on boundary points detected by the sensor, determining a virtual boundary based on a detection range in which the sensor does not detect the boundary points, and determining a region to be explored based on the real boundary and the virtual boundary which are connected in a closed mode.

The real boundary refers to a boundary formed by determined boundary points, since the boundary is a boundary that actually exists in an actual scene, such as a boundary of a wall, a boundary of an obstacle, and the like.

The virtual boundary refers to a boundary that does not actually exist but is determined by the detection range of the sensor, such as a boundary line with oblique lines in fig. 3.

In this embodiment, the sensor is preferably a laser sensor, and the signal range of the sensor can be set according to actual requirements, for example, set to be 1 meter, 3 meters, 5 meters, and the like.

From the area to be explored, determined in step 101, the travel range from the mobile device can be determined. In the subsequent steps, even if the area to be explored is not all areas where the self-moving device finally travels, the self-moving device finishes walking in the determined area to be explored, and then determines the next area to be explored, so that the regional exploration of the self-moving device is realized.

102. And (3) operation control: and selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation.

This step 102 specifically includes: selecting a plurality of travel points uniformly distributed in the area to be explored as the working points, wherein the travel points comprise boundary points and/or area points.

The working points are uniformly distributed in the area to be explored, so that the whole area can be relatively uniformly covered when the mobile equipment works in the area to be explored, and the working effect is guaranteed. Taking the air purification self-moving equipment as an example, the air purification self-moving equipment is controlled to sequentially move to each working point, so that the air purification effect in the whole area can be ensured.

The number and the position of the travel points may be determined according to a predefined definition, for example, the arrangement density of the travel points in the area to be searched may be preset, and the number and the position of the travel points may be determined, or the number and the position of the travel points in the area to be searched may be determined according to the distance between the travel points.

After determining the plurality of travel points as the work points, self-planning a travel route from the mobile device to traverse the plurality of work points. The travel route may be various, such as a zigzag, etc., so as to sequentially travel to the respective work points in an optimal travel route.

It should be noted that the area to be searched includes both the area boundary and the area surrounded by the area boundary. The travel point may include only a region point located within the region to be explored, only a boundary point located on the boundary of the region, and a set of the region point and the boundary point.

In this embodiment, the self-moving device selects at least one working point in the area to be explored and controls the self-moving device to sequentially travel to each working point for operation, so that the operation requirement can be met without traversing all the points in the area to be explored from the self-moving device, and the control is convenient.

103. Detection control: and controlling the mobile equipment to continuously detect a new boundary point in the process of traveling to the working point and when traveling to the working point, and determining a next area to be explored based on the continuously detected new boundary point.

In this step, the self-moving device keeps the continuous detection of the laser sensor, so that the self-moving device continuously detects new boundary points in the process of traveling. Specifically, in the case where the laser sensor detects a boundary point, the boundary point is compared with the detected boundary point to determine whether the detected boundary point is a new boundary point.

In addition, when a new boundary point is detected in the process of traveling, the area to be explored is not immediately updated or the traveling route is not changed, but the traveling route of the self-moving equipment in the area to be explored is continuously maintained until the self-moving equipment finishes operating in the area to be explored. Specifically, the method further comprises: maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

And under the condition that the operation of the self-moving equipment in the area to be searched is finished, the self-moving equipment determines the next area to be searched based on the continuously detected new boundary points.

It should be noted that, for the next area to be explored, the current area to be explored should not be included. Therefore, the step 103 of determining the next area to be searched based on the new boundary points continuously detected includes the following steps S131 to S133:

s131, taking the area to be searched after the movement as a taboo area.

And S132, determining an updating area based on the new boundary point and the detected boundary point.

And S133, determining the next area to be explored based on the difference value between the updating area and the taboo area.

For the next area to be explored, it should also be an area with a closed boundary, and the determination of the closed boundary includes the following two cases:

one is that the boundaries of the area to be explored are made up of boundary points detected by sensors. In this case, determining an update region based on the new boundary point and the detected boundary point includes: determining a real boundary based on new boundary points detected by the sensor and detected boundary points, determining the update zone based on the real boundary of closed connections.

It can be seen that the determination of the real boundary is based not only on the new boundary points but also on the detected boundary points when determining the next area to be explored, so that the updated area enclosed by the determined real boundary includes the area to be explored which has already traveled since the mobile device.

The other is that the boundaries of the area to be explored are not all real boundaries, and a part of the area to be explored is a virtual boundary determined by the detection range of the boundary point which is not detected by the sensor. In this case, determining an update region based on the new boundary point and the detected boundary point includes: determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points; determining a virtual boundary based on a detection range in which the sensor does not detect the boundary point; an update region is determined based on the real and virtual boundaries of the closed connection.

See fig. 3 and 4. Fig. 3 shows the determination of the first time to-be-searched region R21 from the mobile device, and fig. 4 shows the determination of the second time to-be-searched region R22 from the mobile device.

In fig. 3, the real boundary is determined to be E11 based on the boundary points detected by the sensors, the virtual boundary is determined to be E12 based on the detection range in which the boundary points are not detected by the sensors, and the region to be explored is determined to be R21 by the real boundary E11 and the virtual boundary E12.

In fig. 4, the real boundary is determined to be E13 based on the new boundary points detected by the sensors, and the virtual boundary is determined to be E14 based on the detection ranges of the detected boundary points by the sensors. And determining that the updated region is R1 through the real boundaries E11 and E13 and the virtual boundary E14, and determining that the region to be searched for the second time is a region R22 obtained by subtracting the region to be searched for R21 from the updated region R1.

104. And executing operation control and detection control in the next area to be explored until the boundary point is detected.

Specifically, in this embodiment, after the boundary point is detected, no new boundary point is detected during the process of the mobile device performing the operation control and the detection control in the next area to be searched.

According to the area identification method, the area to be explored is determined based on the boundary points, at least one working point is selected in the area to be explored, and the mobile equipment is controlled to sequentially move to the working point for operation; and under the condition that new boundary points are continuously detected in the operation process, the self-moving equipment is not controlled to change the traveling route, but after the current area to be searched is completely traveled, the next area to be searched is determined according to the new boundary points, and the self-moving equipment is controlled to execute operation control and detection control in the next area to be searched until all the boundary points are completely detected, so that the sub-area traveling of the self-moving equipment is realized, the traveling track of the self-moving equipment is more regular, and the area boundary is more efficiently identified.

Secondly, when a new boundary point is detected in the process of traveling, after the current area to be explored travels, the area to be explored which has traveled is listed as a taboo area, an updating area is determined based on the new boundary point and the detected boundary point, and the next area to be explored is determined based on the difference value between the updating area and the taboo area, so that the area traveling from the mobile equipment is realized, and unnecessary crossed routes or repeated routes are prevented from being generated from the mobile equipment.

The second embodiment of the present application discloses a region identification method, as shown in fig. 5, including steps 501-507:

501. determining a region: and determining the area to be explored based on the boundary point of the detected environment.

In this embodiment, the mobile device is initially powered on and starts to operate, the mobile device scans the surrounding environment through the laser sensor to obtain an environment map of the surrounding environment, and then the boundary point is determined based on the environment map.

The boundary points of the area to be searched are detected by a visual sensor provided in the mobile device. The area to be explored includes the following two cases:

one is that the boundaries of the area to be explored are made up of boundary points detected by sensors, as shown in fig. 2. In this case, step 501 includes: and determining a real boundary based on the boundary points detected by the sensors, and determining a region to be explored based on the real boundary of the closed connection.

The other is that the boundaries of the area to be explored are not all real boundaries, and a part of the area to be explored is a virtual boundary determined by the detection range of the boundary point which is not detected by the sensor, as shown in fig. 3. In this case, step 501 includes: the method comprises the steps of determining a real boundary based on boundary points detected by the sensor, determining a virtual boundary based on a detection range in which the sensor does not detect the boundary points, and determining a region to be explored based on the real boundary and the virtual boundary which are connected in a closed mode.

The real boundary refers to a boundary formed by determined boundary points, since the boundary is a boundary that actually exists in an actual scene, such as a boundary of a wall, a boundary of an obstacle, and the like.

The virtual boundary refers to a boundary that does not actually exist but is determined by the detection range of the sensor, such as a boundary line with oblique lines in fig. 3.

In this embodiment, the sensor is preferably a laser sensor, and the signal range of the sensor can be set according to actual requirements, for example, set to be 1 meter, 3 meters, 5 meters, and the like.

502. Selecting a plurality of travel points uniformly distributed in the area to be explored as the working points, wherein the travel points comprise boundary points and/or area points.

It should be noted that the area to be searched includes both the area boundary and the area surrounded by the area boundary. In this embodiment, the area point is a traveling point located in the area to be explored, and the boundary point is a traveling point located on the boundary of the area.

For the selection of the operating point, the above embodiments have been described in detail, and are not repeated herein.

In the step, the working points are uniformly distributed in the area to be explored, so that the whole area can be relatively uniformly covered when the mobile equipment works in the area to be explored, and the working effect is ensured. Taking the air purification self-moving equipment as an example, the air purification self-moving equipment is controlled to sequentially move to each working point, so that the air purification effect in the whole area can be ensured.

503. And controlling the self-moving equipment to sequentially move to a plurality of working points for operation.

504. And controlling the mobile equipment to continue detecting and judging whether a new boundary point is detected or not in the process of moving to the working point and when the mobile equipment moves to the working point, if so, executing step 505, and if not, executing step 507.

505. Maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

506. A next area to be explored is determined based on the new boundary points which are continuously detected, and the next area to be explored is taken as the current area to be explored, and the step 502 is executed.

Specifically, step 506 includes: and taking the advanced to-be-searched area as a tabu area, determining an updating area based on the new boundary point and the detected boundary point, and determining the next to-be-searched area based on the difference value between the updating area and the tabu area.

For the next area to be explored, the following two cases are included:

one is that the boundaries of the area to be explored are made up of boundary points detected by sensors. In this case, determining an update region based on the new boundary point and the detected boundary point includes: determining a real boundary based on new boundary points detected by the sensor and detected boundary points, determining the update zone based on the real boundary of closed connections.

The other is that the boundaries of the area to be explored are not all real boundaries, and a part of the area to be explored is a virtual boundary determined by the detection range of the boundary point which is not detected by the sensor. In this case, determining an update region based on the new boundary point and the detected boundary point includes: determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points; determining a virtual boundary based on a detection range in which the sensor does not detect the boundary point; an update region is determined based on the real and virtual boundaries of the closed connection.

It can be seen that the determination of the real boundary is based not only on the new boundary points but also on the detected boundary points when determining the next area to be explored, so that the updated area enclosed by the determined real boundary includes the area to be explored which has already traveled since the mobile device. After the update area is determined, the taboo area is subtracted from the update area, so that the next area to be searched can be obtained.

507. And finishing the job task from the mobile equipment.

For example, after the mobile device is powered on, boundary points Q1-Q100 in the detected environment are determined, and the region to be explored R11 is determined based on the boundary points Q1-Q100. Then, a plurality of travel points P1 to P10, which are all distributed in the region to be searched R11, are selected as operating points. During the control of the travel of the self-moving apparatus in the to-be-explored zone R11, the self-moving apparatus determines that new unidentified boundary points Q101-Q200 are detected. Then, the self-moving device does not immediately update the area to be explored or change the travel route according to the new boundary point, but after the area to be explored R11 is finished, the self-moving device determines the next area to be explored R12 according to the boundary points Q101-Q200 and the area to be explored which is finished, and then continues to control the self-moving device to travel in the area to be explored R12.

Through the steps 501-507, the self-moving equipment can advance in different areas, and only the working point in the current area range to be explored is concerned in each advancing, so that the advancing track of the self-moving equipment is more regular, and the area boundary is more efficiently identified.

Optionally, in practical applications, there may be some abnormal working points, which cannot be reached by the self-moving device, for example, when the self-moving device suddenly encounters an obstacle or a door opened by a person during walking in a room. To overcome this, the method further comprises:

and S508, under the condition that the mobile equipment is controlled to move to the working point, recording the abnormal working point, and continuously controlling the mobile equipment to move to other working points.

And S509, under the condition that the mobile equipment finishes moving to other working points, continuing to plan a moving route according to the abnormal working points so as to control the mobile equipment to sequentially move to the abnormal working points.

In the area identification method of the embodiment, an area to be explored is determined based on boundary points, at least one working point is selected in the area to be explored, and the mobile device is controlled to sequentially move to the working point for operation; and under the condition that new boundary points are continuously detected in the operation process, the self-moving equipment is not controlled to change the traveling route, but after the current area to be searched is completely traveled, the next area to be searched is determined according to the new boundary points, and the self-moving equipment is controlled to execute operation control and detection control in the next area to be searched until all the boundary points are completely detected, so that the sub-area traveling of the self-moving equipment is realized, the traveling track of the self-moving equipment is more regular, and the area boundary is more efficiently identified.

Secondly, when a new boundary point is detected in the process of traveling, after the current area to be explored travels, the area to be explored which has traveled is listed as a taboo area, an updating area is determined based on the new boundary point and the detected boundary point, and the next area to be explored is determined based on the difference value between the updating area and the taboo area, so that the area traveling from the mobile equipment is realized, and unnecessary crossed routes or repeated routes are prevented from being generated from the mobile equipment.

And thirdly, under the condition that the abnormal working points exist in the traveling process, the mobile equipment is continuously controlled to travel to other working points, and under the condition that the mobile equipment finishes traveling to other working points, the traveling route is continuously planned according to the abnormal working points so as to control the mobile equipment to sequentially travel to the abnormal working points, so that all the working points can be traversed by the mobile equipment, and the task execution effect is ensured.

Specific example 1

In one embodiment, the application environment is a home scene, the self-moving device is an air purification self-moving device, and the area to be explored is a room, and correspondingly, the area identification method comprises the following steps a 1-a 8:

a1, determining a boundary E01 based on the boundary points Q001-Q100 of the detected environment, and determining a region to be searched R01 based on the boundary E01.

In this example, the boundary E01 is a true boundary.

a2, selecting working points P01-P10 in the area to be searched, and controlling the self-moving equipment to sequentially move to the working points P01-P10 for operation.

a3, controlling the self-moving equipment to continuously detect new boundary points in the process of traveling to the working points P01-P10 and traveling to the working points P01-P10.

a4, recording the operating point P5 when the control of the mobile equipment to the operating point P5 is abnormal, and continuing to control the mobile equipment to the operating points P6-P10.

a5, after controlling the mobile device to travel to the working point P10, continuing to plan the travel route from the mobile device to the working point P5.

a6, if there is still an abnormality in the control from the mobile device to the operating point P5, the control is cancelled and the control continues to the operating point P5, and step a7 is executed.

a7, if the control is normal from the mobile equipment to the working point P5, the step a7 is executed after the control is finished from the mobile equipment to the working point P5.

a8, determining that the task is completed since the mobile device does not detect a new boundary point.

Specific example 2

In one embodiment, the application environment is a home scene, the self-moving device is an air purification self-moving device, and the area is as shown in fig. 6. Correspondingly, the region identification method comprises the following steps b 1-b 8:

b1, determining a real boundary E1 based on the boundary points Q00-Q0 m detected by the sensor of the mobile device, determining a virtual boundary E2 based on the detection range of the boundary points not detected by the sensor, and determining a region to be explored R0 based on the real boundary E1 and the virtual boundary E2.

The area to be explored R0 may be a room corresponding to the application environment, and the opening area of R0 should be the door of the room. In the case where the opening area is detected by the sensor of the self-moving device, since the boundary point is not detected within the detection range of the sensor, the virtual boundary E2 is determined with the detection range of the sensor.

b2, selecting a plurality of travel points P00-P0 n which are uniformly distributed in the region R0 to be explored as working points, wherein the travel points comprise boundary points and/or region points.

b3, controlling the self-moving equipment to sequentially move to a plurality of working points P00-P0 n for operation, and controlling the self-moving equipment to continuously detect new boundary points Q10-Q1 n in the process of moving to each working point and when moving to the working point.

b4, maintaining the traveling route of the self-moving equipment in the area R0 to control the self-moving equipment to sequentially travel to the working points P00-P0 n of R0 in the area to be searched.

b5, using the marching-completed to-be-searched region R0 as a tabu region, determining an updating region based on the new boundary points Q10-Q1 n and the detected boundary points Q00-Q0 n, and determining the next to-be-searched region R1 based on the difference between the updating region and the tabu region.

Specifically, step b5 includes: determining real boundaries E1 and E3 based on the new boundary points Q10-Q1 n detected by the sensors and the detected boundary points Q00-Q0 n; the virtual boundary E4 is determined based on the detection range in which the sensor does not detect the boundary point, and the update region is determined based on the real boundaries E1 and E3 and the virtual boundary E4 that close the connection.

b6, selecting a plurality of travel points P10-P1 n which are uniformly distributed in the region R1 to be explored as working points, wherein the travel points comprise boundary points and/or region points.

b7, controlling the self-moving equipment to sequentially move to a plurality of working points P10-P1 n for operation, and controlling the self-moving equipment to continue detecting during the process of moving to each working point and when moving to the working point.

b8, after controlling the mobile equipment to sequentially move to each working point P10-P1 n of R1 in the area to be searched, the mobile equipment finishes the operation task without detecting a new boundary point.

The third embodiment discloses a self-moving device, which is shown in fig. 7, and includes a machine body 70, on which at least one processor 701 and at least one memory 702 storing computer instructions are disposed.

Wherein, the memory 702 is used for storing programs for supporting the self-moving device to execute the control method in the foregoing embodiments, and the processor 701 is configured to execute the programs stored in the memory.

In addition to one or more processors 701 and one or more memories 702, the machine body 70 is provided with some basic components of a mobile device, such as a driving component, a cleaning component, a camera, a sensor component, a power supply component, and the like. Alternatively, the drive assembly may include drive wheels, drive motors, universal wheels, and the like. Alternatively, the sweeping assembly may include a sweeping motor, a floor brush, a dust suction fan, and the like. The basic components and the structures of the basic components contained in different mobile devices are different, and the embodiments of the present application are only some examples.

It is noted that one or more processors 701 and one or more memories 702 may be disposed inside the machine body, or disposed on the surface of the machine body 70.

The machine body 70 is an execution mechanism that is relied upon from the mobile device to perform a task, and can perform processor-specified operations in a certain environment. The mechanical body 70 represents the appearance of the mobile device to some extent. In the present embodiment, the external appearance of the mobile device is not limited, and may be, for example, a circle, an ellipse, a triangle, a convex polygon, or the like.

The one or more memories 702 are used primarily to store computer instructions that are executable by the one or more processors 701 to cause the one or more processors 701 to control the execution of the zone identification task from the machine body 700 of the mobile device. In addition to storing computer instructions, the one or more memories 702 may also be configured to store various other data to support operations on the mobile device. Examples of such data include instructions for any application or method operating on the mobile device, map data from the environment/scene in which the mobile device is located, information of the area to be cleaned, time to clean, and so forth.

The memory or memories 702 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

One or more processors 701, which may be considered control systems for the self-moving apparatus, may be used to execute computer instructions stored in one or more memories 702 to control the self-moving apparatus to perform cleaning tasks.

The at least one processor 701 is configured to execute computer instructions to implement the following method:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

Optionally, the at least one processor 701 is specifically configured to: selecting a plurality of travel points uniformly distributed in the area to be explored as the working points, wherein the travel points comprise boundary points and/or area points.

Optionally, the at least one processor 701 is specifically configured to: and in the case that a new boundary point is detected in the process of traveling, maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

Optionally, the self-moving device is provided with a sensor, and the at least one processor 701 is specifically configured to:

determining a real boundary based on the boundary points detected by the sensor;

determining the area to explore based on the real boundaries of closed connections.

Optionally, the self-moving device is provided with a sensor, and the at least one processor 701 is specifically configured to:

determining a real boundary based on the boundary points detected by the sensor;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the area to explore based on the real boundary and the virtual boundary of the closed connection.

Optionally, the at least one processor 701 is specifically configured to:

taking the area to be explored after the movement is finished as a taboo area;

determining an update region based on the new boundary points and the detected boundary points;

determining a next to-be-explored area based on a difference value between the update area and the tabu area.

Optionally, the at least one processor 701 is specifically configured to:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining the update region based on the real boundary of closed connections.

Optionally, the at least one processor 701 is specifically configured to:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the update region based on the real boundary and the virtual boundary of a closed connection.

Optionally, the at least one processor 701 is specifically configured to:

under the condition that the mobile equipment is controlled to move to the working point, the abnormal working point is recorded, and the mobile equipment is controlled to move to other working points continuously;

and under the condition that the self-moving equipment finishes moving to other working points, continuing to plan a moving route according to the abnormal working points so as to control the self-moving equipment to sequentially move to the abnormal working points.

Optionally, the self-moving device is provided with a sensor, and the at least one processor 701 is specifically configured to:

controlling the self-moving equipment to scan the surrounding environment and generating an environment map;

and determining boundary points according to the environment map.

According to the self-moving equipment provided by the embodiment, the area to be explored is determined based on the boundary point, at least one working point is selected in the area to be explored, and the self-moving equipment is controlled to sequentially move to the working point for operation; and under the condition that new boundary points are continuously detected in the operation process, the self-moving equipment is not controlled to change the traveling route, but after the current area to be searched is completely traveled, the next area to be searched is determined according to the new boundary points, and the self-moving equipment is controlled to execute operation control and detection control in the next area to be searched until all the boundary points are completely detected, so that the sub-area traveling of the self-moving equipment is realized, the traveling track of the self-moving equipment is more regular, and the area boundary is more efficiently identified.

The above is an illustrative scheme of the self-moving device of the embodiment. It should be noted that the technical solution of the self-moving device and the technical solution of the area identification method belong to the same concept, and for details that are not described in detail in the technical solution of the self-moving device, reference may be made to the description of the technical solution of the area identification method.

An embodiment of the present application further provides a computer readable storage medium storing computer instructions that, when executed by a processor, implement the steps of:

determining a region: determining a region to be explored based on the detected boundary point of the environment;

and (3) operation control: selecting at least one working point in the area to be explored, and controlling the self-moving equipment to sequentially move to the at least one working point for operation;

detection control: in the process of moving to the working point and when moving to the working point, controlling the mobile equipment to continuously detect a new boundary point, and determining a next area to be explored based on the continuously detected new boundary point;

and executing operation control and detection control in the next area to be explored until the boundary point is detected.

Optionally, selecting at least one working point within the area to be explored includes:

selecting a plurality of travel points uniformly distributed in the area to be explored as the working points, wherein the travel points comprise boundary points and/or area points.

Optionally, in the case that a new boundary point is detected during the traveling, the method further includes:

maintaining the traveling route of the self-moving equipment in the area to be explored so as to control the self-moving equipment to sequentially travel to each working point in the area to be explored.

Optionally, the self-moving device is provided with a sensor;

determining a region to be explored based on the detected boundary points of the environment, comprising:

determining a real boundary based on the boundary points detected by the sensor;

determining the area to explore based on the real boundaries of closed connections.

Optionally, the self-moving device is provided with a sensor;

determining a region to be explored based on the detected boundary points of the environment, comprising:

determining a real boundary based on the boundary points detected by the sensor;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the area to explore based on the real boundary and the virtual boundary of the closed connection.

Optionally, determining a next area to be explored based on the new boundary points continuously detected comprises:

taking the area to be explored after the movement is finished as a taboo area;

determining an update region based on the new boundary points and the detected boundary points;

determining a next to-be-explored area based on a difference value between the update area and the tabu area.

Optionally, the self-moving device is provided with a sensor;

determining an update region based on the new boundary points and the detected boundary points, comprising:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining the update region based on the real boundary of closed connections.

Optionally, the self-moving device is provided with a sensor;

determining an update region based on the new boundary points and the detected boundary points, comprising:

determining a real boundary based on the new boundary points detected by the sensor and the detected boundary points;

determining a virtual boundary based on a detection range in which the sensor does not detect a boundary point;

determining the update region based on the real boundary and the virtual boundary of a closed connection.

Optionally, the method further comprises:

under the condition that the mobile equipment is controlled to move to the working point, the abnormal working point is recorded, and the mobile equipment is controlled to move to other working points continuously;

and under the condition that the self-moving equipment finishes moving to other working points, continuing to plan a moving route according to the abnormal working points so as to control the self-moving equipment to sequentially move to the abnormal working points.

Optionally, the boundary point is detected by:

controlling the self-moving equipment to scan the surrounding environment and generating an environment map;

and determining boundary points according to the environment map.

The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the area identification method, and for details that are not described in detail in the technical solution of the storage medium, reference may be made to the description of the technical solution of the area identification method.

The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

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

The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.