Dividing method for working region of self-moving device, dividing apparatus, and electronic device

Abstract

The present invention relates to a moving method of a self-moving device, including: presetting a preset movement path of a self-moving device; enabling the self-moving device to move along the preset movement path; and checking whether a moving direction of the self-moving device deviates from the preset movement path, and when the moving direction deviates from the preset movement path, calibrating the moving direction of the self-moving device to enable the self-moving device to move along the preset movement path, wherein, the preset movement path including several first path segments, the first path segment being divided into several sub-path segments, and an end point of the sub-path segment being referred to as a node; and the calibrating the moving direction of the self-moving device includes: calibrating the moving direction of the self-moving device by using the node as a target point.

1 - 42 . (canceled) 
     
     
         43 . A moving method of a self-moving device, the self-moving device autonomously moving inside a working region based on a map, including:
 presetting a preset movement path of a self-moving device;   enabling the self-moving device to move along the preset movement path; and   checking whether a moving direction of the self-moving device deviates from the preset movement path, and when the moving direction of the self-moving device deviates from the preset movement path, calibrating the moving direction of the self-moving device, to enable the self-moving device to move along the preset movement path, wherein,   the preset movement path including several first path segments, the first path segment being divided into several sub-path segments, and an end point of the sub-path segment being referred to as a node;   and the calibrating the moving direction of the self-moving device includes:   calibrating the moving direction of the self-moving device by using the node as a target point.   
     
     
         44 . The moving method according to claim  1 , wherein the self-moving device has a consistent moving direction along the first path segment. 
     
     
         45 . The moving method according to claim  2 , wherein the first path segment includes a straight line segment. 
     
     
         46 . The moving method according to claim  2 , wherein the first path segment includes a polygonal line segment, and the node includes a turning point of the polygonal line segment. 
     
     
         47 . The moving method according to claim  1 , wherein the checking whether a moving direction of the self-moving device deviates from the preset movement path includes: providing an angle sensor, outputting an angle parameter of a movement of the self-moving device, and determining, according to the angle parameter, whether a current moving direction of the self-moving device is consistent with a preset moving direction, so as to determine whether the moving direction of the self-moving device deviates from the preset movement path. 
     
     
         48 . The moving method according to claim  1 , wherein the checking whether a moving direction of the self-moving device deviates from the preset movement path includes: providing a positioning device, outputting a current position of the self-moving device, calculating a deviation angle of the self-moving device according to a direction from the current position of the self-moving device to a target position and a direction of the preset movement path, and determining, according to whether the deviation angle is greater than a preset threshold, whether the moving direction of the self-moving device deviates from the preset movement path. 
     
     
         49 . The moving method according to claim  6 , wherein the deviation angle of the self-moving device is calculated at an interval of a preset time, and it is determined, according to whether the deviation angle is greater than a preset threshold, whether the moving direction of the self-moving device deviates from the preset movement path. 
     
     
         50 . The moving method according to claim  1 , wherein the preset movement path includes a second path segment, and the self-moving device steers along the second path segment. 
     
     
         51 . The moving method according to claim  8 , wherein several nodes are set in the second path segment, and the self-moving device moves along the second path segment by sequentially using the several nodes in the second path segment as the target point. 
     
     
         52 . The moving method according to claim  8 , wherein the second path segment includes an irregular path segment. 
     
     
         53 . The moving method according to claim  10 , wherein the second path segment connects a movement path of the self-moving device before steering and a movement path of the self-moving device after steering, and the irregular path segment includes extended segments extending relative to outer sides of the movement path before steering and the movement path after steering. 
     
     
         54 . The moving method according to claim  11 , wherein the self-moving device moves along the second path segment at an edge position of a working region, and when moving along the extended segment of the second path segment, the self-moving device at least partially covers an edge region that is not covered when the self-moving device moves along an adjacent second path segment. 
     
     
         55 . The moving method according to claim  8 , wherein the preset movement path includes parallel reciprocating paths, and the second path segment connects parallel paths among the parallel reciprocating paths. 
     
     
         56 . The moving method according to claim  1 , wherein the first path segment being divided into several sub-path segments includes: presetting the node. 
     
     
         57 . The moving method according to claim  1 , wherein the first path segment being divided into several sub-path segments includes: setting and/or updating the node as the self-moving device moves along the preset movement path. 
     
     
         58 . The moving method according to claim  1 , wherein when the self-moving device arrives at the node, a next node in the moving direction is used as the target point to determine the moving direction of the self-moving device. 
     
     
         59 . A self-moving device, wherein, the self-moving device autonomously moving inside a working region based on a map, and including a preset module and a control module,
 where the preset module is configured to preset a preset movement path of the self-moving device; and   the control module is configured to: enable the self-moving device to move along the preset movement path; and check whether a moving direction of the self-moving device deviates from the preset movement path, and when the moving direction of the self-moving device deviates from the preset movement path, calibrate the moving direction of the self-moving device, to enable the self-moving device to move along the preset movement path;   where the preset movement path including several first path segments, the first path segment being divided into several sub-path segments, and an end point of the sub-path segment being referred to as a node; and   the calibrating the moving direction of the self-moving device includes:   calibrating the moving direction of the self-moving device by using the node as a target point.   
     
     
         60 . The self-moving device according to claim  17 , wherein the control module includes an angle sensor, outputting an angle parameter of a movement of the self-moving device, and the control module determines, according to the angle parameter, whether a current moving direction of the self-moving device is consistent with a preset moving direction, so as to determine whether the moving direction of the self-moving device deviates from the preset movement path. 
     
     
         61 . The self-moving device according to claim  18 , wherein the angle sensor includes a gyroscope. 
     
     
         62 . The self-moving device according to claim  17 , wherein the control module includes a calculation unit and a determining unit, where the calculation unit is configured to calculate a deviation angle of the self-moving device according to a direction from a current position of the self-moving device to a target position and a direction of the preset movement path, and the determining unit is configured to determine, according to whether the deviation angle is greater than the preset threshold, whether the moving direction of the self-moving device deviates from the preset movement path.