CN111158354B

CN111158354B - Self-moving equipment operation method, equipment and storage medium

Info

Publication number: CN111158354B
Application number: CN201811317245.1A
Authority: CN
Inventors: 刘江涛
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2018-11-07
Filing date: 2018-11-07
Publication date: 2022-10-04
Anticipated expiration: 2038-11-07
Also published as: CN111158354A

Abstract

The embodiment of the application provides a self-moving equipment operation method, equipment and a storage medium. In some exemplary embodiments of the present application, at least one external sensor is deployed in a working space of a self-moving device, the at least one external sensor is used to collect environment information in a respective coverage space and determine whether a target space in which a working task needs to be executed exists based on the environment information, and if the target space exists, the self-moving device is controlled to move to the target space to execute the working task according to identification information of the target external sensor deployed in the target space. The embodiment of the application makes full use of the sensors deployed in the operation space of the mobile equipment, can reduce the number of the sensors on the mobile equipment, is favorable for saving the volume of the mobile equipment, is favorable for miniaturization of the mobile equipment, and is convenient for quickly acquiring the environment information of each operation space from the mobile equipment, so that the corresponding operation task can be conveniently executed in the subsequent movement from the mobile equipment to the operation space.

Description

Self-moving equipment operation method, equipment and storage medium

Technical Field

The present application relates to the field of artificial intelligence technologies, and in particular, to a method and device for operating a mobile device, and a storage medium.

Background

Robots are complex machines controlled by computers and can operate independently of human manipulation. The robot sensor plays a very important role in the control of the robot, and just because of the sensor, the robot has the perception function and the reaction capability similar to human beings.

With the development of technology, the variety of environment detection sensors is also infinite. The existing household robot is limited by structure and volume, and the sensor resource is limited, so that the information of the space environment cannot be accurately extracted in real time.

Disclosure of Invention

Aspects of the present application provide a method, device and storage medium for operating a self-moving device, so as to solve the problem that the current self-moving device cannot accurately extract information of each spatial environment in real time.

The embodiment of the application provides a self-moving equipment operation method, which comprises the following steps:

the method comprises the steps that environmental information in respective coverage spaces acquired by at least one external sensor is acquired, wherein the external sensor is a sensor deployed in a working space of the mobile equipment;

determining that a target space required to execute the operation task exists in the coverage space of the at least one external sensor based on the environmental information in the coverage space acquired by the at least one external sensor;

and controlling the self-moving equipment to move to the target space to execute the operation task according to the identification information of the target external sensor covering the target space.

An embodiment of the present application further provides a self-moving device, including: the mobile device comprises a machine body, one or more processors, one or more memories for storing computer programs, and at least one external sensor which is arranged in a working space of the mobile device;

the at least one external sensor is used for collecting environmental information in respective coverage spaces;

the one or more processors to execute the computer program to:

Embodiments of the present application also provide a computer-readable storage medium storing a computer program, which, when executed by one or more processors, causes the one or more processors to perform actions comprising:

In some exemplary embodiments of the present application, at least one external sensor is deployed in a working space of a self-moving device, the at least one external sensor is used to collect environment information in respective coverage spaces and determine whether a target space in which a working task needs to be executed exists on the basis of the environment information, and if the target space in which the working task needs to be executed exists, the self-moving device is controlled to move into the target space to execute the working task according to identification information of the target external sensor deployed in the target space; in this application embodiment, make full use of from the sensor of the interior deployment of mobile device operation space, can reduce the sensor quantity on the mobile device, be favorable to saving from the volume of mobile device self, do benefit to from the miniaturization of mobile device, and the convenient environmental information who obtains each operation space swift from the mobile device to carry out corresponding job task in convenient follow-up removal to the operation space from the mobile device.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a flowchart illustrating a method for operating a mobile device according to an exemplary embodiment of the present disclosure;

fig. 2 is a flowchart illustrating a method for operating a self-moving device according to another exemplary embodiment of the present application;

fig. 3 is a block diagram of a self-moving device according to an exemplary embodiment of the present application;

fig. 4 is a block diagram of a robot according to an exemplary embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

With the development of technology, the variety of environment detection sensors is also varying. The existing household robot is limited by structure and volume, has limited sensor resources, cannot accurately extract information of a space environment in real time, and cannot enter a corresponding environment space to execute tasks.

In order to solve the existing problems, in some exemplary embodiments of the present application, at least one external sensor is deployed in a working space of a self-moving device, the at least one external sensor is used to collect environment information in respective coverage spaces and determine whether a target space in which a working task needs to be executed exists on the basis of the environment information, and if the target space in which the working task needs to be executed exists, the self-moving device is controlled to move to the target space to execute the working task according to identification information of the target external sensor deployed in the target space; in this application embodiment, make full use of is from the sensor of deployment in the mobile device operation space, can reduce the sensor quantity on the mobile device, is favorable to saving the volume from mobile device self, does benefit to from the mobile device miniaturization, and the convenient environmental information who obtains each operation space from mobile device is swift, carries out corresponding operation task in convenient follow-up removing to the operation space from mobile device.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the invention 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, and "the plural" typically includes at least two, but does not exclude the presence of at least one.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in a commodity or system comprising the element.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a method for self-moving device job provided in an exemplary embodiment of the present application, and as shown in fig. 1, the method includes:

s101: the method comprises the steps of obtaining environmental information in respective coverage spaces acquired by at least one external sensor, wherein the external sensor is a sensor deployed in a working space of the mobile equipment;

s102: determining that a target space needing to execute the operation task exists in the coverage space of at least one external sensor based on the environmental information in the coverage space acquired by the at least one external sensor;

s103: and controlling the mobile equipment to move into the target space to execute the operation task according to the identification information of the target external sensor covering the target space.

In this embodiment, the execution subject is a self-moving device, the type of the self-moving device is not limited in the present application, and the execution subject may be a robot, an air purifier, an unmanned vehicle, or the like, and the type of the robot, the air purifier, or the unmanned vehicle is not limited. The self-moving equipment has basic service functions, and also can have functions of calculation, communication, internet surfing and the like. When the autonomous mobile device is a robot, the basic service function of the robot may be different according to different application scenarios. The robot can be a sweeping robot, a following robot, a welcoming robot and the like. For example, for a sweeping robot applied to a home, an office building, a mall, and other scenes, the basic service function of the sweeping robot is to sweep the ground in the scene; for the fire-extinguishing robot, the basic service function is to find fire and carry out fire-extinguishing work; the basic service function of a greeting robot is to welcome a customer and guide the customer to a destination.

In the present embodiment, the necessary sensors are installed on the self-moving device to maintain the basic functions of the self-moving device, and some or all of the sensors related to the self-moving device job are disposed in each subspace within the job space. For convenience of distinction and description, the sensor deployed in the working space of the self-moving device is referred to as an external sensor in the embodiments of the present application, and the external sensor may be a single sensor or multiple sensors, and may be deployed adaptively according to specific situations. The external sensors have a certain coverage range, and can collect environmental information in respective coverage spaces. The external sensor is different according to different operation tasks. For example, the following steps are carried out: the external sensor can be a humidity sensor, a temperature sensor, a dust sensor, a visual sensor and the like.

It should be noted that, in the above embodiments, the coverage space of the external sensor may be a relatively closed space in the conventional sense, for example, a horizontal space, a kitchen space, a living room, and a toilet space in a household environment of a household; the external sensor coverage space may also be an area, for example, each shelf in a supermarket is an area, and a pedestrian corridor, a staircase room and an elevator room in a shopping mall are areas.

Based on the description of the coverage space of the external sensor in the above embodiment, the corresponding relationship between the external sensor and the coverage space includes the following two situations:

case 1: an external sensor is covered to collect environmental information of one or more spaces. For example, in a scenario where the fire-fighting robot monitors the fire in a shopping mall, a flame sensor may be respectively disposed in each shop to monitor whether a fire occurs in the environment of each shop, or one flame sensor may be shared by every two or more shops. In a supermarket shelf article monitoring scene, a camera can be arranged on each shelf, the visual field range of the camera covers the whole shelf, and the article condition on the shelf is monitored; also can install a camera on per two goods shelves, the field of vision scope of camera covers two goods shelves, and a camera is monitored the article condition on two goods shelves simultaneously.

Case 2: one or more external sensors collect environmental information of the same space. For example, in an indoor air purification scene of a household, due to the large space of a living room, the air quality at different positions in the living room may be different, and two air quality sensors are arranged in the living room to simultaneously acquire the air quality of the living room. In the cleaning working scene of the sweeping robot on households, two cameras can be placed in the main lying position to be used for simultaneously acquiring the sanitary condition of the main lying ground.

In the foregoing embodiments, each external sensor disposed in the working space may be in communication connection with the self-moving device, and each external sensor may send the collected environmental information of the respective coverage space to the self-moving device, for example, each external sensor sends the collected air quality data of the living room, the bedroom, and the kitchen to the self-moving device. In this embodiment, each external sensor may be connected to the self-moving device wirelessly or through a wire. For example, each external sensor is provided with a signal output interface, and the mobile device is provided with a corresponding signal input interface, which are interconnected through data transmission lines such as a USB line. Or, each external sensor and the wireless communication module, such as a bluetooth module, a WIFI module, a network card, etc., which is provided with an adaptation inside the mobile device, may be wirelessly connected to the mobile device through the wireless communication module.

In the above embodiment, after the mobile device acquires the environmental information in the coverage space of the external sensor, the external sensor may analyze the environmental information to determine whether a target space in which an operation task needs to be executed exists in the coverage space of at least one external sensor. The target space may comprise a coverage space of one or more external sensors. Of course, the target space may be a partial space enlarged or reduced based on the coverage space of the external sensor.

For example, in a home scene, cameras are respectively arranged in a main bedroom, a secondary bedroom and a living room, the three cameras report images acquired by the three cameras to a sweeping robot, and after analysis, dirt such as paper scraps and the like on the ground of the living room needs to be cleaned. Alternatively, the living room may be used as a target space where a cleaning task needs to be performed, or a local area where dirt such as paper dust exists in the living room may be used as the target space, or even the living room, the main bedroom, and the sub-bedroom may be used as the target space where the cleaning task needs to be performed.

Optionally, judging whether the environmental information in the respective coverage space acquired by at least one external sensor meets a preset operation environmental condition; if the coverage space with the environment information meeting the preset operation environment condition exists, determining the coverage space with the environment information meeting the preset operation environment condition as a target space needing to execute the operation task; on the contrary, if the coverage space in which the environmental information meets the preset operation environmental condition does not exist, the mobile device continues to receive the environmental information sent by other sensors, or the mobile device enters a standby state.

Further optionally, in a scene of environmental pollution condition detection, it is determined that a target space in which an operation task needs to be executed exists in a coverage space of at least one external sensor, and an embodiment may be that whether environmental information in the respective coverage space acquired by the at least one external sensor meets a preset operation environmental condition is judged, and a pollution degree of the respective coverage space of the at least one external sensor is analyzed according to the environmental information in the respective coverage space acquired by the at least one external sensor; judging whether the pollution degree of the space covered by at least one external sensor is greater than a preset pollution degree threshold value or not; and if the coverage space with the pollution degree larger than the preset pollution degree threshold exists, determining that the coverage space with the environment information meeting the preset operation environment condition exists, wherein the coverage space is the target space required to execute the operation task.

In the above and following embodiments, after receiving a trigger instruction for executing a task, the self-moving device may determine that a target space for executing the task exists in the working space based on environment information in respective coverage spaces acquired by at least one external sensor. The trigger instruction for executing the job task comprises at least one of the following: a starting instruction, a wake-up instruction and an operation instruction.

Alternatively, the user may issue a trigger instruction to the self-moving device through a physical key or a touch screen on the self-moving device. For example, a user may click or long-press a power-on button on the mobile device to send a power-on instruction to the mobile device; after receiving the boot instruction from the mobile device, the boot operation is executed, and after booting, the method flow shown in fig. 1 is executed. Or, when the mobile device is in a standby state, the user may send a wake-up instruction to the mobile device through a physical key or a touch screen on the mobile device, and after receiving the wake-up instruction from the mobile device, the mobile device is restored from the standby state to normal operation, and the method shown in fig. 1 is executed; or when the user operates the mobile device normally, the user may send a job instruction to the mobile device by operating a physical key on the mobile device or an application interface option, and after receiving the job instruction from the mobile device, the user starts to execute the process of the method shown in fig. 1. And starting a trigger instruction when the set time is reached from the mobile equipment.

Optionally, the user may also send the trigger instruction to the self-moving device through the terminal device, or may also send the trigger instruction to the self-moving device through a voice manner.

In the above or below embodiments of the present application, after determining a target space in which a job task needs to be executed, the self-moving device controls the self-moving device to move to the target space to execute the job task according to identification information of a target external sensor covering the target space. Among them, the following modes can be adopted but not limited:

mode A: determining the position of the target external sensor in the existing environment map according to the identification information of the target external sensor; and controlling the mobile equipment to move to the target space to execute the operation task according to the position of the target external sensor in the existing environment map.

Mode B: in the moving process of the self-moving equipment, a first positioning signal from a target external sensor is searched based on identification information of the target external sensor, and the effective range of the first positioning signal does not exceed a target space; when the first positioning signal is found, the mobile terminal is determined to move to the target space and starts to execute the operation task.

Mode C: receiving a second positioning signal from the target external sensor according to the identification information of the target external sensor, wherein the effective range of the second positioning signal exceeds the target space; and moving to the target space along the direction of increasing the strength information of the second positioning signal and starting to execute the work task.

In the mode a, the environment map is partitioned in advance by combining with the environment map corresponding to the mobile device working space, the external sensors are respectively deployed in the actual environment space corresponding to each partition in the environment map, and information of the corresponding external sensors is marked in each partition in the environment map. For example, identification information corresponding to an external sensor is marked in each partition in the environment map. Based on the above, the self-moving device can determine the position of the target external sensor in the existing environment map, for example, the partition to which the target external sensor belongs, according to the identification information of the target external sensor, and then can control the self-moving device to move to the target space to execute the operation task according to the position of the target external sensor in the existing environment map.

In this embodiment, the position of the external target sensor in the existing environment map is determined according to the identification information of the external target sensor, and one way that the identification information of the external target sensor is matched with the sensor identification corresponding to the marked sensor position in the existing environment map; and acquiring the position of the sensor in the existing environment map, which is matched by the identification information of the target external sensor, as the position of the target external sensor in the existing environment map.

For example, in an air purification scene for a household, an environment map is partitioned in advance, areas such as a living room, a bedroom and a kitchen are identified in the environment map, external sensors are respectively deployed in the living room, the bedroom and the kitchen, if a first sensor is installed in the living room, a second sensor is installed in the bedroom and a third sensor is installed in the kitchen, air quality data collected by the first sensor is obtained from a mobile device, after the collected air quality data are analyzed, it is determined that the space covered by the first sensor needs to be subjected to air purification, the area corresponding to the first sensor is the living room, the first sensor is located in the living room, and the control device is controlled to move to the living room to execute an air purification task.

In the above mode B, the external sensors are respectively provided with the devices for transmitting the first positioning signals, the effective range of the first positioning signals does not exceed the coverage space of the external sensors, and the external sensors are in one-to-one correspondence with the first positioning signals. For example, for different external sensors, the first positioning signal has different encoding modes, or the first positioning signal carries different information with an identification function, or the first positioning signal has different intensities, so that a one-to-one correspondence relationship between the external sensors and the first positioning signal is formed. In the moving process of the self-moving equipment, according to identification information of the target external sensor, first positioning signals corresponding to the target external sensor are searched in each space in a traversing mode, because the effective coverage space of the first positioning signals is located in the target space, if the first positioning signals are found, tasks are executed in the target space covered by the target external sensor. The external sensors are in one-to-one correspondence with the identifications of the devices transmitting the first positioning signals, so that the external sensors are in one-to-one correspondence with the first positioning signals.

For example, one or more infrared emission lamps are installed on the target external sensor, each lamp is coded, one or more omnidirectional receiving devices are installed on the robot, the target external sensor is placed at a fixed position before the robot constructs a map of a home environment, when the robot enters a visible space of the target external sensor and receives a first positioning signal emitted by the infrared emission lamp of the target external sensor corresponding to the code, the target external sensor is considered to be located in the space and marked on the map, the first positioning signal is stored corresponding to the position of the covered space of the target external sensor, and the robot can conveniently perform tasks in the space subsequently. When the target external sensor sends a searching command to the robot again, the robot directly marks the space to execute a task. If the spatial position of the external sensor is changed, the robot cannot find the first positioning signal emitted by the coded infrared emission lamp of the target external sensor when reaching the marked space, the robot can traverse the working space to other spaces to find the first positioning signal emitted by the coded infrared emission lamp, and can also send a warning to manually assist in completing the finding and the positioning.

In the above mode C, the external sensors are provided with devices for respectively transmitting the second positioning signals, the effective ranges of the second positioning signals exceed the target space, and the external sensors are in one-to-one correspondence with the second positioning signals, for example, for different external sensors, the encoding modes of the second positioning signals are different, or the information with the identification function carried by the second positioning signals is different, or the intensities of the second positioning signals are different, so that the one-to-one correspondence relationship between the external sensors and the second positioning signals is formed. And the self-moving equipment is controlled to move to the target space to execute the operation task according to the identification information of the target external sensor and the strength information of the second positioning signal corresponding to the target external sensor. The external sensors are in one-to-one correspondence with the identifiers of the devices for transmitting the second positioning signals, so that the external sensors are in one-to-one correspondence with the second positioning signals.

Receiving a second positioning signal from the target external sensor according to the identification information of the target external sensor, wherein the effective range of the second positioning signal exceeds the target space; and moving to the target space along the direction of increasing the strength information of the second positioning signal and starting to execute the work task. In this embodiment, the second positioning signal is a second positioning signal that can be positioned in a non-visible space, such as a bluetooth signal. In the communication process of the Bluetooth device, the size of the Bluetooth second positioning signal is influenced by the application environment, the application environment also needs to be considered in the moving process of the Bluetooth positioning device, and the Bluetooth positioning device can be combined with the map information with complete operation space of the mobile device.

In the present example, moving to the target space along the direction in which the strength information of the second positioning signal increases, an achievable embodiment is to move from the mobile device to different directions randomly to sense the variation of the strength information of the second positioning signal; and when the strength information of the second positioning signal is sensed to be increased, moving along the direction in which the strength information of the second positioning signal is increased until the strength information is increased to a set threshold value, and determining to move to the target space.

For example, in an air purification scenario where the air purifier is operating at a household, the external dust sensor detects PM2.5. Can be connected through bluetooth equipment with one or more dust sensor and air purifier is direct earlier, and dust sensor installation bluetooth equipment ware transmission bluetooth locating signal, the last bluetooth equipment of installation of air purifier receives bluetooth locating signal. Each dust sensor has a unique identification ID and can send ID information to the air purifier via the bluetooth device. Wherein the transceiver of bluetooth equipment is arranged in dust sensor and air purifier's suitable position respectively, for example top or all around. The air purifier can judge the distance according to the received signal strength of the Bluetooth equipment on the dust sensor and the RSSI value of the Bluetooth signal, and meanwhile, the approximate distance between the dust sensor and the air purifier can be calculated through an algorithm according to the extracted RSSI value. After confirming air purifier and dust sensor's approximate distance, air purifier judges the approximate position of dust sensor relative to its self, and air purifier can adopt the mode of walking the cross, according to the big or small change of walking in-process RSSI value, makes the dust sensor position and judges. In addition, after the air purifier enters the target space, infrared or ultrasonic assistance is matched to confirm whether the target space is correct or not. Based on the limitation of the above conditions, an air purifier operation method is characterized in that when a dust sensor deployed in an operation space detects that PM2.5 data exceeds a set threshold value, the dust sensor sends a second positioning signal and ID information of the dust sensor to the air purifier through Bluetooth equipment, the air purifier receives the positioning signal, enters a target space covered by the dust sensor according to the change of the RSSI value of the positioning signal, and can confirm the dust sensor corresponding to the ID in the target space through infrared or ultrasonic waves, after the confirmation is passed, the air purification function is started, and when the PM2.5 data is smaller than the set threshold value, a purification task can be considered to be completed.

In the above-described mode C, before the control moves from the mobile device to the target space to execute the job task, an operation of confirming whether the target space is correct may be performed. The method is mainly based on the following two reasons: two or more external sensors exist in the same visual space; in different visual spaces, the two external sensors are close to each other and located in the same direction of the mobile device. For the above reasons, an error may occur in the target space determined by the mobile device, and after the mobile device moves to the target space, before the mobile device executes the task, it is determined again whether the target external sensor exists in the target space or which of the plurality of external sensors located close to each other in the same space is the target external sensor in the target space, so as to execute the corresponding task. And executing the operation task in the target space moved by the mobile equipment, and operating whether the target space is correct or not, so that the accuracy of the operation of the mobile equipment is improved.

In an alternative embodiment, it may be determined whether an external target sensor is present in the target space; and if the target external sensor exists, determining that the target space is correct, and further controlling the mobile equipment to move to the target space to execute the operation task. The external sensor carries identification information of the external sensor when uploading the collected environmental information in the coverage space from the mobile device, so that the mobile device can distinguish which external sensor uploads the environmental information. Based on the above, when the self-moving device determines the target space from the coverage space of at least one external sensor, the self-moving device may also determine the identification information of the external sensor covering the target space, and further when it determines whether the target external sensor exists in the target space, the self-moving device may determine whether the auxiliary positioning signal from the target external sensor can be received according to the identification information of the target external sensor; and if the auxiliary positioning signal can be received, determining that the target external sensor exists in the target space. For example, an infrared or ultrasonic auxiliary transmitting device is installed on the external target sensor, a corresponding infrared or ultrasonic auxiliary transmitting device is installed on the mobile device, and after the mobile device enters the target space, if a positioning signal transmitted by the infrared or ultrasonic auxiliary transmitting device corresponding to a code on the external target sensor is found, the target space is determined to be correct, and the mobile device enters the target space to execute a task.

In the embodiment of the self-moving equipment operation method, at least one external sensor is deployed in an operation space of self-moving equipment, the at least one external sensor is used for collecting environment information in each coverage space and determining whether a target space needing to execute an operation task exists or not based on the environment information, and if the target space needing to execute the operation task exists, the self-moving equipment is controlled to move to the target space to execute the operation task according to identification information of the target external sensor deployed in the target space; in this application embodiment, make full use of is from the sensor of deployment in the mobile device operation space, can reduce the sensor quantity on the mobile device, is favorable to saving the volume from mobile device self, does benefit to from the mobile device miniaturization, and the convenient environmental information who obtains each operation space from mobile device is swift, carries out corresponding operation task in convenient follow-up removing to the operation space from mobile device.

And executing the job task in the target space by the self-moving equipment, and executing the job task corresponding to the type of the self-moving equipment according to the difference of the types of the self-moving equipment. If the self-moving equipment is the sweeping robot, the self-moving equipment executes a sweeping task in the target space; if the self-moving equipment is the air purifier, the self-moving equipment executes a purification task in the target space; or if the self-moving equipment is the unmanned vehicle, the self-moving equipment executes the transportation task in the target space; or if the self-moving equipment is an air conditioner, the self-moving equipment executes a temperature adjusting task in the target space; or the self-moving device is a humidifier, the self-moving device performs the air humidification task within the target space.

Based on the foregoing embodiment, fig. 2 is a schematic flowchart of a method for self-moving device operation according to another exemplary embodiment of the present application, and as shown in fig. 2, the method includes:

s201: at least one external sensor deployed in the operation space of the mobile equipment acquires environmental information in respective coverage spaces;

s202: the at least one external sensor sends the collected environmental information in the coverage space to the self-moving equipment;

s203: receiving environment information in respective coverage spaces acquired by at least one external sensor from the mobile equipment;

s204: the self-moving equipment determines that a target space needing to execute the operation task exists in the coverage space of the at least one external sensor based on the environment information in the coverage space of the self-moving equipment, wherein the environment information is collected by the at least one external sensor.

S205: and determining a target external sensor covering the target space and acquiring identification information of the target external sensor from the movement of the mobile equipment.

S206: and the self-moving equipment receives the Bluetooth signal from the target external sensor according to the identification information of the target external sensor.

S207: and the mobile equipment randomly moves to different directions to sense the change condition of the strength information of the second positioning signal, and moves along the direction of increasing the strength information of the second positioning signal until the strength information is increased to a set threshold value, and the mobile equipment is determined to move to the target space.

S208: the self-moving equipment judges whether the infrared signal from the target external sensor can be received or not according to the identification information of the target external sensor; if yes, go to step S209; if the determination result is negative, step S210 is executed.

S209: and determining that the current space is the target space from the mobile equipment, executing the operation task in the target space, and finishing the operation after the operation task is finished.

S210: the self-moving device determines that the current space is not the target space, and returns to step S207 to continue moving to the target space.

In the embodiment of the self-moving equipment operation method, at least one external sensor is deployed in an operation space of self-moving equipment, the at least one external sensor is used for collecting environment information in each coverage space and determining whether a target space needing to execute an operation task exists or not based on the environment information, and if the target space needing to execute the operation task exists, the self-moving equipment is controlled to move to the target space to execute the operation task according to identification information of the target external sensor deployed in the target space; in this application embodiment, make full use of is from the sensor of deployment in the mobile device operation space, can reduce the sensor quantity on the mobile device, is favorable to saving the volume from mobile device self, does benefit to from the mobile device miniaturization, and the convenient environmental information who obtains each operation space from mobile device is swift, carries out corresponding operation task in convenient follow-up removing to the operation space from mobile device. In addition, the infrared, ultrasonic or Bluetooth transmitting device is arranged on the target external sensor, and the corresponding receiving device is arranged on the self-moving equipment, so that when the infrared, ultrasonic or other transmitting devices are used, the effective space combined with the infrared and ultrasonic can only be in a visible space, and the robot searches the position of the target external sensor by adopting a space traversing method, namely the target space can be found; when the device is used for a Bluetooth transmitting device, the effective space combined with Bluetooth can be expanded into a non-visual space, the mobile device moves to a target space according to the intensity of a Bluetooth signal, and the position of a target sensor is confirmed again by combining infrared and ultrasound, so that the accuracy of executing tasks by the mobile device is improved.

The following describes a method for self-moving equipment operation according to embodiments of different scenarios.

Application scenario 1: in an intelligent air purification scene, at least one dust sensor is deployed in a space to be purified (such as a shopping mall, a supermarket, an indoor venue or a home residence), and each dust sensor monitors PM2.5 data in a covering space (such as a bedroom, a kitchen or a living room) of the dust sensor and uploads the monitored PM2.5 data in the covering space to an air purifier.

The air purifier receives PM2.5 data in respective coverage spaces reported by at least one dust sensor, and can compare the PM2.5 data reported by the at least one dust sensor with a set PM2.5 data threshold value in a timed manner, in real time or when a trigger instruction which is sent by a user and indicates the air purifier to execute a purification task is received; when the PM2.5 data larger than the PM2.5 data threshold value is found, determining that an air purification task needs to be executed in a space corresponding to the PM2.5 data larger than the PM2.5 data threshold value, regarding the space as a target space, and determining the identification of a target dust sensor covering the target space. Wherein, the target dust sensor covering the target space is also a dust sensor reporting PM2.5 data greater than the PM2.5 data threshold.

Then, the air purifier matches the identification of the target dust sensor with the identification of each dust sensor marked in the environment map, and the position of the dust sensor in the matching in the environment map is used as the position of the target dust sensor in the environment map; and planning a navigation path by combining the current position of the air purifier in the environment map and the position of the target dust sensor in the environment map, and moving to the target space along the navigation path.

Alternatively, when the time for performing air purification reaches a set time length, it is considered that the air purification task is completed. Or when the PM2.5 data reported again by the target dust sensor is smaller than the set PM2.5 data threshold, the purification task can be considered to be completed.

Application scenario 2: in an intelligent air purification scene, at least one dust sensor is deployed in a space to be purified (such as a shopping mall, a supermarket, an indoor venue or a home residence), and each dust sensor monitors PM2.5 data in a covering space (such as a bedroom, a kitchen or a living room) of the dust sensor and uploads the monitored PM2.5 data in the covering space to an air purifier. The air purifier receives PM2.5 data in respective coverage spaces reported by at least one dust sensor, and can compare the PM2.5 data reported by the at least one dust sensor with a set PM2.5 data threshold value at regular time, in real time or when receiving a trigger instruction sent by a user and used for indicating the air purifier to execute a purification task; when PM2.5 data larger than a PM2.5 data threshold value is found, determining that an air purification task needs to be executed in a space corresponding to the PM2.5 data larger than the PM2.5 data threshold value, taking the space as a target space, meanwhile, sending a first positioning signal and identification information of the dust sensor to the air purifier through an infrared emission device, and determining the identification of a target dust sensor covering the target space from the mobile equipment. Wherein, the target dust sensor covering the target space is also a dust sensor reporting PM2.5 data greater than the PM2.5 data threshold.

Then, the air purifier traverses the working space, searches a first positioning signal emitted by an infrared emission lamp of the target sensor, if the first positioning signal is found in a certain space, the space is the target space, the air purifier enters the target space to execute a purification task,

alternatively, when the time for performing the air purification reaches a set time length, it is considered that the air purification task is completed. Or when the PM2.5 data reported again by the target dust sensor is smaller than the set PM2.5 data threshold, the purification task can be considered to be completed.

Application scenario 3: in an intelligent air purification scene, at least one dust sensor is deployed in a space to be purified (such as a shopping mall, a supermarket, an indoor venue or a home residence), and each dust sensor monitors PM2.5 data in a covering space (such as a bedroom, a kitchen or a living room) of the dust sensor and uploads the monitored PM2.5 data in the covering space to an air purifier. The air purifier receives PM2.5 data in respective coverage spaces reported by at least one dust sensor, and can compare the PM2.5 data reported by the at least one dust sensor with a set PM2.5 data threshold value in a timed manner, in real time or when a trigger instruction which is sent by a user and indicates the air purifier to execute a purification task is received; when PM2.5 data larger than a PM2.5 data threshold value is found, determining that an air purification task needs to be executed in a space corresponding to the PM2.5 data larger than the PM2.5 data threshold value, taking the space as a target space, meanwhile, sending a second positioning signal and identification information of the dust sensor to the air purifier through a Bluetooth transmitting device by the dust sensor, and determining the identification of the target dust sensor covering the target space from the mobile equipment. Wherein, the target dust sensor covering the target space is also a dust sensor reporting PM2.5 data greater than the PM2.5 data threshold.

Afterwards, air purifier can be according to the second locating signal of receiving the bluetooth emitter transmission on this dust sensor, through adopting the position of walking follow-up walking of mode judgement of cross, until moving to the target space that this dust sensor belongs to.

Alternatively, in addition to performing the air purification task in the target space, it may be determined whether the target dust sensor is present in the target space by means of an auxiliary signal emitted by an infrared or ultrasonic device on the target dust sensor; and when the judgment result shows that the dust exists, starting an air purification function to purify air in the covered space (namely the target space) of the target dust sensor. The auxiliary signal sent by the target dust sensor corresponds to the target dust sensor, and the target dust sensor can be uniquely identified.

Fig. 3 is a block diagram of a self-moving device according to an exemplary embodiment of the present application. The self-moving device comprises a machine body, one or more processors 302, one or more memories 303 storing computer programs, and sensors 305, wherein the sensors 305 comprise at least one external sensor 305 deployed within a workspace of the self-moving device and sensors 305 installed on the machine body for maintaining basic functions of the self-moving device. In addition to this, the self-moving device may include necessary components such as an audio component 301, a power component 304, and the like.

one or more processors 302 to execute computer programs to:

and controlling the mobile equipment to move to the target space to execute the operation task according to the identification information of the target external sensor covering the target space.

Optionally, the one or more processors 302, based on the environmental information collected by the at least one external sensor in the respective coverage space, determine that a target space required to perform the job task exists in the coverage space of the at least one external sensor, so as to: judging whether the environmental information in the respective coverage space acquired by at least one external sensor meets the preset operation environmental condition or not; and if the coverage space with the environment information meeting the preset operation environment condition exists, determining the coverage space with the environment information meeting the preset operation environment condition as a target space needing to execute the operation task.

Optionally, the one or more processors 302 determine whether the environmental information in the respective coverage space collected by the at least one external sensor satisfies a preset operating environment condition, so as to: analyzing the pollution degree of each covered space of at least one external sensor according to the environmental information in each covered space acquired by at least one external sensor; judging whether the pollution degree of the space covered by at least one external sensor is greater than a preset pollution degree threshold value or not; and if the coverage space with the pollution degree larger than the preset pollution degree threshold exists, determining that the coverage space with the environment information meeting the preset operation environment condition exists.

Optionally, the one or more processors 302, based on the environmental information collected by the at least one external sensor in the respective coverage space, determine that a target space required to perform the job task exists in the coverage space of the at least one external sensor, so as to: when a trigger instruction for executing the job task is received, determining that a target space needing to execute the job task exists in the job space based on the environment information in the coverage space acquired by at least one external sensor.

Optionally, the one or more processors 302, the triggering instructions to execute the job task include at least one of: a starting instruction, a wake-up instruction and an operation instruction.

Optionally, the one or more processors 302, according to the identification information of the target external sensor covering the target space, control the mobile device to move into the target space to execute the job task, so as to: determining the position of the target external sensor in the existing environment map according to the identification information of the target external sensor; and controlling the mobile equipment to move to the target space to execute the operation task according to the position of the target external sensor in the existing environment map.

Optionally, the one or more processors 302, according to the identification information of the target external sensor, determine the position of the target external sensor in the existing environment map, so as to: matching the identification information of the target external sensor with the sensor identification corresponding to the marked sensor position in the existing environment map; and acquiring the position of the sensor in the existing environment map, which is matched by the identification information of the target external sensor, as the position of the target external sensor in the existing environment map.

Optionally, the one or more processors 302, according to the identification information of the target external sensor covering the target space, control the mobile device to move into the target space to execute a job task, so as to: in the moving process of the self-moving equipment, a first positioning signal from a target external sensor is searched based on identification information of the target external sensor, and the effective range of the first positioning signal does not exceed a target space; when the first positioning signal is found, the mobile terminal is determined to move to the target space and starts to execute the job task.

Optionally, the one or more processors 302, according to the identification information of the target external sensor covering the target space, control the mobile device to move into the target space to execute a job task, so as to: receiving a second positioning signal from the target external sensor according to the identification information of the target external sensor, wherein the effective range of the second positioning signal exceeds the target space; and moving to the target space along the direction of increasing the strength information of the second positioning signal and starting to execute the work task.

Optionally, the one or more processors 302, moving along the direction of increasing strength information of the second positioning signal to the target space, are configured to: the mobile equipment randomly moves to different directions to sense the change condition of the strength information of the second positioning signal; and when the strength information of the second positioning signal is sensed to be increased, moving along the direction in which the strength information of the second positioning signal is increased until the strength information is increased to a set threshold value, and determining to move to the target space.

Optionally, the one or more processors 302, prior to beginning execution of the job task, are further configured to:

determining whether a target external sensor exists in a target space; and if the target external sensor exists, controlling the mobile equipment to move to the target space to execute the operation task.

Optionally, the one or more processors 302, determine whether a target external sensor is present within the target space, for: judging whether an auxiliary positioning signal from the target external sensor can be received or not according to the identification information of the target external sensor, wherein the effective range of the auxiliary positioning signal does not exceed the target space; and if the auxiliary positioning signal can be received, determining that the target external sensor exists in the target space.

Optionally, one or more processors 302 to: the self-moving equipment is a sweeping robot, and then the self-moving equipment executes a sweeping task in the target space; or if the self-moving equipment is an air purifier, the self-moving equipment executes a purification task in the target space; or the self-moving equipment is an unmanned vehicle, and the self-moving equipment executes a carrying task in the target space; or if the self-moving equipment is an air conditioner, the self-moving equipment executes a temperature adjusting task in the target space; or, the self-moving device is a humidifier, the self-moving device performs the air humidification task within the target space.

In the self-moving equipment embodiment of the application, at least one external sensor is deployed in a working space of the self-moving equipment, the at least one external sensor is used for collecting environmental information in each coverage space and determining whether a target space needing to execute a working task exists or not based on the environmental information, and if the target space needing to execute the working task exists, the self-moving equipment is controlled to move to the target space to execute the working task according to identification information of the target external sensor deployed in the target space; in this application embodiment, make full use of from the sensor of the interior deployment of mobile device operation space, can reduce the sensor quantity on the mobile device, be favorable to saving from the volume of mobile device self, do benefit to from the miniaturization of mobile device, and the convenient environmental information who obtains each operation space swift from the mobile device to carry out corresponding job task in convenient follow-up removal to the operation space from the mobile device.

Correspondingly, the embodiment of the application also provides a computer readable storage medium storing the computer program. The computer-readable storage medium stores a computer program that, when executed by the one or more processors 302, causes the one or more processors 302 to perform the steps in the respective method embodiments illustrated in fig. 1.

The self-moving equipment can be a robot, an unmanned vehicle and the like. Fig. 4 is a block diagram of a robot according to an exemplary embodiment of the present disclosure. As shown in fig. 4, the robot includes: the machine body 401, sensors 402, machine body 401 are provided with one or more processors 403 and one or more memories 404 storing computer instructions. Wherein the sensors 402 comprise at least one external sensor 402 disposed in the working space of the self-moving device and a sensor 402 installed on the machine body for maintaining the basic functions of the self-moving device. The sensor 402 may be a vision sensor 402, such as a camera, or the like, or a distance sensor 402, such as a lidar.

In addition to one or more processors 403 and one or more memories 404, the machine body 401 is provided with some basic components of the robot, such as audio components, power components, odometers, drive components, and so on. An audio component, which may be configured to output and/or input an audio signal. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals. The sensors 402 may also include a lidar sensor 402, a humidity sensor 402, 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 sweeping brush, a dusting brush, a dust suction fan, and the like. The basic components and the structures of the basic components included in different robots are different, and the embodiments of the present application are only some examples.

It is noted that the audio component, the sensor 402, the one or more processors 403, and the one or more memories 404 may be disposed inside the machine body 401 or disposed on the surface of the machine body 401.

The machine body 401 is an execution mechanism by which the robot performs a task of a job, and can execute an operation designated by the processor 403 in a certain environment. Wherein, the appearance form of robot has been reflected to a certain extent to the mechanical body. In the present embodiment, the external form of the robot 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 404 are primarily used to store computer programs that may be executed by the one or more processors 403 to cause the one or more processors 404 to perform job tasks. In addition to storing computer programs, the one or more memories 404 may also be configured to store various other data to support operations on the robot.

One or more processors 403, which may be considered control systems for the robot, may be used to execute computer programs stored in one or more memories 404 to control the movement of the mobile device into the target space to perform the task.

processor 403 for example, one or more memories 404 store computer programs, and the one or more processors 403 can execute the computer programs to:

Optionally, the one or more processors 402, based on the environmental information collected by the at least one external sensor in the respective coverage space, determine that a target space required to perform the task exists in the coverage space of the at least one external sensor, so as to: judging whether the environmental information in the respective coverage space acquired by at least one external sensor meets the preset operation environmental condition or not; and if the coverage space with the environment information meeting the preset operation environment condition exists, determining the coverage space with the environment information meeting the preset operation environment condition as a target space needing to execute the operation task.

Optionally, the one or more processors 402 determine whether the environmental information in the respective coverage space collected by the at least one external sensor satisfies a preset operating environment condition, so as to: analyzing the pollution degree of each covered space of at least one external sensor according to the environmental information in each covered space acquired by at least one external sensor; judging whether the pollution degree of the space covered by at least one external sensor is greater than a preset pollution degree threshold value or not; and if the coverage space with the pollution degree larger than the preset pollution degree threshold exists, determining that the coverage space with the environment information meeting the preset operation environment condition exists.

Optionally, the one or more processors 402, based on the environmental information collected by the at least one external sensor in the respective coverage space, determine that a target space required to perform the task exists in the coverage space of the at least one external sensor, so as to: when a trigger instruction for executing the job task is received, determining that a target space needing to execute the job task exists in the job space based on the environment information in the coverage space acquired by at least one external sensor.

Optionally, the one or more processors 402, the triggering instructions to execute the job task include at least one of: a starting instruction, a wake-up instruction and an operation instruction.

Optionally, the one or more processors 402, according to the identification information of the target external sensor covering the target space, control the mobile device to move into the target space to execute the job task, so as to: determining the position of the target external sensor in the existing environment map according to the identification information of the target external sensor; and controlling the mobile equipment to move to the target space to execute the operation task according to the position of the target external sensor in the existing environment map.

Optionally, the one or more processors 402, according to the identification information of the target external sensor, determine the position of the target external sensor in the existing environment map, so as to: matching the identification information of the target external sensor with the sensor identification corresponding to the marked sensor position in the existing environment map; and acquiring the position of the sensor matched with the identification information of the target external sensor in the existing environment map as the position of the target external sensor in the existing environment map.

Optionally, the one or more processors 402, according to the identification information of the target external sensor covering the target space, control the mobile device to move into the target space to execute a job task, so as to: in the moving process of the self-moving equipment, a first positioning signal from a target external sensor is searched based on identification information of the target external sensor, and the effective range of the first positioning signal does not exceed a target space; when the first positioning signal is found, the mobile terminal is determined to move to the target space and starts to execute the job task.

Optionally, the one or more processors 402, according to the identification information of the target external sensor covering the target space, control the mobile device to move into the target space to execute a job task, so as to: receiving a second positioning signal from the target external sensor according to the identification information of the target external sensor, wherein the effective range of the second positioning signal exceeds the target space; and moving to the target space along the direction of increasing the strength information of the second positioning signal and starting to execute the work task.

Optionally, the one or more processors 402, moving along the direction of increasing strength information of the second positioning signal up to the target space, are configured to: the mobile equipment randomly moves to different directions to sense the change condition of the strength information of the second positioning signal; and when the strength information of the second positioning signal is sensed to be increased, moving along the direction in which the strength information of the second positioning signal is increased until the strength information is increased to a set threshold value, and determining to move to the target space.

Optionally, the one or more processors 402, prior to beginning execution of the job task, are further configured to:

Optionally, the one or more processors 402, determine whether a target external sensor is present within the target space, for: judging whether an auxiliary positioning signal from the target external sensor can be received or not according to the identification information of the target external sensor, wherein the effective range of the auxiliary positioning signal does not exceed the target space; and if the auxiliary positioning signal can be received, determining that the target external sensor exists in the target space.

Optionally, one or more processors 402 to: the self-moving equipment is a sweeping robot, and the self-moving equipment executes a sweeping task in the target space; or, if the self-moving device is an air purifier, the self-moving device performs a purification task in the target space; or the self-moving equipment is an unmanned vehicle, and the self-moving equipment executes a carrying task in the target space; or if the self-moving equipment is an air conditioner, the self-moving equipment executes a temperature adjusting task in the target space; or, the self-moving device is a humidifier, the self-moving device performs the air humidification task within the target space.

In the robot embodiment, at least one external sensor is deployed in a working space of a self-moving device, the at least one external sensor is used for collecting environmental information in respective coverage spaces and determining whether a target space needing to execute a working task exists or not based on the environmental information, and if the target space needing to execute the working task exists, the self-moving device is controlled to move to the target space to execute the working task according to identification information of the target external sensor deployed in the target space; in this application embodiment, make full use of from the sensor of the interior deployment of mobile device operation space, can reduce the sensor quantity on the mobile device, be favorable to saving from the volume of mobile device self, do benefit to from the miniaturization of mobile device, and the convenient environmental information who obtains each operation space swift from the mobile device to carry out corresponding job task in convenient follow-up removal to the operation space from the mobile device.

Correspondingly, the embodiment of the application also provides a computer readable storage medium storing the computer program. The computer-readable storage medium stores a computer program, and the computer program, when executed by the one or more processors 402, causes the one or more processors 402 to perform the steps in the respective method embodiments illustrated in fig. 1.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for operating a self-moving device, comprising:

controlling the self-moving equipment to move to the target space to execute the operation task according to the identification information of the target external sensor covering the target space,

determining that a target space required to execute a task exists in the coverage space of the at least one external sensor based on the environmental information in the respective coverage space acquired by the at least one external sensor, including:

judging whether the environmental information in the respective coverage space acquired by the at least one external sensor meets the preset operation environmental condition or not;

and if the coverage space with the environmental information meeting the preset operation environmental conditions exists, determining the coverage space with the environmental information meeting the preset operation environmental conditions as a target space needing to execute the operation task.

2. The method of claim 1, wherein determining whether the environmental information collected by the at least one external sensor in the respective coverage space meets a predetermined operating environment condition comprises:

analyzing the pollution degree of each covering space of the at least one external sensor according to the environmental information in each covering space acquired by the at least one external sensor;

judging whether the pollution degree of the coverage space of each external sensor is larger than a preset pollution degree threshold value or not;

and if the coverage space with the pollution degree larger than the preset pollution degree threshold exists, determining that the coverage space with the environmental information meeting the preset operation environmental condition exists.

3. The method according to claim 1 or 2, wherein determining that a target space required to perform a task exists in the coverage space of the at least one external sensor based on the environmental information collected by the at least one external sensor in the respective coverage space comprises:

when a trigger instruction for executing the job task is received, determining that a target space needing to execute the job task exists in the job space based on the environment information in the coverage space acquired by the at least one external sensor.

4. The method of claim 3, wherein the triggering instructions to perform the job task comprise at least one of: a starting instruction, a wake-up instruction and an operation instruction.

5. The method according to claim 1 or 2, wherein controlling the self-moving device to move into the target space to execute the task according to the identification information of the target external sensor covering the target space comprises:

determining the position of the target external sensor in the existing environment map according to the identification information of the target external sensor;

and controlling the self-moving equipment to move into the target space to execute the operation task according to the position of the target external sensor in the existing environment map.

6. The method of claim 5, wherein determining the location of the target external sensor in the existing environmental map according to the identification information of the target external sensor comprises:

matching the identification information of the target external sensor with the sensor identification corresponding to the marked sensor position in the existing environment map;

and acquiring the position of the sensor in the existing environment map, which is matched by the identification information of the target external sensor, as the position of the target external sensor in the existing environment map.

7. The method according to claim 1 or 2, wherein controlling the self-moving device to move into the target space to execute the task according to the identification information of the target external sensor covering the target space comprises:

in the moving process of the self-moving equipment, searching a first positioning signal from the target external sensor based on the identification information of the target external sensor, wherein the effective range of the first positioning signal does not exceed the target space;

when the first positioning signal is found, the target space is determined to be moved to and the task is started to be executed.

8. The method according to claim 1 or 2, wherein controlling the self-moving device to move into the target space to execute the task according to the identification information of the target external sensor covering the target space comprises:

receiving a second positioning signal from the target external sensor according to the identification information of the target external sensor, wherein the effective range of the second positioning signal exceeds the target space;

and moving to the target space along the direction of increasing the strength information of the second positioning signal and starting to execute the work task.

9. The method of claim 8, wherein moving to the target space in a direction in which the strength information of the second positioning signal increases comprises:

the mobile equipment randomly moves to different directions to sense the change condition of the strength information of the second positioning signal;

and when the strength information of the second positioning signal is sensed to be increased, moving along the direction of increasing the strength information of the second positioning signal until the strength information is increased to a set threshold value, and determining to move to the target space.

10. The method of claim 8, prior to beginning execution of a job task, further comprising:

determining whether the target external sensor exists in a target space;

and if the target external sensor exists, controlling the self-moving equipment to move to the target space to execute the operation task.

11. The method of claim 10, wherein determining whether the target off-board sensor is present within the target space comprises:

judging whether an auxiliary positioning signal from the target external sensor can be received or not according to the identification information of the target external sensor, wherein the effective range of the auxiliary positioning signal does not exceed the target space;

and if the auxiliary positioning signal can be received, determining that the target external sensor exists in the target space.

12. The method according to claim 1 or 2,

the self-moving equipment is a sweeping robot, and then the self-moving equipment executes a sweeping task in the target space; alternatively, the first and second electrodes may be,

if the self-moving equipment is an air purifier, the self-moving equipment executes a purification task in the target space; alternatively, the first and second electrodes may be,

if the self-moving equipment is an unmanned vehicle, the self-moving equipment executes a carrying task in the target space; alternatively, the first and second electrodes may be,

if the self-moving equipment is an air conditioner, the self-moving equipment executes a temperature adjusting task in the target space; alternatively, the first and second electrodes may be,

and if the self-moving equipment is a humidifier, the self-moving equipment performs an air humidifying task in the target space.

13. An autonomous mobile device, comprising: a machine body, one or more processors, one or more memories storing computer programs, and at least one external sensor deployed within a workspace of a self-moving device;

the one or more processors to execute the computer program to:

controlling the self-moving equipment to move to the target space to execute the operation task according to the identification information of the target external sensor covering the target space;

and if the coverage space of which the environmental information meets the preset operation environmental condition exists, determining the coverage space of which the environmental information meets the preset operation environmental condition as a target space of which the operation task needs to be executed.

14. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by one or more processors, causes the one or more processors to perform acts comprising: