CN111343696A

CN111343696A - Communication method of self-moving equipment, self-moving equipment and storage medium

Info

Publication number: CN111343696A
Application number: CN201811468323.8A
Authority: CN
Inventors: 李毅兰
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2020-06-26

Abstract

The embodiment of the application provides a communication method of self-moving equipment, the self-moving equipment and a storage medium. In the embodiment of the application, when the self-moving device needs to communicate with other devices, considering that the wireless signals in the working environment of the self-moving device may have different strengths, when the wireless signal strength at the current position does not meet the communication requirement, the target position with the wireless signal strength meeting the communication requirement is selected, the self-moving device moves to the target position to communicate with other devices, and the good wireless signals in the working environment are fully utilized, so that the communication quality between the self-moving device and the server is improved.

Description

Communication method of self-moving equipment, self-moving equipment and storage medium

Technical Field

The present application relates to the field of intelligent technologies, and in particular, to a communication method for a self-moving device, and a storage medium.

Background

With the development of artificial intelligence technology, home appliances also tend to be intelligent. For example, the floor sweeping robot can automatically complete the floor sweeping task by means of certain artificial intelligence, and a user is liberated from cleaning work.

In practical applications, the sweeping robot has limited capabilities, and therefore, in tasks such as object recognition and voice processing, data needs to be transmitted to a server for processing.

Disclosure of Invention

Aspects of the present disclosure provide a communication method of a self-moving device, and a storage medium to improve communication quality between the self-moving device and a server.

The embodiment of the application provides a communication method of self-moving equipment, which is suitable for the self-moving equipment and comprises the following steps: when communication with other equipment is needed, the wireless signal intensity of the current position is obtained; if the wireless signal strength of the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; the self-moving device moves to the target location and communicates with the other device at the target location.

An embodiment of the present application further provides a self-moving device, including: the device comprises a device body, wherein one or more processors and one or more memories for storing computer instructions are arranged on the device body; the one or more processors to execute the computer instructions to: when the self-moving equipment needs to communicate with other equipment, acquiring the wireless signal intensity of the current position of the self-moving equipment; if the wireless signal strength of the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; controlling the self-moving device to move to the target position and communicate with the other devices at the target position.

Embodiments of the present application also provide a computer-readable storage medium having stored thereon computer instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising: when the self-moving equipment needs to communicate with other equipment, acquiring the wireless signal intensity of the current position of the self-moving equipment; if the wireless signal strength of the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; controlling the self-moving device to move to the target position and communicate with the other devices at the target position.

In the embodiment of the application, when the self-moving device needs to communicate with other devices, considering that the wireless signals in the working environment of the self-moving device may have different strengths, when the wireless signal strength at the current position does not meet the communication requirement, the target position with the wireless signal strength meeting the communication requirement is selected, the self-moving device moves to the target position to communicate with other devices, and the good wireless signals in the working environment are fully utilized, so that the communication quality between the self-moving device and the server is improved.

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 schematic structural diagram of a communication system according to an exemplary embodiment of the present application;

fig. 2 is a stylistic view of a wireless signal strength map provided in an exemplary embodiment of the present application;

fig. 3 is a flowchart illustrating a communication method from a mobile device according to an exemplary embodiment of the present application;

fig. 4 is a schematic structural diagram of a self-moving device according to an exemplary embodiment of the present application;

fig. 5 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the prior art, the sweeping robot needs to communicate with the server sometimes, and the communication quality of the sweeping robot may not be good. In the embodiment of the application, when the self-moving device needs to communicate with other devices, considering that the wireless signals in the working environment of the self-moving device may have different strengths, when the wireless signal strength at the current position does not meet the communication requirement, the target position with the wireless signal strength meeting the communication requirement is selected, the self-moving device moves to the target position to communicate with other devices, and the good wireless signals in the working environment are fully utilized, so that the communication quality between the self-moving device and the server is improved.

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 schematic structural diagram of a communication system according to an exemplary embodiment of the present application. As shown in fig. 1, the communication system 100 includes: from mobile device 101 and other devices 102 that may communicate with mobile device 101. The number of the mobile devices 101 may be one or more, but is not limited thereto. The other devices 102 may be one or more, but are not limited to. The other device 102 may be a terminal device, another mobile device, or a server.

The self-moving apparatus 101 of the present embodiment may be any mechanical apparatus capable of performing a spatial movement highly autonomously in its working environment, and may be, for example, an unmanned vehicle, a robot, a cleaner, or the like. The robot may be any of various robots such as a cleaning robot and other service robots. The cleaning robot is a robot capable of autonomously performing a cleaning task in its working environment, and includes a floor cleaning robot, a glass cleaning robot, and the like. Other service type robots refer to robots that can autonomously move in their working environment and provide non-cleaning services, and include air cleaning robots, home accompanying robots, guest welcoming robots, and the like.

Of course, the shape of the mobile device may vary according to the implementation of the mobile device. The present embodiment is not limited to the form of the self-moving device, and the external contour shape of the self-moving device is taken as an example, and the external contour shape of the self-moving device may be an irregular shape or some regular shapes. For example, the external contour shape of the self-moving device may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop, or a D-shape. Accordingly, what is called irregular shapes other than the regular shape, such as an outer contour of a humanoid robot, an outer contour of an unmanned vehicle, and an outer contour of an unmanned vehicle, belong to the irregular shape.

In practical applications, the self-moving device 101 needs to communicate with other devices 102. Depending on the application scenario, the implementation of the other device 102 and the reason for communicating with the other device 102 from the mobile device 101 may be different. For example, in some scenarios, the self-moving device 101 needs to communicate with a terminal device of a user, such as a cell phone, in order to receive control of the terminal device; the terminal device of the user is the other device 102 that needs to communicate with the self-moving device 101. In other scenarios, the self-moving device 101 may have limited capabilities and need to communicate with a server, i.e., another device 102 that needs to communicate with the self-moving device 101, so as to complete some job tasks by the processing capability of the server.

In this embodiment, the wireless signals from the working environment of the mobile device 101 may have different strengths. The wireless signal in the working environment of the self-moving device can be a Wifi signal, a Bluetooth signal, an NFC signal, a radio frequency signal, an infrared signal, an Ultra Wide Band (UWB) signal and the like. In this embodiment, when the self-mobile device 101 needs to communicate with the other device 102, the self-mobile device 101 may obtain the wireless signal strength at the current location thereof; judging whether the wireless signal strength at the current position meets the communication requirement or not; if the wireless signal strength at the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; and further move to the target location and communicate with the other device 102 at the target location (using the wireless signal at the target location) in order to successfully communicate with the other device 102, ensuring the quality of the communication with the other device 102.

Alternatively, if the wireless signal strength at the current location of the self-moving device 101 meets the communication requirement, the self-moving device 101 may communicate with the other device 102 at the current location (using the wireless signal at the current location). It is worth noting that in the case that the wireless signal strength at the current position of the self-moving device 101 satisfies the communication requirement, the self-moving device 101 can also move from the current position to another position to communicate with the other device 102, wherein the wireless signal strength at the other position satisfies the communication requirement.

In this embodiment, the mobile device 101 may automatically find a position where a wireless signal is stronger to communicate with the other device 102 according to a communication requirement and considering a situation that the wireless signal strength in a working environment where the mobile device is located is different, which is beneficial to ensuring communication quality and further improving efficiency of completing a task.

In an alternative embodiment of the present application, the mobile device 101 has certain computing resources and storage resources, and can independently complete some tasks. However, in some application scenarios, the self-moving device 101 may be limited to its own computing resources and/or storage resources and may not be able to perform some tasks. For these cases, the self-moving device 101 may communicate with the other devices 102 to accomplish the respective tasks via the computing resources and/or storage resources of the other devices 102. Based on this, the self-mobile device 101 may determine the target task it currently needs to complete and the computing resources and/or storage resources needed to complete the target task; according to the computing resources and/or storage resources required for completing the target task, whether the computing resources and/or storage resources of the mobile device 101 are enough to complete the target task is judged; if the computing resources and/or memory resources of the self-mobile device 101 are not sufficient, it is determined that communication with the other device 102 is needed in order to borrow the computing resources and/or memory resources of the other device 102 to accomplish the target task. The target task may be any task that needs to be completed from the mobile device 101, such as obstacle recognition, voice recognition, video communication, and the like. Alternatively, the other device 102 may be a server or another self-moving device that may assist the self-moving device 101.

Further alternatively, some tasks having certain requirements on the wireless signal strength, which are simply referred to as setting tasks, may be preset. In this way, when the self-moving apparatus 101 needs to communicate with the other apparatus 102, it is necessary to further determine whether or not the purpose of the communication between the self-moving apparatus 101 and the other apparatus 102 is to complete the setting task. If the purpose of communication between the mobile device 101 and the other device 102 is to complete a set task, the mobile device 101 may automatically find a location with a stronger wireless signal to communicate with the other device 102; if the purpose of the self-moving device 101 communicating with the other device 102 is not to complete the set task, the self-moving device 101 can directly communicate with the other device 102 at the current position without automatically searching for the position with stronger wireless signal to communicate with the other device 102.

Based on the above, when the self-mobile device 101 needs to communicate with the other device 102 so as to complete the target task by means of the computing resources and/or the storage resources of the other device 102, it may be further determined whether the target task that triggers the self-mobile device 101 to communicate with the other device 102 belongs to a preset task that has a certain requirement on the wireless signal strength; if the target task belongs to the set task, the wireless signal intensity of the current position of the mobile device 101 can be acquired; judging whether the wireless signal strength at the current position meets the communication requirement or not; if the wireless signal intensity at the current position of the mobile terminal does not meet the communication requirement, selecting a target position of which the wireless signal intensity meets the communication requirement; in turn, move to the target location and communicate with other devices 102 at the target location. If the wireless signal strength of the current position of the self-moving device 101 meets the communication requirement, or the target task does not belong to the set task, the self-moving device can communicate with the other devices 102 at the current position.

Optionally, the preset task may include, but is not limited to, at least one of the following: the method comprises the following steps of object recognition, voice recognition, machine model access, video call, environment monitoring and alarming, weather inquiry, online shopping, voice call and audio and video playing. For detailed implementation of the preset task, reference may be made to the following scenario embodiments, which are not detailed herein for the moment.

In some optional embodiments of the present application, the self-mobile device 101 stores a signal strength map of its work environment, which includes wireless signal strengths at various locations in the work environment, and may be a signal heat map. The wireless signal from the work environment in which the mobile device 101 is located may be a Wifi signal, a bluetooth signal, an NFC signal, a radio frequency signal, an infrared signal, an Ultra Wideband (UWB) signal, or the like. One version of a signal strength map is shown in fig. 2, but is not so limited. As shown in fig. 2, the working environment includes a Wifi signal transmitter, the Wifi signal transmitter transmits Wifi signals, and the Wifi signals in different areas have different intensities. In fig. 2, the work environment is divided into three Wifi signal areas, which are an area where the Wifi signal is strong (corresponding to the darkest area in fig. 2), an area where the Wifi signal is moderate (corresponding to the relatively darker area in fig. 2), and an area where the Wifi signal is weak (corresponding to the lightest area in fig. 2). It should be noted that the granularity of the signal strength map shown in fig. 2 is relatively coarse, and only includes three Wifi signal strengths, but not limited thereto, and the granularity of the signal strength map may be finer. Based on this, when the self-mobile device 101 needs to communicate with the other device 102, the wireless signal strength at the current position thereof can be acquired based on the signal strength map of the work environment thereof; when the wireless signal strength of the current position of the mobile phone does not meet the communication requirement, selecting a target position with the wireless signal strength meeting the communication requirement based on the signal strength map; and then move to the target location and communicate with other devices 102 at the target location.

Here, the communication request can be flexibly set depending on factors such as the purpose of communication between the mobile device 101 and the other device 102, the work environment, and the application scenario. For example, in some application scenarios, the communication requirement may be expressed as a minimum signal strength required for normal communication, denoted as a signal strength threshold. Based on this, when the self-mobile device 101 needs to communicate with the other device 102, the wireless signal strength at the current position thereof can be acquired based on the signal strength map of the work environment thereof; comparing the wireless signal strength at the current position with a signal strength threshold value; if the wireless signal strength at the current position is less than or equal to the signal strength threshold, which means that the wireless signal strength at the current position does not meet the communication requirement, selecting a position with the wireless signal strength greater than the signal strength threshold from the working environment as a target position based on the signal strength map of the working environment; and then move to the target location and communicate with other devices 102 at the target location. For the case where the wireless signal strength at the current location of the self-moving device 101 is greater than the signal strength threshold, meaning that the wireless signal strength at the current location meets the communication requirements, it is possible to communicate with other devices 102 at the current location.

Similarly, the manner of selecting a position having a radio signal strength greater than the signal strength threshold value as the target position based on the signal strength map may be different depending on the purpose of communication between the mobile device and another device, the work environment, the application scenario, and other factors. Several ways of selecting the target location are listed below:

mode 1:and determining at least one signal area with the wireless signal strength greater than a signal strength threshold value in the working environment of the mobile device based on the signal strength map, and selecting the position closest to the current position of the mobile device from the at least one signal area as the target position. In the mode 1, the target position is closest to the current position of the mobile device, and the mobile device can be quickly moved to the target position, so that the mobile device can conveniently communicate with other devices as soon as possible.

Mode 2:and determining at least one signal area with the wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position with the maximum signal strength from the at least one signal area as a target position. In mode 2, the signal strength at the target location is the strongest, and communication from the mobile device to other devices is more reliable at this locationAnd the method is stable and is beneficial to improving the communication quality.

Mode 3:and determining at least one signal area with the wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting the edge angle position from the at least one signal area as the target position. In mode 3, the target location is located at a corner of the work environment where the mobile device communicates with other devices, which does not cause blockage and is beneficial to reducing adverse effects on user walking.

Mode 4:and determining at least one signal area with the wireless signal intensity larger than a signal intensity threshold value in the working environment based on the signal intensity map, and selecting the position with the largest monitoring visual angle from the at least one signal area as the target position. In the mode 4, the monitoring view angle of the self-moving device at the target position is the largest, so that the self-moving device can continuously monitor the working environment in a larger range in the process of communicating with other devices, and the method is particularly suitable for monitoring scenes.

Mode 5:and determining at least one signal area with the wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position closest to the subsequent working position from the at least one signal area as a target position. In the mode 5, the target position is closest to the subsequent operation position of the mobile device, and the mobile device can be quickly moved to the subsequent operation position, so that the subsequent operation can be started as soon as possible based on the communication result.

In some embodiments of the present application, a uniform signal strength threshold may be preset, that is, the signal strength thresholds are the same for different tasks that need to be completed since the mobile device communicates with other devices.

In other embodiments of the present application, tasks that the self-moving device needs to complete by communicating with other devices may be combined with the signal strength threshold, and a mapping relationship between the tasks and the signal strength threshold may be pre-established. The mapping relationship includes signal strength thresholds corresponding to different tasks. Based on the above, when the self-mobile device needs to communicate with other devices, the wireless signal strength of the current position of the self-mobile device can be obtained based on the signal strength map of the working environment; inquiring a mapping relation between a pre-established task and a signal intensity threshold value according to a target task which is triggered to communicate with other equipment from the mobile equipment, and determining the signal intensity threshold value; comparing the wireless signal strength at the current position with a signal strength threshold value; if the wireless signal strength at the current position is less than or equal to the signal strength threshold, which means that the wireless signal strength at the current position does not meet the communication requirement, selecting a position with the wireless signal strength greater than the signal strength threshold from the working environment as a target position based on the signal strength map of the working environment; and then moves to the target location and communicates with other devices at the target location.

It should be noted that, in the above embodiment, the execution sequence between the operation of "acquiring the wireless signal strength at the current location" and the operation of "querying the mapping relationship between the pre-established task and the signal strength threshold to determine the signal strength threshold" is not limited, and may be executed sequentially or in parallel.

In still other embodiments of the present application, the signal strength threshold may be calculated in real time during the communication process according to the communication requirement of the target task. Based on the above, when the self-mobile device needs to communicate with other devices, the wireless signal strength of the current position of the self-mobile device can be obtained based on the signal strength map of the working environment; calculating a signal intensity threshold in real time according to the data volume required to be transmitted and the required lower limit of the transmission rate for triggering a target task of communicating with other equipment from the mobile equipment; comparing the wireless signal strength at the current position with a signal strength threshold value; if the wireless signal strength at the current position is less than or equal to the signal strength threshold, which means that the wireless signal strength at the current position does not meet the communication requirement, selecting a position with the wireless signal strength greater than the signal strength threshold from the working environment as a target position based on the signal strength map of the working environment; and then moves to the target location and communicates with other devices at the target location.

It should be noted that, in the above embodiment, the execution sequence between the operation of "acquiring the wireless signal strength at the current position" and the operation of "calculating the signal strength threshold in real time" is not limited, and may be executed sequentially or in parallel.

In some of the embodiments described above, the target location is selected based on a signal strength map from the work environment in which the mobile device is located, but is not so limited. For example, when the self-mobile device determines that communication with other devices is required and the wireless signal strength at the current position of the self-mobile device does not meet the communication requirement, the self-mobile device can randomly move from the current position and detect the wireless signal strength at each position moved to during moving so as to obtain a target position with the wireless signal strength meeting the communication requirement. For example, the wireless signal strength at a location may be compared to a signal strength threshold upon detection of the wireless signal strength at the location; if the wireless signal strength at the position is greater than the signal strength threshold value, the wireless signal strength at the position is determined to meet the communication requirement, and the position can be used as a target position to further communicate with other equipment at the target position.

It should be noted that, in some embodiments described above, "a manner of selecting a target location based on a signal strength map" may be replaced with "a manner of obtaining a target location by detecting wireless signal strength at each location during a random movement" given herein, and the replaced embodiments are not described in detail.

Further, in the above or below embodiments, after the mobile device determines the target location, it may plan a navigation path from the current location to the target location in combination with an environment map of its operation environment; and moving to the target position along the navigation path.

Further, in the above or below-described embodiment, after the mobile device communicates with the other device at the target location, it is also possible to continue to execute the job task based on the communication result from the target location. Alternatively, after the mobile device communicates with another device at the target position, the mobile device may return to the original position before the movement, and the job task may be continuously executed based on the communication result.

Depending on the implementation form and the application scenario, the job task that the self-moving device continues to execute based on the communication result may be different. The following examples illustrate:

if the self-moving equipment is the sweeping robot, after the sweeping robot communicates with other equipment at the target position, the sweeping robot can continue to execute the sweeping task from the target position based on the communication result, or return to the original position before moving, and further continue to execute the sweeping task based on the communication result.

If the self-moving device is an air purifier, after the air purifier communicates with other devices at the target position, the air purifier can continue to execute the air purification task from the target position based on the communication result, or return to the original position before moving, and then continue to execute the air purification task based on the communication result.

If the self-moving apparatus is a transfer robot, after the transfer robot communicates with another apparatus at the target position, the transfer robot may continue to perform the transfer task from the target position based on the communication result, or return to the original position before the movement, and continue to perform the transfer task based on the communication result.

If the self-moving device is a guiding robot, after the guiding robot communicates with other devices at the target position, the guiding robot can continue to execute the guiding task from the target position based on the communication result, or return to the original position before moving, and then continue to execute the guiding task based on the communication result.

The following application scenarios describe the technical solutions provided in the embodiments of the present application in detail.

Scenario example 1:

in scenario embodiment 1, a home robot performs various tasks in a home environment. Among these tasks, some require a large amount of storage space and computational resources, such as high-precision object recognition. While home robots are typically embedded robots, they may not provide comparable computing power and storage resources for tasks that require a large amount of storage space and computing resources. The household robot can communicate with the server, and the corresponding task is completed by utilizing the storage and calculation capacity of the server.

Taking the sweeping robot as an example, in the process of executing a sweeping task, the sweeping robot can use a camera to shoot an environment image of a home environment where the sweeping robot is located, and needs to identify obstacles such as data lines, tables and chairs on a floor from the image, and then take obstacle avoidance measures to prevent winding or collision. Among them, the captured environmental image requires a large storage space, and the image recognition method also requires a large amount of calculation. Therefore, the sweeping robot uploads the shot environment images to a cloud server, the server identifies the environment images to obtain obstacles on the travelling route of the sweeping robot and sends the obstacles to the sweeping robot, and the sweeping robot avoids the obstacles accordingly.

For another example, for a floor sweeping robot, in the process of regionalizing an environment map, the floor sweeping robot may traverse the home environment where the floor sweeping robot is located, and capture an environment image by using a camera in the traversing process, it is necessary to identify objects existing in the home environment from the image, and divide the home environment into different spatial regions based on the identification result of the objects, for example, it is identified that a range hood may be positioned as a kitchen, a couch and a television may be positioned as a living room, and so on, so as to obtain a regionalized environment map. Among them, the captured environmental image requires a large storage space, and the image recognition method also requires a large amount of calculation. Therefore, the sweeping robot uploads the shot environment images to a cloud server, the server identifies the environment images to obtain obstacles on the travelling route of the sweeping robot and sends the obstacles to the sweeping robot, and the sweeping robot constructs a regional environment map according to the obstacles.

However, in a home environment, Wifi signals at different positions may have different strengths due to shielding of tables and chairs, a wardrobe, a wall and the like, or due to electromagnetic interference of household appliances and the like. If the Wifi signal at the current position of the household robot is weak, the speed of uploading the environmental image is very slow, even the environmental image cannot be uploaded, so that the server cannot give out the identification result in time, and the floor sweeping robot is influenced to execute subsequent operation.

Therefore, when the sweeping robot needs to upload an environment image to the server, firstly, a Wifi signal intensity map of a family environment is obtained, the Wifi signal intensity of the center of the current master bedroom is obtained, and the Wifi signal intensity is compared with a set signal intensity threshold value. If the Wifi signal intensity of the center of the current master bedroom is larger than the signal intensity threshold value, the Wifi signal of the center of the current master bedroom is directly utilized to establish communication connection with the server. If the Wifi signal intensity at the center of the master bedroom is smaller than or equal to the signal intensity threshold, a target position with the Wifi signal intensity larger than the signal intensity threshold is searched by using a Wifi signal intensity map of the home environment, for example, at any position of the doorway of the master bedroom and the living room, the target position is moved to the doorway of the master bedroom or the living room from the center of the master bedroom, and the Wifi signal at the doorway or the living room is used for establishing communication connection with the server.

After the sweeping robot establishes communication connection with the server, uploading the shot environment image to the server; and the server identifies the object in the environment image to obtain an identification result and sends the identification result to the sweeping robot. If the sweeping robot is executing the cleaning task, after the recognition result is obtained, the sweeping robot can return to the center of the master bedroom to continue to execute the cleaning task, and the recognition result is used for avoiding obstacles in the process of executing the cleaning task, which is equivalent to returning to the original position and continuing to execute the subsequent operation task based on the communication result. If the sweeping robot is constructing the environment map, after the identification result is obtained, on one hand, a master bedroom area can be marked in the environment map, on the other hand, the sweeping robot can return to the center of the master bedroom, traversal operation is continuously executed until all areas in the whole family environment are marked in the environment map, which is equivalent to returning to the original position, and subsequent operation tasks are continuously executed based on the communication result.

Scenario example 2:

in scenario embodiment 2, a home robot performs various tasks in a home environment. Taking a family accompanying robot as an example, the family accompanying robot supports voice instructions. The user can give out various voice instructions to the family accompanying robot to instruct the family accompanying robot to execute the family accompanying task. For example, the user may issue "please tell a story," "please play music," "ask for how today's weather," "ask me to measure blood pressure," and so on.

For the family accompanying robot, some voice instructions can be learned or stored in advance, and the family accompanying robot can understand the meanings of the voice instructions and perform corresponding actions. However, the family accompanying robot may encounter hard-to-understand or fuzzy instructions in the process of executing the accompanying task, including but not limited to various instructions beyond the family accompanying robot database, and also including some instructions with inaccurate pronunciation or dialect.

In the process that the family accompanying robot executes an accompanying task, if a voice command transmitted to the family accompanying robot by a user is difficult to understand or fuzzy, the family accompanying robot needs to recognize the semantics of the voice command through algorithms such as machine learning. The machine learning process needs a large amount of calculation, and a common family accompanying robot cannot provide matched calculation capacity. Therefore, the family accompanying robot needs to establish communication connection with a cloud server by means of Wifi signals in a family environment, upload difficult-to-understand or fuzzy voice instructions to the server, recognize semantics of the voice instructions by the server through algorithms such as machine learning and the like and send the semantics to the family accompanying robot, and the family accompanying robot executes corresponding actions or gives related responses according to recognition results of the server.

However, in a home environment, Wifi signals at different positions may have different strengths due to shielding of tables and chairs, a wardrobe, a wall and the like, or due to electromagnetic interference of household appliances and the like. If the Wifi signal at the current position of the household robot is weak, the speed of uploading the unintelligible or fuzzy voice command is very slow, even the voice command cannot be uploaded, so that the server cannot give out a recognition result in time, and the household accompanying robot is influenced to execute an accompanying task.

For this reason, when the family accompanying robot needs to upload a speech command which is difficult to understand or fuzzy to the server, firstly, the Wifi signal strength at the current position (for example, kitchen) of the family accompanying robot is obtained based on the Wifi signal strength map of the family environment, and the Wifi signal strength is compared with the set signal strength threshold. And if the Wifi signal intensity of the current position is greater than the signal intensity threshold value, establishing communication connection with the server by using the Wifi signal of the current position. If the Wifi signal intensity of the current position is smaller than or equal to the signal intensity threshold, a target position (such as a living room) with the Wifi signal intensity larger than the signal intensity threshold is searched by using a Wifi signal intensity map of the home environment, the target position is moved from the kitchen to the living room, and the Wifi signal in the living room is used for establishing communication connection with the server in the living room.

After the family accompanying robot establishes communication connection with the server, the voice instruction is uploaded to the server; the server identifies the voice command to obtain the semantic meaning of the voice command and sends the semantic meaning to the family accompanying robot. If the semantic meaning of the voice instruction is 'please help me to take a menu', the family accompanying robot can move from the living room to the study room, take out the menu from the bookshelf of the study room and return the menu to the kitchen for the user, which is equivalent to continuously executing the subsequent operation task based on the communication result from the target position. If the semantic meaning of the voice instruction is 'please play the relaxing music', the family accompanying robot can return to the kitchen from the living room and play the relaxing music, which is equivalent to return to the original position, and continue to execute the subsequent job task based on the communication result.

Scenario example 3:

in scenario embodiment 3, a room service robot is configured in a hotel scenario. The room service robot supports video calls. In order to know the room condition, the room service robot needs to perform a video call with a person associated with a hall manager or the like. Wifi signals in guest rooms are different in strength, when the guest room service robot receives a video call request, a Wifi signal strength map in the guest room can be inquired, the Wifi signal strength of the current position (such as a toilet) is obtained, and the Wifi signal strength is compared with a signal strength threshold value; if the Wifi signal intensity at the current position is smaller than or equal to the signal intensity threshold, a target position, such as a window, where the Wifi signal intensity is greater than the signal intensity threshold can be found based on the Wifi signal intensity map; from the toilet to the window of the guest room where a video call is made with the relevant person. Because the signal of window department is better, can guarantee video conversation quality, reduce the probability that the conversation is interrupted.

Scenario example 4:

in scenario embodiment 4, in a high-risk, aseptic or high-temperature working environment, a monitoring robot may be configured to monitor environmental parameters or working states of the working environment in real time. In the scenes of hospitals, kindergartens, nursing homes and the like, a monitoring robot can be configured to monitor emergencies in the scenes. These monitoring robots need to upload the monitoring screen to the server or the terminal devices of the related personnel in time, and for example, the monitoring screen may be uploaded periodically, or may be uploaded when a set time arrives, or may be uploaded when an abnormal event or condition is monitored. However, the data volume of these monitoring pictures is too large, and the influence of the strength of the Wifi signal in the environment where the monitoring robot is located on the transmission speed is large, so when the monitoring picture needs to be uploaded, if the Wifi signal at the current position is weak, a place where the Wifi signal is strong can be searched, and the monitoring picture is uploaded to the server or the terminal device at the position.

For some special environments, it may be inconvenient to construct a Wifi signal strength map, for example, for high temperature or high risk work scenarios. For these scenes, when the monitoring robot needs to upload the monitoring picture, if the signal of the current position is weak, the monitoring robot can randomly move and detect the signal intensity of the moved position, and when a strong signal is detected, the monitoring picture is uploaded at the detected strong signal.

In combination with the above system embodiments, the present application also provides some method embodiments, which mainly describe the process of communicating with other devices from the perspective of the mobile device.

Fig. 3 is a flowchart illustrating a communication method from a mobile device according to an exemplary embodiment of the present application. As shown in fig. 3, the method includes:

301. when the self-mobile device needs to communicate with other devices, the wireless signal strength at the current position is acquired.

302. And if the wireless signal strength at the current position does not meet the communication requirement, selecting a target position with the wireless signal strength meeting the communication requirement.

303. From the mobile device to the target location and communicate with other devices at the target location.

The wireless signal in the working environment where the mobile device is located can be a Wifi signal, a bluetooth signal, an NFC signal, a radio frequency signal, an infrared signal, an Ultra Wideband (UWB) signal, and the like.

The self-moving device may be any mechanical device capable of moving in space highly autonomously in its working environment, and may be, for example, an unmanned vehicle, a robot, a cleaner, or the like.

In this embodiment, when the self-mobile device needs to communicate with other devices, the self-mobile device may obtain the wireless signal strength at the current location; judging whether the wireless signal strength at the current position meets the communication requirement or not; if the wireless signal strength at the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; and then move to the target location and communicate with other devices at the target location (using the wireless signals at the target location) in order to successfully communicate with other devices, ensuring the quality of communication with other devices.

Optionally, if the wireless signal strength of the current position of the self-moving device meets the communication requirement, the self-moving device communicates with other devices at the current position.

In an alternative embodiment, in the step 302, the selecting the target location with the wireless signal strength satisfying the communication requirement includes: selecting a target position with wireless signal strength meeting communication requirements based on a signal strength map of the mobile equipment working environment; or, the mobile device randomly moves from the current position, and detects the wireless signal strength of each moved position to obtain the target position with the wireless signal strength meeting the communication requirement.

Further alternatively, when a target position whose wireless signal strength satisfies the communication requirement is selected based on the signal strength map of the work environment of the mobile device, a position whose wireless signal strength is greater than the signal strength threshold value may be selected as the target position from the work environment based on the signal strength map.

Further optionally, selecting a location with a wireless signal strength greater than a signal strength threshold from the working environment as the target location based on the signal strength map includes any of:

determining at least one signal area with the wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position closest to the current position of the mobile device from the at least one signal area as a target position;

determining at least one signal area with wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position with the maximum signal strength from the at least one signal area as a target position;

determining at least one signal area with wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting an edge angle position from the at least one signal area as a target position;

determining at least one signal area with wireless signal intensity larger than a signal intensity threshold value in the working environment based on the signal intensity map, and selecting a position with the largest monitoring visual angle from the at least one signal area as a target position;

and determining at least one signal area with the wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position closest to the subsequent working position from the at least one signal area as a target position.

Correspondingly, on the basis of the signal intensity threshold, before selecting the target position with the wireless signal intensity meeting the communication requirement, the wireless signal intensity at the current position can be compared with the signal intensity threshold; if the wireless signal intensity of the current position is greater than the signal intensity threshold value, determining that the wireless signal intensity of the current position meets the communication requirement; and if the wireless signal strength at the current position is less than or equal to the signal strength threshold value, determining that the wireless signal strength at the current position does not meet the communication requirement.

Further, before comparing the wireless signal strength at the current position with the signal strength threshold, the mapping relationship between the pre-established task and the signal strength threshold may be queried according to a target task triggered from the mobile device to communicate with other devices, so as to determine the signal strength threshold; alternatively, the signal strength threshold may be calculated in real time based on the amount of data that needs to be transmitted and the required lower limit of the transmission rate that is required to trigger the target task of communicating with the other device from the mobile device.

The reason for communicating with other devices from a mobile device is different according to different application scenarios. In some application scenarios, a self-moving device may be limited to its own computing and/or storage resources and may not be able to accomplish some tasks. For these cases, determining from the mobile device the manner in which communication with other devices is required includes: determining a target task which is required to be completed currently by the mobile equipment and computing resources and/or storage resources required by the target task; if the computing resources and/or the storage resources of the self-mobile device are insufficient, the self-mobile device determines that communication with other devices is needed so as to borrow the computing resources and/or the storage resources of the other devices to complete the target task.

Further alternatively, some tasks having certain requirements on the wireless signal strength, which are simply referred to as setting tasks, may be preset. In this way, when the self-moving apparatus needs to communicate with another apparatus, it is necessary to further determine whether or not the purpose of the self-moving apparatus communicating with the other apparatus is to complete the setting task. If the purpose of communication between the self-moving equipment and other equipment is to complete a set task, the self-moving equipment can automatically search a position with stronger wireless signals to communicate with other equipment; if the purpose of the self-moving device to communicate with other devices is not to complete the set task, the self-moving device can directly communicate with other devices at the current position without automatically searching the position with stronger wireless signals to communicate with other devices.

Based on the above, before obtaining the wireless signal strength at the current location, the method further includes: and determining a target task for triggering the mobile equipment to communicate with other equipment, wherein the target task belongs to a preset task with a certain requirement on the wireless signal strength.

Optionally, the preset task includes at least one of the following: the method comprises the following steps of object recognition, voice recognition, machine model access, video call, environment monitoring and alarming, weather inquiry, online shopping, voice call and audio and video playing.

In combination with the above examples of the preset task, several target tasks belonging to the preset task are listed:

for example, if the target task is an obstacle recognition task in the process of self-moving equipment operation, the target task is determined to belong to a preset object recognition task.

For example, if the target task is a task for recognizing a voice command in the mobile device operation process, it is determined that the target task belongs to a preset voice recognition task.

For example, if the target task is a task realized by a machine model in the mobile device operation process, the target task is determined to belong to a preset machine model access task.

In connection with the above example of a target task belonging to a preset task, several procedures for communicating with other devices at a target location from a mobile device are enumerated:

if the target task is an obstacle recognition task in the operation process of the mobile equipment, uploading an environment image of the operation environment of the mobile equipment to the server at the target position, and receiving obstacle information which is returned by the server and recognized according to the environment image;

if the target task is a task for recognizing the voice command in the mobile equipment operation process, the voice command is uploaded to the server at the target position, and a text recognition result aiming at the voice command returned by the server is received;

and if the target task is a task realized by depending on the machine model in the operation process of the mobile equipment, uploading model parameters to the server at the target position, and receiving a model result which is returned by the server and generated by operating the machine model according to the model parameters.

In the above or following embodiments, one way to move from the mobile device to the target location comprises: planning a navigation path from the current position of the mobile equipment to a target position based on an environment map of the operation environment of the mobile equipment; the mobile device is moved to the target location along the navigation path.

In the above or below-described embodiment, after the mobile device communicates with the other device at the target location, the job task may be further continued to be executed based on the communication result from the target location. Alternatively, after the mobile device communicates with another device at the target position, the mobile device may return to the original position before the movement, and the job task may be continuously executed based on the communication result.

It should be noted that the execution subjects of the steps of the methods provided in the above embodiments may be the same device, or different devices may be used as the execution subjects of the methods. For example, the execution subjects of steps 301 to 303 may be device a; for another example, the execution subject of steps 301 and 302 may be device a, and the execution subject of step 303 may be device B; and so on.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations are included in a specific order, but it should be clearly understood that the operations may be executed out of the order presented herein or in parallel, and the sequence numbers of the operations, such as 301, 302, etc., are merely used for distinguishing different operations, and the sequence numbers do not represent any execution order per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

Fig. 4 is a schematic structural diagram of a self-moving device according to another exemplary embodiment of the present application. As shown in fig. 4, the self-moving apparatus includes: the device body 40 is provided with one or more processors 401, one or more memories 402 storing computer instructions, and a communication component 403.

Among other things, one or more processors 401 to execute computer instructions stored in one or more memories 402 to: when the self-mobile equipment needs to communicate with other equipment, the wireless signal intensity of the current position of the self-mobile equipment is obtained; when the wireless signal strength of the current position of the mobile equipment does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; control moves from the mobile device to the target location and communicates with other devices at the target location through the communication component 403.

In an alternative embodiment, the one or more processors 401 are further configured to: when the wireless signal strength at the current location meets the communication requirement, the mobile device is controlled to communicate with other devices at the current location through the communication component 403.

In an alternative embodiment, the one or more processors 401, when selecting a target location for which the wireless signal strength meets the communication requirement, are specifically configured to: selecting a target position with wireless signal strength meeting communication requirements based on a signal strength map of the mobile equipment working environment; or, the mobile device is controlled to randomly move from the current position, and the wireless signal strength of each moved position is detected to obtain the target position with the wireless signal strength meeting the communication requirement.

In an alternative embodiment, the one or more processors 401, when selecting the target location based on the signal strength map, are specifically configured to: based on the signal strength map, a position where the wireless signal strength is greater than a signal strength threshold is selected as a target position from the work environment of the self-moving apparatus.

The one or more processors 401 are specifically configured to, when selecting a location with a wireless signal strength greater than a signal strength threshold as the target location, perform any one of the following operations:

In an alternative embodiment, the one or more processors 401 are further configured to: before selecting a target position with the wireless signal strength meeting the communication requirement, comparing the wireless signal strength at the current position with a signal strength threshold value; if the wireless signal intensity of the current position is greater than the signal intensity threshold value, determining that the wireless signal intensity of the current position meets the communication requirement; and if the wireless signal strength at the current position is less than or equal to the signal strength threshold value, determining that the wireless signal strength at the current position does not meet the communication requirement.

In an alternative embodiment, the one or more processors 401 are further configured to: before comparing the wireless signal strength of the current position with a signal strength threshold, inquiring a mapping relation between a pre-established task and the signal strength threshold according to a target task triggering the communication between the mobile equipment and other equipment, and determining the signal strength threshold; or, before comparing the wireless signal strength at the current position with the signal strength threshold, calculating the signal strength threshold in real time according to the data quantity required to be transmitted and the required lower limit of the transmission rate, which are triggered from the target task of the mobile equipment for communicating with other equipment.

In an alternative embodiment, the one or more processors 401 are further configured to: it is determined that a self-moving device needs to communicate with other devices. Wherein, when determining that the self-mobile device needs to communicate with other devices, the one or more processors 401 are specifically configured to: determining a target task which is required to be completed currently by the mobile equipment and computing resources and/or storage resources required by the target task; and when the self-mobile device has insufficient computing resources and/or storage resources, determining that the self-mobile device needs to communicate with other devices to borrow the computing resources and/or storage resources of the other devices to complete the target task.

In an alternative embodiment, the one or more processors 401 are further configured to: before the wireless signal strength of the current position is obtained, a target task which is triggered to communicate with other equipment from the mobile equipment is determined, and the target task belongs to a preset task with a certain requirement on the wireless signal strength.

Optionally, the one or more processors 401 are further configured to: when the target task triggering the self-moving device to communicate with other devices does not belong to the preset task, the automatic moving device can be controlled to directly communicate with other devices at the current position.

Optionally, the preset task includes at least one of: the method comprises the following steps of object recognition, voice recognition, machine model access, video call, environment monitoring and alarming, weather inquiry, online shopping, voice call and audio and video playing.

Optionally, when determining that the target task triggering the mobile device to communicate with other devices belongs to a preset task having a certain requirement on the wireless signal strength, the one or more processors 401 are specifically configured to:

if the target task is an obstacle recognition task in the operation process of the mobile equipment, determining that the target task belongs to a preset object recognition task; or

If the target task is a task for recognizing a voice command in the mobile equipment operation process, determining that the target task belongs to a preset voice recognition task; or

And if the target task is a task realized by depending on a machine model in the operation process of the mobile equipment, determining that the target task belongs to a preset machine model access task.

In an alternative embodiment, the one or more processors 401, when communicating with other devices at the target location, are specifically configured to:

In an optional embodiment, the one or more processors 401, when controlling the movement from the mobile device to the target location, are specifically configured to: planning a navigation path from the current position to a target position based on an environment map of the mobile equipment working environment; and controlling the mobile equipment to move to the target position along the navigation path.

In an alternative embodiment, the one or more processors 401 are further configured to: after controlling the self-moving device to communicate with other devices at the target position, controlling the self-moving device to continue to execute the job task based on the communication result from the target position; or, after controlling the self-moving device to communicate with other devices at the target position, controlling the self-moving device to return to the original position before the movement, and continuing to execute the job task based on the communication result.

In an alternative embodiment, the one or more processors 401, when controlling the mobile device to continue to execute the job task based on the communication result, may specifically perform any one of the following operations:

controlling the mobile equipment to continue to execute the cleaning task based on the communication result;

controlling the self-moving equipment to continuously execute the air purification task based on the communication result;

controlling the self-moving equipment to continuously execute the carrying task based on the communication result;

and controlling the self-mobile device to continue to execute the guiding task based on the communication result.

Further, as shown in fig. 4, the self-moving device may further include: a display 404, a power component 405, an audio component 406, and other components. The present embodiment is only given to some of the components schematically, and does not mean that the self-moving apparatus includes only these components. It is to be noted that the components shown in the dotted line block in fig. 4 are optional components, not essential components.

Alternatively, the self-moving device of the present embodiment may be a robot, a cleaner, or an unmanned vehicle.

In an alternative embodiment, the self-moving device is implemented as a robot. As shown in fig. 5, the robot 500 of the present embodiment includes: the machine body 501 is provided with one or more processors 502, one or more memories 503 for storing computer instructions, and a communication component 504. The communication component 504 may be a Wifi module, an infrared module, or a bluetooth module, etc.

In addition to one or more processors 502 and one or more memories 503, some basic components of the robot 500, such as a sensor component 506 (e.g., a vision sensor), a power component 507, a driving component 508, and the like, are disposed on the machine body 501. The vision sensor may be a camera, or the like. Alternatively, the drive assembly 508 may include drive wheels, drive motors, universal wheels, and the like. Optionally, if the robot 500 is a sweeping robot, the robot 500 may further include a sweeping assembly 505, and the sweeping assembly 505 may include a sweeping motor, a sweeping brush, a dust suction fan, and the like. These basic components and the configurations of the basic components included in different robots 500 are different, and the embodiments of the present application are only some examples. It is to be noted that the components shown in fig. 5 by the dashed line boxes are optional components, not essential components.

It is noted that the one or more processors 502 and the one or more memories 503 may be disposed inside the machine body 501, or may be disposed on the surface of the machine body 501.

The machine body 501 is an execution mechanism by which the robot 500 performs a task, and can execute an operation designated by the processor 502 in a certain environment. The machine body 501 represents the appearance of the robot 500 to some extent. In the present embodiment, the external appearance of the robot 500 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 503 are used primarily to store computer instructions that are executable by the one or more processors 502 to cause the one or more processors 502 to control the robot 500 to perform corresponding tasks. In addition to storing computer instructions, the one or more memories 503 may also be configured to store other various data to support operations on the robot 500. Examples of such data include instructions for any application or method operating on the robot 500, an environment map of the environment/scene in which the robot 500 is located, a signal strength map, and so forth.

The memory or memories 503 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

One or more processors 502, which may be considered a control system for the robot 500, may be used to execute computer instructions stored in one or more memories 503 to control the robot 500 to perform corresponding tasks.

In this embodiment, one or more processors 502 may control the robot 500 to communicate with a server. Among other things, the one or more processors 502 may control the robot 500 to communicate with the server as follows: when the robot 500 needs to communicate with the server, acquiring the wireless signal strength of the current position of the robot 500; when the wireless signal strength at the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; the robot 500 is controlled to move to a target position and communicate with a server at the target position.

In an alternative embodiment, one or more processors 502 may control the process by which robot 500 communicates with the server as follows: determining that the robot 500 needs to communicate with the server; acquiring the wireless signal strength of the current position of the robot 500; when the wireless signal strength at the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; the robot 500 is controlled to move to a target position and communicate with a server at the target position.

Wherein the one or more processors 502 are specifically configured to: determining a target task which needs to be completed by the robot 500 at present and computing resources and/or storage resources needed for completing the target task; and when the computing resources and/or storage resources of the robot 500 are insufficient, it is determined that the robot 500 needs to communicate with the server to borrow the computing resources and/or storage resources of the server to complete the target task.

In an alternative embodiment, one or more processors 502 may control the process by which robot 500 communicates with the server as follows: determining that the robot 500 needs to communicate with the server; determining a target task for triggering the robot 500 to communicate with the server, wherein the target task belongs to a preset task with a certain requirement on wireless signal strength; acquiring the wireless signal strength of the current position of the robot 500; when the wireless signal strength at the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; the robot 500 is controlled to move to a target position and communicate with a server at the target position.

Optionally, the one or more processors 502 are further configured to: when the target task triggering the self-moving device to communicate with other devices does not belong to the preset task, the automatic moving device can be controlled to directly communicate with other devices at the current position.

In the above embodiments, the one or more processors 502 are further configured to: and when the wireless signal strength of the current position of the robot 500 meets the communication requirement, controlling the robot 500 to communicate with the server at the current position.

In the above embodiments, when selecting the target location whose wireless signal strength satisfies the communication requirement, the one or more processors 502 are specifically configured to: selecting a target position with wireless signal strength meeting communication requirements based on a signal strength map of the working environment of the robot 500; alternatively, the robot 500 is controlled to randomly move from the current position and detect the wireless signal strength at each position to which the robot has moved, so as to obtain a target position whose wireless signal strength satisfies the communication requirement.

In an alternative embodiment, the one or more processors 502, when selecting a target location based on the signal strength map, are specifically configured to: based on the signal strength map, a position where the wireless signal strength is greater than the signal strength threshold value is selected as the target position from the working environment of the robot 500.

The one or more processors 502 are specifically configured to perform any of the following operations when selecting a location with wireless signal strength greater than a signal strength threshold as the target location:

determining at least one signal area with wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position closest to the current position of the robot 500 from the at least one signal area as a target position;

In an alternative embodiment, the one or more processors 502 are further configured to: before selecting a target position with the wireless signal strength meeting the communication requirement, comparing the wireless signal strength at the current position with a signal strength threshold value; if the wireless signal intensity of the current position is greater than the signal intensity threshold value, determining that the wireless signal intensity of the current position meets the communication requirement; and if the wireless signal strength at the current position is less than or equal to the signal strength threshold value, determining that the wireless signal strength at the current position does not meet the communication requirement.

In an alternative embodiment, the one or more processors 502 are further configured to: before comparing the wireless signal strength of the current position with a signal strength threshold, inquiring a mapping relation between a pre-established task and the signal strength threshold according to a target task for triggering the robot 500 to communicate with a server, and determining the signal strength threshold; or, before comparing the wireless signal strength at the current position with the signal strength threshold, calculating the signal strength threshold in real time according to the data amount required to be transmitted and the required lower limit of the transmission rate for the target task triggering the robot 500 to communicate with the server.

In addition to the self-moving device or robot described above, embodiments of the present application also provide a computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising: when the self-mobile equipment needs to communicate with other equipment, the wireless signal intensity of the current position of the self-mobile equipment is obtained; if the wireless signal strength at the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement; control moves from the mobile device to the target location and communicates with other devices at the target location.

In addition to the above actions, the one or more processors may also perform other actions when executing the computer instructions in the computer-readable storage medium, and the other actions may refer to the description in the foregoing embodiments and are not described herein again.

It is noted that the one or more processors executing the computer instructions may be processors in the self-moving device described above. When the self-moving device is the robot, the one or more processors executing the computer instructions are specifically processors in the robot.

The communication component in the above embodiments is configured to facilitate communication between the device in which the communication component is located and other devices in a wired or wireless manner. The device in which the communication component is located can access a wireless network based on a communication standard, such as Wifi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component may further include a Near Field Communication (NFC) module, Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and the like.

The display in the above embodiments includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The power supply components in the embodiments of the figures described above provide power to the various components of the device in which the power supply components are located. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.

The audio component in the above embodiments 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.

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 is 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 non-transitory and non-transitory, removable and non-removable media, may implement 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 an … …" does not exclude the presence of other like elements 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 communication method from a mobile device, adapted for use with the mobile device, the method comprising:

when communication with other equipment is needed, the wireless signal intensity of the current position is obtained;

if the wireless signal strength of the current position does not meet the communication requirement, selecting a target position of which the wireless signal strength meets the communication requirement;

the self-moving device moves to the target location and communicates with the other device at the target location.

2. The communication method according to claim 1, further comprising:

and if the wireless signal strength at the current position meets the communication requirement, the self-mobile equipment communicates with the other equipment at the current position.

3. The method of claim 1, wherein selecting a target location having a wireless signal strength that meets the communication requirement comprises:

selecting a target position with wireless signal strength meeting the communication requirement based on the signal strength map of the self-mobile equipment working environment; or

The self-moving equipment randomly moves from the current position, and detects the wireless signal strength of each moved position to obtain a target position with the wireless signal strength meeting the communication requirement.

4. The communication method according to claim 3, wherein selecting a target location having a wireless signal strength satisfying the communication requirement based on the signal strength map of the self-moving device working environment comprises:

selecting a location from the work environment having a wireless signal strength greater than a signal strength threshold as the target location based on the signal strength map.

5. The communication method according to claim 4, wherein selecting a location having a wireless signal strength greater than a signal strength threshold as the target location from the working environment based on the signal strength map comprises any one of:

determining at least one signal area with wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position closest to the current position of the mobile equipment from the at least one signal area as the target position;

determining at least one signal area in the working environment, wherein the wireless signal strength of the at least one signal area is greater than a signal strength threshold value, and selecting a position with the highest signal strength from the at least one signal area as the target position;

determining at least one signal area in the working environment, wherein the wireless signal strength of the at least one signal area is greater than a signal strength threshold value, and selecting an edge position from the at least one signal area as the target position;

determining at least one signal area with wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position with the largest monitoring visual angle from the at least one signal area as the target position;

and determining at least one signal area with wireless signal strength larger than a signal strength threshold value in the working environment based on the signal strength map, and selecting a position closest to a subsequent working position from the at least one signal area as the target position.

6. The communication method according to claim 1, further comprising, before selecting a target location whose wireless signal strength satisfies the communication requirement:

comparing the wireless signal strength at the current location to a signal strength threshold;

if the wireless signal strength of the current position is greater than the signal strength threshold, determining that the wireless signal strength of the current position meets the communication requirement;

and if the wireless signal strength at the current position is less than or equal to the signal strength threshold value, determining that the wireless signal strength at the current position does not meet the communication requirement.

7. The communication method according to claim 6, further comprising, before comparing the wireless signal strength at the current location with the signal strength threshold:

inquiring a mapping relation between a pre-established task and a signal intensity threshold value according to a target task for triggering the self-moving equipment to communicate with the other equipment, and determining the signal intensity threshold value; or

And calculating the signal intensity threshold in real time according to the data volume needing to be transmitted and the required lower limit of the transmission rate for triggering the target task of the communication between the self-moving equipment and the other equipment.

8. The communication method according to any of claims 1-7, wherein determining that communication with other devices is required comprises:

determining a target task which needs to be completed currently by the self-moving equipment and computing resources and/or storage resources needed for completing the target task;

and if the self-mobile equipment has insufficient computing resources and/or storage resources, determining that communication with other equipment is needed so as to borrow the computing resources and/or storage resources of the other equipment to complete the target task.

9. The method according to any one of claims 1-7, further comprising, before obtaining the wireless signal strength at the current location:

and determining a target task for triggering the self-moving equipment to communicate with the other equipment, wherein the target task belongs to a preset task with a certain requirement on the wireless signal strength.

10. The communication method according to claim 9, wherein the predetermined task comprises at least one of:

the method comprises the following steps of object recognition, voice recognition, machine model access, video call, environment monitoring and alarming, weather inquiry, online shopping, voice call and audio and video playing.

11. The method of claim 10, wherein determining that the target task that triggers the self-moving device to communicate with the other devices belongs to a preset task with certain requirements on wireless signal strength comprises:

if the target task is an obstacle recognition task in the operation process of the self-moving equipment, determining that the target task belongs to a preset object recognition task; or

If the target task is a task for recognizing a voice command in the self-moving equipment operation process, determining that the target task belongs to a preset voice recognition task; or

And if the target task is a task realized by depending on a machine model in the self-moving equipment operation process, determining that the target task belongs to a preset machine model access task.

12. The communication method according to claim 11, wherein communicating with the other device at the target location comprises:

if the target task is an obstacle identification task in the self-moving equipment operation process, uploading an environment image of the self-moving equipment operation environment to a server at the target position, and receiving obstacle information which is returned by the server and identified according to the environment image;

if the target task is a task for recognizing a voice instruction in the self-moving equipment operation process, uploading the voice instruction to a server at the target position, and receiving a text recognition result for the voice instruction returned by the server;

and if the target task is a task realized by depending on a machine model in the self-moving equipment operation process, uploading model parameters to a server at the target position, and receiving a model result returned by the server and generated by operating the machine model according to the model parameters.

13. The communication method according to any one of claims 1 to 7, wherein the moving from the mobile device to the target location comprises:

planning a navigation path from the current position to the target position based on an environment map of the self-mobile equipment working environment;

the self-moving device moves to the target position along the navigation path.

14. The communication method according to any one of claims 1 to 7, further comprising, after communicating with the other device at the target location:

continuing to execute the job task based on the communication result from the target position; or

And returning to the original position before the movement, and continuing to execute the job task based on the communication result.

15. The communication method according to claim 14, wherein continuing to execute the job task based on the communication result includes any one of:

continuing to perform a cleaning task based on the communication result;

continuing to perform the air purification task based on the communication result;

continuing to perform the handling task based on the communication result;

and continuing to execute the guiding task based on the communication result.

16. An autonomous mobile device, comprising: the device comprises a device body, wherein one or more processors and one or more memories for storing computer instructions are arranged on the device body;

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

when the self-moving equipment needs to communicate with other equipment, acquiring the wireless signal intensity of the current position of the self-moving equipment;

controlling the self-moving device to move to the target position and communicate with the other devices at the target position.

17. The self-moving device of claim 16, wherein the one or more processors, when selecting the target location, are further configured to:

And controlling the self-moving equipment to randomly move from the current position, and detecting the wireless signal strength of each moved position to obtain a target position with the wireless signal strength meeting the communication requirement.

18. The self-moving device of claim 17, wherein the one or more processors, when selecting the target location based on the signal strength map, are specifically configured to:

19. The self-moving device of claim 18, wherein the one or more processors, when selecting a location where wireless signal strength is greater than a signal strength threshold, are specifically configured to perform any of:

20. The self-moving apparatus according to any one of claims 16 to 19, wherein the self-moving apparatus is a robot, a cleaner or an unmanned vehicle.

21. A computer-readable storage medium having stored thereon computer instructions, which when executed by one or more processors, cause the one or more processors to perform acts comprising: