CN113608524A

CN113608524A - Automatic walking device, control method and device thereof, and storage medium

Info

Publication number: CN113608524A
Application number: CN202110666323.4A
Authority: CN
Inventors: 郑权; 钟智渊; 洪泽
Original assignee: Shenzhen Zbeetle Intelligent Co Ltd
Current assignee: Shenzhen Zbeetle Intelligent Co Ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2021-11-05
Anticipated expiration: 2041-06-16
Also published as: CN113608524B

Abstract

The application discloses automatic walking device and control method, controlling means and storage medium thereof, and automatic walking device includes range finding sensor, and automatic walking device's control method includes: the method comprises the steps that a test distance between a reference position on the automatic walking device and the ground is obtained through a ranging sensor, and the reference position is used for indicating the installation position of the ranging sensor on the automatic walking device and is spaced from the ground; acquiring a calibration coefficient of the test distance; determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient; and determining the running parameters of the automatic running device according to the actual distance, and controlling the automatic running device to run according to the running parameters. The method can calibrate the test distance according to the calibration coefficient of the test distance between the reference position and the ground, and can improve the test accuracy of the test distance.

Description

Automatic walking device, control method and device thereof, and storage medium

Technical Field

The present disclosure relates to the field of automatic control technologies, and more particularly, to an automatic walking device, a control method thereof, a control device, and a storage medium.

Background

With the progress and development of automation control technology, many automation devices have been widely used in various human jobs or lives. However, a transfer robot for transferring heavy objects in a factory, a probe robot for outer space exploration, a security robot for patrol, or a cleaning robot for environmental cleaning have all played important roles. Among the various types of such automation devices, an automatic traveling device capable of automatically traveling to perform a predetermined task is common.

In order to avoid falling from a high place, the automatic walking device on the current market can continuously detect the distance from the automatic walking device to the ground in the working process. The detection mode mainly adopts an infrared transmitting tube to send out a transmitting infrared signal, adopts an infrared receiving tube to receive a reflected infrared signal reflected by the ground, and judges the distance between the automatic walking device and the ground according to the intensity of the reflected infrared signal. Under normal conditions, the closer the distance is, the stronger the intensity of the reflected infrared signal is; the further the distance, the weaker the intensity of the reflected infrared signal.

But the reflectivities of the floors with different colors or different materials to the infrared signals are different, for example, the dark floors absorb a large amount of infrared signals, so that the reflected infrared signals reflected by the dark floors are weaker in intensity; for example, a floor having a color with a high infrared reflectivity reflects an infrared signal with a high intensity. Therefore, in the actual use process of the automatic walking device, due to the difference of the ground color or the ground material, the reflected infrared signals reflected by the ground have different intensities, so that the test accuracy of the distance test between the automatic walking device and the ground is reduced, and the automatic walking device can work abnormally in severe cases.

Disclosure of Invention

In view of the above problems, the present application proposes an automatic traveling apparatus, a control method thereof, a control apparatus thereof, and a storage medium to overcome or at least partially solve the above problems of the related art.

In a first aspect, an embodiment of the present application provides a control method for an automatic walking device, where the automatic walking device includes a distance measuring sensor, and the control method for the automatic walking device includes: the method comprises the steps that a test distance between a reference position on the automatic walking device and the ground is obtained through a ranging sensor, and the reference position is used for indicating the installation position of the ranging sensor on the automatic walking device and is spaced from the ground; acquiring calibration parameters of the test distance; determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient; and determining the running parameters of the automatic running device according to the actual distance, and controlling the automatic running device to run according to the running parameters.

In a second aspect, an embodiment of the present application provides a control device for an automatic walking device, where the automatic walking device includes a distance measuring sensor, and the control device for the automatic walking device includes: the first acquisition module is used for acquiring the test distance between a reference position on the automatic walking device and the ground through the ranging sensor, wherein the reference position is used for indicating the installation position of the ranging sensor on the automatic walking device and is spaced from the ground; the second acquisition module is used for acquiring a calibration coefficient of the test distance; the first determining module is used for determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient; and the second determination module is used for determining the running parameters of the automatic running device according to the actual distance and controlling the automatic running device to run according to the running parameters.

In a third aspect, an embodiment of the present application provides an automatic walking device, including: a memory; one or more processors coupled with the memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of controlling an automated walking device as provided in the first aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the control method of the automatic walking device according to the first aspect.

The application provides a control method of an automatic walking device, the test distance between a reference position on the automatic walking device and the ground is obtained through a ranging sensor, the reference position is used for indicating the installation position of the ranging sensor on the automatic walking device and is separated from the ground, the calibration coefficient of the test distance is obtained, the actual distance between the reference position and the ground is determined according to the test distance and the calibration coefficient, the driving parameter of the automatic walking device is determined according to the actual distance, the automatic walking device is controlled to walk according to the driving parameter, the calibration coefficient of the test distance between the reference position on the automatic walking device and the ground is realized, the test distance is calibrated, and the test accuracy of the test distance between the reference position and the ground can be improved.

Furthermore, the running parameters of the automatic running device are determined according to the calibrated distance, and the automatic running device is controlled to run according to the running parameters, so that the control accuracy of the automatic running device can be improved.

Drawings

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

Fig. 1 shows a schematic structural diagram of an automatic walking device provided in an embodiment of the present application.

Fig. 2 is a schematic flow chart illustrating a control method of an automatic walking device according to an embodiment of the present application.

Fig. 3 is another schematic flow chart of a control method of an automatic walking device according to an embodiment of the present application.

Fig. 4 is a schematic flow chart illustrating a control method of an automatic walking device according to an embodiment of the present application.

Fig. 5 is a schematic diagram illustrating a functional module of a control device of an automatic walking device according to an embodiment of the present application.

Fig. 6 shows a block diagram of an automatic walking device provided in an embodiment of the present application.

Fig. 7 illustrates a computer-readable storage medium storing or carrying program codes for implementing a control method of an automatic walking apparatus according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it is noted that the terms "first", "second", "third", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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.

With the development of science and technology, more and more automatic walking devices are applied to various work or lives of human beings. When the automatic walking device works, in order to prevent the automatic walking device from falling from a high place, the distance between the edge position of the automatic walking device and the ground needs to be continuously detected.

In the prior art, the automatic walking device is controlled to emit infrared signals to the ground, and the distance between the edge position of the automatic walking device and the ground is judged according to the intensity of the received reflected infrared signals reflected by the ground. However, the reflection intensity of the infrared signals from the ground surfaces with different colors or different materials is different, which may cause the accuracy of the automatic walking device detecting the distance between the edge position and the ground surface to be reduced, and may cause the automatic walking device to work abnormally in severe cases.

In view of the above problems, the inventor has studied and proposed an automatic traveling apparatus, a control method thereof, a control apparatus thereof, and a storage medium according to a long time, so as to calibrate a test distance according to a calibration coefficient of the test distance between a reference position on the automatic traveling apparatus and the ground, and improve the test accuracy of the test distance between the automatic traveling apparatus and the ground. Furthermore, the running parameters of the automatic running device are determined according to the calibrated distance, and the automatic running device is controlled to run according to the running parameters, so that the control accuracy of the automatic running device can be improved.

Referring to fig. 1, which shows a schematic structural diagram of an automatic walking device provided in the embodiment of the present application, the automatic walking device 10 may include a sweeping robot, a mopping robot, a service robot, an automatic walking trolley, or another automatic walking platform. The automatic traveling device 10 may include a device body 11 and a distance measuring sensor 12, the distance measuring sensor 12 may be disposed on the device body 11, and the distance measuring sensor 12 may be used to measure a distance between a reference position on the automatic traveling device 11 and the ground. Wherein, the reference position can be the installation position of the distance measuring sensor on the automatic walking device 10.

In some embodiments, the device body 11 may include a bottom case 111 and a side case 112, and the side case 112 may be annularly connected to the bottom case 111.

In some embodiments, the bottom case 111 may include a front end portion 1111 and a rear end portion 1112, and the front end portion 1111 may reach a forward destination before the rear end portion 1112 in a forward process of the automatic walking device 10.

In some embodiments, the ranging sensor 12 may be disposed at the front end portion 1111, and the ranging sensor 12 may be configured to transmit the transmission ranging signal to the ground, and may receive a reflection ranging signal formed after the ground is reflected by the transmission ranging signal, and may determine the distance between the reference position and the ground according to the received reflection ranging signal. In addition, the distance measuring sensor 12 may also be disposed at the rear end portion 1112, and the disposition position of the distance measuring sensor 12 on the apparatus body 11 is not limited herein, and may be specifically disposed according to actual requirements.

In some embodiments, the ranging sensor 12 may include an infrared ranging sensor, an ultrasonic ranging sensor, a laser ranging sensor, a radar ranging sensor, a microwave sensor, or the like. As an example, the distance measuring sensor 12 may be an infrared distance measuring sensor, which may be configured to transmit a transmission infrared signal to the ground, and may receive a reflection infrared signal formed after the transmission infrared signal is reflected by the ground, and may determine a distance between the reference position and the ground according to the reflection infrared signal.

In some embodiments, the number of the ranging sensors 12 may be multiple, and multiple ranging sensors 12 may be disposed at the edge positions of the bottom case 111 to obtain distances between the multiple edge positions on the bottom case 111 and the ground, and the distance between the reference position and the ground may be determined according to an average value of the multiple distances.

In some embodiments, the reflected intensity of the transmitted ranging signal may be different due to different colors and/or different ground materials, which may result in different intensities of the reflected ranging signal received by the ranging sensor 12, and thus may result in different test distances between the reference location and the ground, i.e., the test distances may have test deviations from the actual distances. To reduce this test deviation, the automatic walking device 10 may further include an image sensor 13, the image sensor 13 may be disposed on the bottom case 111, and the image sensor 13 may be used to acquire a ground image of the ground. The image sensor 13 may be disposed at the front end portion 1111 in parallel with the distance measuring sensor 12, the image sensor 13 may also be disposed at the rear end portion 1112 in parallel with the distance measuring sensor 12, and the image sensor 13 may also be disposed at two end portions of the bottom case 111 in opposite to the distance measuring sensor 12, where the arrangement positions of the image sensor 13 and the distance measuring sensor 12 are not limited, and the arrangement may be specifically performed according to actual requirements.

In some embodiments, the Image Sensor 13 may include a Charge Coupled Device (CCD), a Complementary Metal Oxide Semiconductor (CMOS), a Contact Image Sensor (CIS), or the like.

In some embodiments, the self-propelled device 10 may further include a calibration sensor 14, the calibration sensor 14 may be disposed at the front end portion 1111, and the calibration sensor 14 may be used to calibrate a test distance between a reference position tested by the ranging sensor 12 and the ground. The calibration sensor 14 may be disposed on the rear end portion 1112, which is not limited herein.

In some embodiments, the calibration sensor 14 may include an infrared calibration sensor, an ultrasonic calibration sensor, a laser calibration sensor, a radar calibration sensor, or a microwave calibration sensor, among others. The type of the calibration sensor 14 is not limited herein, and may be set according to actual requirements.

In some embodiments, the calibration sensor 14 may be disposed at the front end portion 1111 in parallel with the ranging sensor 12, and the calibration sensor 14 may be configured to emit infrared light to the ground to obtain reflectivity of the ground to the infrared light, and may calibrate the test distance according to the reflectivity to obtain an actual distance between the reference position and the ground. In addition, the calibration sensor 14 and the ranging sensor 12 may also be disposed in parallel at the rear end portion 1112, and the calibration sensor 14 and the ranging sensor 12 may also be disposed at different ends of the bottom shell 111, for example, the calibration sensor 14 may be disposed at the front end portion 1111, the ranging sensor 12 may be disposed at the rear end portion 1112, or the calibration sensor 14 may be disposed at the rear end portion 1112, and the ranging sensor is disposed at the front end portion 1111, where specific disposition positions of the calibration sensor 14 and the ranging sensor 12 are not limited, and may be specifically disposed according to actual requirements.

Referring to fig. 2, a flowchart of a control method of an automatic walking device according to an embodiment of the present application is shown. In a specific embodiment, the control method of the automatic walking device may be applied to the automatic walking device 10 shown in fig. 1, and the flow shown in fig. 2 will be described in detail by taking the automatic walking device 10 as an example, and the control method of the automatic walking device may include the following steps S110 to S140.

Step S110: and acquiring the test distance between the reference position on the automatic walking device and the ground through the ranging sensor.

In the embodiment of the present application, the automatic traveling device is generally placed on the ground to travel, there may be a height difference (such as a pit, a step, etc.) on the ground, in order to prevent the automatic traveling device from falling from a high place, a position may be selected on a housing of the automatic traveling device as a reference position on the automatic traveling device, and a distance between the reference position and the ground may be tested, so that the automatic traveling device travels around the pit on the ground according to the test distance, and the automatic traveling device may be prevented from falling into the pit.

The automatic walking device can comprise a distance measuring sensor, the distance measuring sensor can be arranged at a reference position on the automatic walking device, and the reference position can be a position on the automatic walking device and spaced from the ground. The reference position may be used to indicate a mounting position of the distance measuring sensor on the automatic traveling apparatus, for example, a front end portion of a bottom case of the automatic traveling apparatus. In the process of automatic walking, the automatic walking device can send a transmitting ranging signal to the ground through the ranging sensor, receive a reflecting ranging signal formed after the transmitting ranging signal is reflected by the ground, and determine the test distance between the reference position and the ground according to the received reflecting ranging signal.

In some embodiments, the autonomous walker may determine the strength of the reflected ranging signal based on the received reflected ranging signal and may determine the test distance from the reference location to the ground based on the strength of the reflected ranging signal.

As an example, the distance measuring sensor may be an infrared distance measuring sensor, and the automatic walking device may be pre-stored with a distance table, and the distance table may be used to represent the corresponding relationship between the intensity of the reflected infrared signal and the distance. The automatic walking device can search a preset distance table according to the intensity of the received reflected infrared signal to obtain the distance, namely the distance between the reference position and the measured distance.

For example, the correspondence between the intensity of the reflected infrared signal and the distance may be as shown in table 1, where table 1 shows the distances corresponding to different intensity ranges of the reflected infrared signal. When the intensity of the reflected infrared signal received by the automatic walking device and reflected by the ground is 30dB, the automatic walking device can determine that the test distance between the reference position and the ground is 62 mm; when the intensity of the reflected infrared signal reflected by the ground received by the automatic traveling apparatus is 55dB, the automatic traveling apparatus can determine that the distance between the reference position and the ground is 50 mm.

TABLE 1

The correspondence relationship between the intensity of the reflected infrared signal and the distance is not limited to that shown in table 1.

As another example, the automated walking device may store a pre-trained distance detection model that may be used to determine the test distance based on the intensity of the reflected infrared signal. The automatic walking device can determine the intensity of the reflected infrared signal according to the received reflected infrared signal, can input the intensity of the reflected infrared signal to the distance detection model, responds to the intensity of the received reflected infrared signal by the distance detection model, and can determine the test distance according to the intensity of the reflected infrared signal.

The distance detection model may be a neural network, a Long Short Term Memory (LSTM) network, a threshold cycle unit, a simple cycle unit, an automatic encoder, a Decision Tree (DT), a random forest, a feature mean classification, a classification regression Tree, a hidden markov, a K-nearest neighbor (KNN) algorithm, a logistic regression model, Naive Bayes (NB), a Support Vector Machine (Support Vector Machine, SVM), a gaussian model, and a KL divergence (Kullback-Leibler divergence). The specific type of the distance detection model is not limited herein, and the specific type can be set according to actual requirements.

In other embodiments, the autonomous walking device may obtain a time period from the sending of the ranging signal to the receiving of the reflected ranging signal by the ranging sensor, may use the time period as a propagation time period of the ranging signal, and may determine the test distance between the reference position and the ground according to the propagation time period of the ranging signal and the propagation speed of the ranging signal in the air. The propagation speed of the ranging signal in the air may include a propagation speed of the transmitted ranging signal and a propagation speed of the reflected ranging signal, and the propagation speed of the transmitted ranging signal is the same as the propagation speed of the reflected ranging signal.

As an embodiment, the distance measuring sensor may include an infrared distance measuring sensor, the infrared distance measuring sensor may be disposed at a front end portion of the bottom case, the automatic walking device may transmit an infrared signal to the ground through the infrared distance measuring sensor in a process of advancing on the ground, and receive a reflected infrared signal formed after the ground surface reflects the transmitted infrared signal, and may acquire a propagation time of the infrared distance measuring sensor from transmitting the infrared signal to receiving the reflected infrared signal, and may determine a test distance between the reference position and the ground according to the propagation time of the infrared signal and a propagation speed of the infrared signal.

As another embodiment, the distance measuring sensor may include an ultrasonic distance measuring sensor, the ultrasonic distance measuring sensor may be disposed at a front end portion of the bottom case, the automatic walking device may send a transmission ultrasonic signal to the ground through the ultrasonic distance measuring sensor in the process of advancing the ground, receive a reflection ultrasonic signal formed after the transmission ultrasonic signal is reflected by the ground, acquire an ultrasonic signal propagation time from sending the transmission ultrasonic signal to receiving the reflection ultrasonic signal by the ultrasonic distance measuring sensor, and determine the test distance between the reference position and the ground according to the ultrasonic signal propagation time and the propagation speed of the ultrasonic signal.

As another embodiment, the distance measuring sensor may include a laser distance measuring sensor, the laser distance measuring sensor may be disposed at a front end portion of the bottom case, the automatic walking device may send a transmission laser signal to the ground through the laser distance measuring sensor in a process of advancing on the ground, and receive a reflection laser signal formed after the transmission laser signal is reflected by the ground, and may obtain a propagation duration of the laser distance measuring sensor from sending the transmission laser signal to receiving the reflection laser signal, and may determine the test distance between the reference position and the ground according to the propagation duration of the laser signal and a propagation speed of the laser signal.

Step S120: and acquiring a calibration coefficient of the test distance.

In the embodiment of the application, in the process of obtaining the test distance between the reference position and the ground through the ranging sensor, the ranging sensor can send the transmitting ranging signal to the ground, and due to the fact that the colors and/or the materials of the ground are different, the reflectivity of the transmitting ranging signal is different, the strength of the reflecting ranging signal received by the ranging sensor can be different, the propagation duration of the acquired ranging signal is different, and the deviation between the acquired test distance and the actual distance exists. In order to reduce the deviation between the test distance and the actual distance, the automatic walking device can obtain the calibration coefficient of the test distance so as to correct the test distance according to the calibration coefficient, and the test accuracy of the test distance can be improved.

In some embodiments, the autonomous walking apparatus may further include an image sensor, which may be disposed at a bottom case of the autonomous walking apparatus in parallel with the ranging sensor, and the image sensor may be used to acquire a reflection coefficient of a signal of the ranging sensor from the ground. The automatic walking device can acquire the reflection coefficient of the signal of the ground facing the ranging sensor through the image sensor and can use the reflection coefficient as a calibration coefficient of the test distance.

In other embodiments, the automatic walking device may further include a calibration sensor, the calibration sensor may be disposed in parallel with the ranging sensor on a bottom case of the automatic walking device, and the calibration sensor may be configured to obtain a calibration coefficient of the ranging sensor during a distance test process. The automatic walking device can obtain the calibration coefficient of the testing distance through the calibration sensor.

Step S130: and determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient.

In the embodiment of the present application, in order to reduce the test deviation of the test distance, the test distance may be calibrated by using a calibration coefficient, the calibration distance may be obtained according to a product of the test distance and the calibration coefficient, and the calibration distance may be used as an actual distance between the reference position and the ground.

Step S140: and determining the running parameters of the automatic running device according to the actual distance, and controlling the automatic running device to run according to the running parameters.

In the embodiment of the present application, the driving parameters may refer to related parameters of the automatic walking device during driving, and specifically include parameter contents, which may be selected by a technician according to actual needs. For example, the running parameters may include a wheel rotation speed, a wheel rotation angle, a running distance, and the like of the automatic running device. After the test distance is calibrated and the actual distance between the reference position and the ground is obtained, the running parameters of the automatic walking device can be determined according to the actual distance, the automatic walking device can be controlled to walk according to the running parameters, and the automatic walking device can be prevented from falling from a high place in the running process.

In some embodiments, the driving parameters may include a wheel rotation speed and a wheel rotation angle, and after the test distance is calibrated and the actual distance between the reference position and the ground is obtained, the wheel rotation speed and the wheel rotation angle of the automatic walking device may be determined according to the actual distance, and the automatic walking device may be controlled to walk according to the wheel rotation speed and the wheel rotation angle.

The application provides a control method of automatic walking device, through the test distance of reference position on the automatic walking device and ground of ranging sensor acquisition, reference position and ground looks interval, and obtain the calibration coefficient of test distance, and according to test distance and calibration coefficient, confirm the actual distance of reference position and ground, and according to the actual distance, confirm the parameter of traveling of automatic walking device, and control the automatic walking device to walk according to the parameter of traveling, realized according to the calibration coefficient of the test distance between the reference position on the automatic walking device and the ground, calibrate test distance, can improve the test accuracy of the test distance between reference position and the ground.

Referring to fig. 3, a flowchart of a control method of an automatic walking device according to another embodiment of the present application is shown. In a specific embodiment, the control method of the automatic walking device may be applied to the automatic walking device 10 shown in fig. 1, and the flow shown in fig. 3 will be described in detail by taking the automatic walking device 10 as an example, and the control method of the automatic walking device may include the following steps S210-S260.

Step S210: and acquiring the test distance between the reference position on the automatic walking device and the ground through the ranging sensor.

In this embodiment, the step S210 may refer to the content of the corresponding step in the foregoing embodiments, and is not described herein again.

Step S220: and acquiring ground characteristics of the ground.

In this embodiment, the ground characteristics may include a ground color, and/or a ground material, which may cause the strength of the reflected distance measurement signal received by the distance measurement sensor to be different due to different reflection coefficients of the ground with respect to the signal of the distance measurement sensor, so that the distance measurement sensor may obtain a deviation between the test distance and the actual distance according to the strength of the reflected distance measurement signal. The automatic walking device can further comprise an image sensor, and the ground characteristics of the ground can be acquired through the image sensor so as to reduce the deviation of the test distance tested by the distance measuring sensor and the actual distance.

In some embodiments, the automatic walking device may control the image sensor to collect a ground image of the ground, and may acquire the ground features of the ground according to the collected ground image. Specifically, the automated walking device may store a pre-trained feature detection model, which may be used to determine ground features from ground images. The image sensor can be an RGB camera, the automatic walking device can control the RGB camera to shoot the ground to obtain a ground image, the shot ground image can be input into the feature detection model, the feature detection model responds to the received ground image, and the ground feature can be determined according to the ground image.

The feature detection model may be a neural network, a Long Short Term Memory (LSTM) network, a threshold cycle unit, a simple cycle unit, an auto-encoder, a Decision Tree (DT), a random forest, a feature mean classification, a classification regression Tree, a hidden markov, a K-nearest neighbor (KNN) algorithm, a logistic regression model, Naive Bayes (NB), a Support Vector Machine (Support Vector Machine, SVM), a gaussian model, and a KL divergence (Kullback-Leibler divergence). The specific type of the feature detection model is not limited herein, and the feature detection model can be specifically set according to actual requirements.

As an embodiment, the ground feature may be a ground color, and the detection model may include a color model that may be used to determine the ground color from the ground image. The automatic walking device can input the ground image shot by the RGB camera into the color model, the color model responds to the received ground image, and the ground color can be determined according to the ground image.

In another embodiment, the ground features may be ground material, and the detection model may include a material model, which may be used to determine the ground material from the ground image. The automatic walking device can input the ground image shot by the RGB camera into the material model, the material model responds to the received ground image, and the ground color can be determined according to the ground image.

In other embodiments, the ground characteristics may be ground materials, the automatic walking device may further include an audio sensor, the audio sensor may be configured to send an emission sound signal to the ground, receive a reflection sound signal formed by the emission sound signal being reflected by the ground, and determine the ground materials according to audio characteristic information of the reflection sound signal. It can be understood that since different ground materials have different influences on the sound signal, the reflected sound signal reflected by different ground materials has different audio characteristics, and therefore, the ground material type can be accurately identified based on the audio characteristics in the sound signal.

Step S230: and searching a preset standard coefficient table according to the ground characteristics to obtain the standard coefficient.

In this embodiment, after acquiring the ground characteristics of the ground, the automatic walking device may search a preset standard coefficient table according to the ground characteristics to obtain the standard coefficient. The standard coefficient is used for indicating the reflection coefficient of the signal of the ground facing the ranging sensor, and the standard coefficient table is used for representing the corresponding relation between the ground characteristic and the standard coefficient.

For example, taking the infrared signal as an example, the correspondence between the ground characteristics and the standard coefficients may be as shown in table 2, and table 2 shows the standard infrared reflection coefficients corresponding to different ground characteristics (ground color, ground material). The distance measuring sensor can be an infrared distance measuring sensor, the automatic walking device can acquire that the ground is a white ceramic tile in the process of walking on the ground, the automatic walking device can look up a table 2 according to the characteristic that the ground is the white ceramic tile, and the reflection coefficient of the ground for acquiring the white ceramic tile to the infrared signal emitted by the infrared distance measuring sensor is 0.9, namely the standard coefficient.

TABLE 2

The correspondence relationship between the ground characteristics and the standard coefficients is not limited to that shown in table 2.

In some embodiments, the standard coefficient table may be pre-stored in a memory of the automatic walking device, and after the automatic walking device obtains the ground characteristics, the automatic walking device may search the characterization coefficient table from the memory according to the ground characteristics to obtain the standard coefficient corresponding to the ground characteristics.

In some embodiments, the standard coefficient table may be pre-stored in the platform server, and the automated walking device may further include a network module, and the network module of the automated walking device may communicate with the platform server through a network. After the ground features are obtained by the automatic walking device, the ground features can be sent to the platform server through the network and the network module, the platform server responds to the received ground features, searches a pre-stored standard coefficient table, obtains standard coefficients corresponding to the ground features, and returns the standard coefficients to the automatic walking device, and the automatic walking device receives the standard coefficients returned by the platform server.

Step S240: and determining a calibration coefficient of the test distance according to the standard coefficient.

In this embodiment, the automatic walking device searches a preset standard coefficient table according to the ground characteristics, and after obtaining the standard coefficient, may use the standard coefficient as a test distance calibration coefficient.

Step S250: and determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient.

Step S260: and determining the running parameters of the automatic running device according to the actual distance, and controlling the automatic running device to run according to the running parameters.

In this embodiment, step S250 and step S260 may refer to the content of the corresponding steps in the foregoing embodiments, and are not described herein again.

According to the control method of the automatic walking device, the characteristic ground characteristics of the ground are obtained, the preset standard coefficient table is searched according to the ground characteristics, the standard coefficient is obtained, the standard coefficient is used as the calibration coefficient of the test distance, the test distance is calibrated according to the calibration coefficient, and the test accuracy of the test distance can be improved.

Referring to fig. 4, a flowchart of a control method of an automatic walking device according to still another embodiment of the present application is shown. In a specific embodiment, the control method of the automatic walking device may be applied to the automatic walking device 10 shown in fig. 1, and the flow shown in fig. 4 will be described in detail by taking the automatic walking device 10 as an example, and the control method of the automatic walking device may include the following steps S310 to S360.

Step S310: and acquiring the test distance between the reference position on the automatic walking device and the ground through the ranging sensor.

In this embodiment, the step S310 may refer to the content of the corresponding step in the foregoing embodiments, and is not described herein again.

Step S320: and controlling the calibration sensor to send a transmission calibration signal to the ground.

In this embodiment, the automatic walking device may further include a calibration sensor, and the type of the signal sent by the calibration sensor may be the same as the type of the signal sent by the ranging sensor. The calibration sensor and the ranging sensor can be arranged in parallel on a bottom shell of the automatic walking device, and the calibration sensor can be used for calibrating a distance test result of the ranging sensor. The calibration sensor may include an infrared calibration sensor, an ultrasonic calibration sensor, a laser calibration sensor, a radar calibration sensor, a microwave calibration sensor, or the like.

The automatic walking device can control the calibration sensor to send out emission calibration signals to the ground, and the emission calibration signals can comprise infrared emission calibration signals, ultrasonic emission calibration signals, laser emission calibration signals, radar emission calibration signals or microwave emission calibration signals and the like.

In some embodiments, the calibration sensor may be an infrared calibration sensor, and the infrared calibration sensor may be configured to obtain the reflectivity of the ground to the emitted infrared light by emitting the emitted infrared light toward the ground. The automatic walking device can control the infrared calibration sensor to emit infrared light to the ground.

In some embodiments, since the signal has transmission loss during transmission and the transmission loss of the signal increases with the increase of the transmission distance, in order to reduce the transmission loss of the signal, the calibration sensor may be disposed on the automatic walking device as close to the ground as possible, and the calibration degree of the calibration sensor may be improved. For example, the alignment sensor may be disposed on a wheel of the self-propelled device, and the alignment sensor may transmit an emission alignment signal when the wheel is rotated to a position where the alignment sensor is closest to the ground during the walking of the self-propelled device. The calibration sensor can also be arranged at the position, closest to the ground, on the bottom shell, and the calibration sensor can send and transmit a calibration signal in the walking process of the automatic walking device. The specific location of the calibration sensor is not limited herein.

Step S330: the control calibration sensor receives the reflected calibration signal.

In this embodiment, after the calibration sensor sends the emission calibration signal to the ground, the calibration sensor may be controlled to receive the reflection calibration signal, wherein the reflection calibration red signal is formed after being reflected by the ground based on the emission calibration signal.

In some embodiments, the automatic walking device may control the infrared calibration sensor to receive reflected infrared light after controlling the infrared calibration sensor to emit the emitted infrared signal to the ground, the reflected infrared light being formed after the emitted infrared light is reflected by the ground.

Step S340: and determining the reflection coefficient of the ground surface to the emission calibration signal according to the intensity of the reflection calibration signal and the intensity of the emission calibration signal, and taking the reflection coefficient as the calibration coefficient.

In this embodiment, the automatic walking device may determine a reflection coefficient of the ground surface to the transmission calibration signal according to the intensity of the reflection calibration signal and the intensity of the transmission calibration signal, and may use the reflection coefficient as the calibration coefficient. Wherein the reflectance of the ground to the transmitted calibration signal may be used to indicate the reflectance of the ground to the transmitted calibration signal.

In some embodiments, the reflection coefficient of the ground surface with respect to the transmitted calibration signal may be an infrared reflection coefficient of the ground surface, and the automatic walking device may determine the infrared reflection coefficient of the ground surface according to a ratio of the intensity of the reflected infrared light to the intensity of the transmitted infrared light, and may use the infrared reflection coefficient as the calibration coefficient. Wherein the infrared reflection coefficient may be used to indicate the reflectivity of the ground to the infrared signal.

Step S350: and determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient.

Step S360: and determining the running parameters of the automatic running device according to the actual distance, and controlling the automatic running device to run according to the running parameters.

In this embodiment, step S350 and step S360 may refer to the content of the corresponding steps in the foregoing embodiments, and are not described herein again.

In some embodiments, after determining the actual distance between the parameter location and the ground according to the test distance and the calibration coefficient, the automatic walking device may determine a driving parameter of the automatic walking device according to the actual distance and a preset distance threshold, and may control the movement of the automatic walking device according to the driving parameter. The preset distance threshold value can be set for a user in advance according to the height of the shell of the automatic walking device, and can also be adjusted for the user according to a plurality of distance testing processes.

Specifically, after the automatic walking device determines the actual distance between the reference position and the ground, the actual distance and the distance threshold value can be compared, the driving parameters of the automatic walking device can be obtained according to the relationship between the actual distance and the distance threshold value, and the movement of the automatic walking device can be controlled according to the form parameters.

As an embodiment, when the actual distance is greater than the distance threshold, a pit occurs on the ground indicating the current driving direction of the automatic traveling device, a first driving parameter of the automatic traveling device may be determined, and a first movement of the automatic traveling device may be controlled according to the first driving parameter, wherein the first movement may include turning, backing up, or stopping, and the driving trajectory of the automatic traveling device may be changed, so that the automatic traveling device may be prevented from falling into the pit.

As another embodiment, when the actual distance is less than or equal to the distance threshold value, it indicates that there is no pit in the ground in the current driving direction of the automatic traveling apparatus, it may be determined whether there is an obstacle around the automatic traveling apparatus, and the determination result may be obtained, and the second driving parameter of the automatic traveling apparatus may be determined according to the determination result, and the second movement of the automatic traveling apparatus may be controlled according to the second driving parameter, and the automatic traveling apparatus may be controlled to bypass the obstacle during driving, and the control accuracy of the automatic traveling apparatus may be improved. It is understood that when the actual distance is less than the distance threshold, it indicates that there is a protrusion on the ground in the current driving direction of the automatic walking device, and when the actual distance is equal to the distance threshold, it indicates that the ground in the current driving direction of the automatic walking device is flat.

As an example, the determination result may include a first determination result for characterizing the presence of an obstacle around the automatic walking device, the second running parameter includes a first sub-parameter, and the second motion includes a first sub-motion for characterizing the change of the running direction. The automatic walking device may determine a first sub-parameter of the automatic walking device according to the first determination result, and may control a first sub-motion of the automatic walking device according to the first sub-parameter.

As another example, the determination result may further include a second determination result indicating that there is no obstacle around the automatic walking device, the second driving parameter may further include a second sub-parameter, and the second movement may further include a second sub-movement indicating that the driving direction is unchanged. The automatic traveling apparatus may determine a second sub-parameter of the automatic traveling apparatus according to the second determination result, and may control a second sub-motion of the automatic traveling apparatus according to the second sub-parameter.

According to the control method of the automatic walking device, the calibration sensor is used for sending the emission calibration signal to the ground, the calibration sensor is used for receiving the reflection calibration signal after the emission calibration signal is reflected by the ground, the calibration coefficient is determined according to the reflectivity of the emission calibration signal by the ground, the testing distance is calibrated according to the calibration coefficient, and the testing accuracy of the testing distance can be improved.

Furthermore, the driving parameters of the automatic walking device are determined according to the actual distance between the reference position on the automatic walking device and the ground and the distance threshold, and the driving direction of the automatic walking device is controlled to change or not change according to the driving parameters, so that the control accuracy of the automatic walking device can be improved.

Referring to fig. 5, a schematic structural diagram of a control device of an automatic walking device according to an embodiment of the present application is shown. In a specific embodiment, the control device 500 of the automatic traveling device may be applied to the automatic traveling device 10 shown in fig. 1, and the control device 500 of the automatic traveling device shown in fig. 5 will be described in detail by taking the automatic traveling device 10 as an example. Wherein, the automatic walking device 10 may include a distance measuring sensor, and the control device 500 of the automatic walking device may include: a first obtaining module 510, a second obtaining module 520, a first determining module 530, and a second determining module 540.

The first obtaining module 510 may be configured to obtain, by the ranging sensor, a test distance between a reference position on the automatic walking apparatus and the ground, where the reference position is used to indicate an installation position of the ranging sensor on the automatic walking apparatus and is spaced from the ground; the second obtaining module 520 may be configured to obtain a calibration coefficient of the test distance; the first determining module 530 may be configured to determine an actual distance between the reference location and the ground according to the test distance and the calibration coefficient; the second determining module 540 may be configured to determine a driving parameter of the automatic walking device according to the actual distance, and control the automatic walking device to walk according to the driving parameter.

In some embodiments, the second obtaining module 520 may include an obtaining unit, a finding unit, and a first determining unit.

The acquisition unit can be used for acquiring ground characteristics of the ground, wherein the ground characteristics can comprise ground color and/or ground material; the searching unit can be used for searching a preset standard coefficient table according to the ground characteristics to obtain a standard coefficient, wherein the standard coefficient is used for indicating the reflection coefficient of the ground to the signal of the ranging sensor, and the standard coefficient table is used for representing the corresponding relation between the ground characteristics and the standard coefficient; the first determination unit may be configured to determine a calibration coefficient for the test distance based on the standard coefficient.

In some embodiments, the autonomous walking device further includes an image sensor, and the acquisition unit may include a first control subunit and an acquisition subunit.

The first control subunit can be used for controlling the image sensor to acquire a ground image of the ground; the acquisition subunit may be configured to acquire the ground features from the ground image.

In some embodiments, the autonomous walking device further comprises a calibration sensor that emits a signal of the same type as the signal emitted by the ranging sensor. The second obtaining module 520 may further include a first control unit, and a second determining unit.

The first control unit can be used for controlling the calibration sensor to send a transmission calibration signal to the ground; the first control unit may be configured to control the calibration sensor to receive a reflected calibration signal, where the reflected calibration signal is formed after being reflected by the ground based on the transmitted calibration signal; the second determination unit may be configured to determine a reflection coefficient of the ground surface to the emission calibration signal based on the intensity of the reflection calibration signal and the intensity of the emission calibration signal, and to use the reflection coefficient as the calibration coefficient.

In some embodiments, the ranging sensor may be configured to acquire the test distance by emitting infrared light toward the ground; the calibration sensor may be configured to acquire the reflectivity of the ground surface to the emitted infrared light by emitting the emitted infrared light toward the ground surface. The second obtaining module 520 may further include a third control unit, a fourth control unit, and a third determining unit.

The third control unit can be used for controlling the calibration sensor to emit the emitted infrared light to the ground; the fourth control unit may be configured to control the calibration sensor to receive reflected infrared light, the reflected infrared light being formed after being reflected by the ground based on the emitted infrared light; the third determination unit may be configured to determine an infrared reflection coefficient of the ground based on a ratio of the intensity of the reflected infrared light to the intensity of the emitted infrared light, and use the infrared reflection coefficient as a calibration coefficient.

In some embodiments, the second determination module 540 may include a fourth determination unit and a fifth control unit.

The fourth determination unit may be configured to determine the first travel parameter of the automatic walking device when the actual distance is greater than a preset distance threshold; the fifth control unit may be configured to control a first movement of the automatic walking device, the first movement including turning, backing, or stopping, according to the first travel parameter.

In some embodiments, the second determination module 540 may further include a fifth determination unit, a sixth determination unit, and a seventh control unit.

The fifth determination unit may be configured to determine whether an obstacle exists around the automatic walking device when the actual distance is less than or equal to the distance threshold, and acquire a determination result; the sixth determining unit may be configured to determine a second travel parameter of the automatic traveling apparatus according to the determination result; the seventh control unit may be configured to control the second motion of the automatic walking device according to the second running parameter.

In some embodiments, the determination result may include a first determination result for characterizing the presence of an obstacle around the automated walking device, and a second determination result for characterizing the absence of an obstacle around the automated walking device. The second driving parameter may include a first sub-parameter and a second sub-parameter; the second movement may comprise a first partial movement for characterizing a change in driving direction and a second partial movement for characterizing a constant driving direction. The sixth determining unit may include the first determining subunit or the second determining subunit; the seventh control unit may include the second control sub-unit or the third control sub-unit.

The first determining subunit may be configured to determine a first sub-parameter of the automatic walking device according to the first determination result; the second determining subunit may be configured to determine a second sub-parameter of the automatic walking device according to the second determination result.

The second control subunit can be used for controlling the first sub-movement of the automatic walking device according to the first sub-parameter; the third control sub-unit may be adapted to control the second sub-movement of the autonomous walking device in accordance with the second sub-parameter.

The application provides a control method of an automatic walking device, the test distance between a reference position on the automatic walking device and the ground is obtained through a ranging sensor, the reference position is used for indicating the installation position of the ranging sensor on the automatic walking device and is separated from the ground, the calibration coefficient of the test distance is obtained, the actual distance between the reference position and the ground is determined according to the test distance and the calibration coefficient, the driving parameter of the automatic walking device is determined according to the actual distance, the automatic walking device is controlled to walk according to the driving parameter, the calibration coefficient of the test distance between the reference position on the automatic walking device and the ground is realized, the test distance is calibrated, and the test accuracy of the test distance between the reference position and the ground can be improved. Furthermore, the running parameters of the automatic running device are determined according to the calibrated distance, and the automatic running device is controlled to run according to the running parameters, so that the control accuracy of the automatic running device can be improved.

Referring to fig. 6, which shows a functional block diagram of an automated walking device 600 provided by an embodiment of the present application, the automated walking device 600 may include one or more of the following components: memory 610, processor 620, and one or more applications, where the one or more applications may be stored in memory 610 and configured to be executed by the one or more processors 620, the one or more programs configured to perform methods as described in the foregoing method embodiments.

The Memory 610 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 610 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 610 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., obtaining a test distance, obtaining a calibration coefficient, determining an actual distance, determining a travel parameter, obtaining a ground characteristic, looking up a table of standard coefficients, capturing a ground image, sending a transmit calibration signal, receiving a reflected calibration signal, determining a reflection coefficient, emitting infrared light, receiving reflected infrared light, determining an infrared reflection coefficient, determining a first travel parameter, controlling a first motion, obtaining a determination result, determining a second travel parameter, controlling a second motion, determining a first sub-parameter, determining a second sub-parameter, controlling a first sub-motion and controlling a second sub-motion, etc.), instructions for implementing various method embodiments described below, and the like. The stored data area may also store data created by the automatic walking device 600 in use (such as a test distance, a reference position, an installation position, a calibration coefficient, an actual distance, a travel parameter, a ground characteristic, a standard coefficient table, a standard coefficient, a reflection coefficient, a ground image, a transmission calibration signal, a reflection calibration signal, a transmission calibration signal intensity, a reflection calibration signal intensity, a transmission infrared light, a reflection infrared light, a first travel parameter, a first movement, a second travel parameter, a second movement, a first determination result, a second determination result, a first sub-parameter, a second sub-parameter, a first sub-movement, a second sub-movement), and the like.

Processor 620 may include one or more processing cores. Processor 620 connects various parts within the overall automated walking device 600 using various interfaces and lines, and performs various functions of automated walking device 600 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in memory 610, as well as invoking data stored in memory 610. Alternatively, the processor 620 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 620 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 620, but may be implemented by a communication chip.

Referring to fig. 7, a block diagram of a computer-readable storage medium according to an embodiment of the present application is shown. The computer readable medium 700 has stored therein a program code 710, the program code 710 being capable of being invoked by a processor to perform the methods described in the method embodiments above.

The computer-readable storage medium 700 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium 700 includes a non-volatile computer-readable storage medium. The computer readable storage medium 700 has storage space for program code 710 to perform any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 710 may be compressed, for example, in a suitable form.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A control method of an automatic traveling apparatus, characterized in that the automatic traveling apparatus includes a distance measuring sensor, the control method comprising:

the testing distance between a reference position on the automatic walking device and the ground is obtained through the ranging sensor, and the reference position is used for indicating the installation position of the ranging sensor on the automatic walking device and is spaced from the ground;

acquiring a calibration coefficient of the test distance;

determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient; and

and determining the running parameters of the automatic running device according to the actual distance, and controlling the automatic running device to run according to the running parameters.

2. The control method according to claim 1, wherein the obtaining the calibration coefficient of the test distance comprises:

acquiring ground characteristics of the ground, wherein the ground characteristics comprise ground color and/or ground material;

according to the ground characteristics, a preset standard coefficient table is searched for to obtain a standard coefficient, wherein the standard coefficient is used for indicating the reflection coefficient of the ground to the signal of the ranging sensor, and the standard coefficient table is used for representing the corresponding relation between the ground characteristics and the standard coefficient; and

and determining a calibration coefficient of the test distance according to the standard coefficient.

3. The control method according to claim 2, wherein the autonomous walking apparatus further includes an image sensor, and the acquiring ground characteristics of the ground includes:

controlling the image sensor to acquire a ground image of the ground; and

and acquiring the ground features according to the ground image.

4. The control method according to claim 1, wherein the autonomous walking apparatus further comprises a calibration sensor that emits a signal of the same type as that emitted by the ranging sensor; the obtaining of the calibration coefficient of the test distance includes:

controlling the calibration sensor to send a transmission calibration signal to the ground;

controlling the calibration sensor to receive a reflected calibration signal, the reflected calibration signal being formed based on the transmitted calibration signal being reflected by the ground; and

and determining the reflection coefficient of the ground to the emission calibration signal according to the intensity of the reflection calibration signal and the intensity of the emission calibration signal, and taking the reflection coefficient as the calibration coefficient.

5. The control method of claim 4, wherein the ranging sensor is configured to acquire the test distance by emitting infrared light to the ground; the calibration sensor is configured to acquire reflectivity of a ground surface to emitted infrared light by emitting the emitted infrared light toward the ground surface.

6. The control method according to any one of claims 1 to 5, wherein the determining a running parameter of the automatic traveling apparatus based on the actual distance and controlling the automatic traveling apparatus to travel based on the running parameter includes:

when the actual distance is larger than a preset distance threshold value, determining a first running parameter of the automatic walking device; and

controlling a first movement of the automatic walking device according to the first running parameter, wherein the first movement comprises steering, backing or stopping.

7. The control method according to any one of claims 1 to 5, wherein the determining a running parameter of the automatic traveling apparatus based on the actual distance and controlling the automatic traveling apparatus to travel based on the running parameter includes:

when the actual distance is smaller than or equal to the distance threshold, determining whether obstacles exist around the automatic walking device, and acquiring a determination result;

determining a second driving parameter of the automatic walking device according to the determination result; and

and controlling the second movement of the automatic walking device according to the second running parameter.

8. The control device for the automatic traveling device, characterized in that the automatic traveling device includes a distance measuring sensor, the control device comprising:

the first acquisition module is used for acquiring the test distance between a reference position on the automatic walking device and the ground through the ranging sensor, wherein the reference position is used for indicating the installation position of the ranging sensor on the automatic walking device and is spaced from the ground;

the second acquisition module is used for acquiring the calibration coefficient of the test distance;

the first determining module is used for determining the actual distance between the reference position and the ground according to the test distance and the calibration coefficient; and

and the second determination module is used for determining the running parameters of the automatic walking device according to the actual distance and controlling the automatic walking device to walk according to the running parameters.

9. An automated walking device, comprising:

a memory;

one or more processors coupled with the memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-7.

10. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 7.