CN116661432A - Self-mobile device, control method and device for self-mobile device, and storage medium - Google Patents
Self-mobile device, control method and device for self-mobile device, and storage medium Download PDFInfo
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- CN116661432A CN116661432A CN202210191070.4A CN202210191070A CN116661432A CN 116661432 A CN116661432 A CN 116661432A CN 202210191070 A CN202210191070 A CN 202210191070A CN 116661432 A CN116661432 A CN 116661432A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 150
- 230000007613 environmental effect Effects 0.000 claims abstract description 60
- 230000008569 process Effects 0.000 claims abstract description 15
- 239000000725 suspension Substances 0.000 claims description 28
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
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- 238000013528 artificial neural network Methods 0.000 description 4
- 238000013527 convolutional neural network Methods 0.000 description 3
- 238000003062 neural network model Methods 0.000 description 3
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- 238000013473 artificial intelligence Methods 0.000 description 2
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- 238000013461 design Methods 0.000 description 2
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- 238000012549 training Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The application discloses self-mobile equipment, a control method and equipment of the self-mobile equipment and a storage medium, and belongs to the technical field of automatic control. It comprises the following steps: a lifting mechanism; the first sensor is positioned on the lifting mechanism and used for collecting environmental information and moving along the direction vertical to the self-moving equipment under the drive of the lifting mechanism; the controller is respectively connected with the lifting mechanism and the first sensor and is used for acquiring the maximum lifting height of the lifting mechanism; controlling the operation of the lifting mechanism based on the maximum lifting height, and acquiring environmental information acquired in the operation process; the problem that environmental information is not comprehensive enough due to the fact that the acquisition range of the first sensor is limited can be solved; the first sensor can be made to collect environmental information at different elevations, thereby collecting more comprehensive environmental information. Meanwhile, the operation of the lifting mechanism is controlled based on the maximum lifting height, so that the lifting mechanism can be ensured to operate in an effective range, and the operation safety of the self-moving equipment is improved.
Description
Technical Field
The application belongs to the technical field of automatic control, and particularly relates to self-mobile equipment, a control method and equipment of the self-mobile equipment and a storage medium.
Background
Currently, self-moving devices can automatically move within a work area. Since it is necessary to acquire a map of the working area in advance or to implement automatic obstacle avoidance during automatic movement, a sensing assembly is generally provided on the self-moving device. The sensing component is used to gather environmental information for mapping or identifying obstacles from the mobile device.
However, the limited sensing range of the sensing component mounted on the self-mobile device may cause a problem that the environmental information acquired from the mobile device is not sufficiently comprehensive.
Disclosure of Invention
The technical problem to be solved by the application comprises the problem that the acquisition range of the first sensor is limited, so that the environmental information is not comprehensive enough.
In order to solve the above technical problems, the present application provides a self-mobile device, including:
a lifting mechanism;
the first sensor is positioned on the lifting mechanism and used for collecting environmental information and moving along the direction vertical to the self-moving equipment under the drive of the lifting mechanism;
and the controller is respectively connected with the lifting mechanism and the first sensor and is used for:
obtaining the maximum lifting height of the lifting mechanism;
and controlling the lifting mechanism to operate based on the maximum lifting height, and acquiring environmental information acquired in the operation process.
Optionally, the acquiring the maximum lifting height of the lifting mechanism includes:
acquiring a suspension height of a suspension obstacle in a case where the environmental information indicates that the suspension obstacle exists in a traveling direction;
the maximum elevation height is determined based on the suspension height, the maximum elevation height enabling the self-moving device to pass through the suspension obstacle.
Optionally, after controlling the operation of the lifting mechanism based on the maximum elevation and acquiring the environmental information acquired in the operation process, the method further includes:
determining whether the self-moving device has passed the hanging obstacle;
the step of obtaining the maximum elevation of the lifting mechanism is performed again in case the self-moving device has passed the hanging obstacle.
Optionally, the self-mobile device further comprises: a second sensor connected to the controller, the second sensor configured to detect a vertical distance between the self-moving device and an obstacle above the self-moving device;
the determining whether the self-mobile device has passed the hanging obstacle comprises:
and determining that the self-mobile device passes through the suspended obstacle under the condition that the vertical distance acquired by the second sensor is greater than or equal to a preset distance threshold value.
Optionally, the acquiring the maximum lifting height of the lifting mechanism includes:
in the case where the environmental information indicates that there is no hanging obstacle in the traveling direction, the maximum elevation is determined to be a limit elevation of the elevating mechanism.
Optionally, the lifting mechanism includes: the linear displacement of the stepping motor is parallel to the direction perpendicular to the self-moving equipment.
Optionally, the controlling the operation of the lifting mechanism based on the maximum elevation comprises:
and controlling the lifting mechanism to lift according to a preset lifting period in the maximum lifting height.
Optionally, the self-moving device further comprises a rotating mechanism mounted on the lifting mechanism, and the first sensor is mounted on the rotating mechanism; the rotating mechanism is connected with the controller, and the controller is further used for:
and controlling the rotation mechanism to rotate so as to drive the first sensor to rotate around the direction perpendicular to the self-moving device.
On the other hand, the application also provides a control method of the self-mobile device, wherein the self-mobile device comprises the self-mobile device, and the method comprises the following steps:
obtaining the maximum lifting height of the lifting mechanism;
and controlling the lifting mechanism to operate based on the maximum lifting height, and acquiring environmental information acquired in the operation process.
In yet another aspect, the present application also provides an electronic device, the device including a processor and a memory; the memory stores a program that is loaded and executed by the processor to implement the control method of the self-mobile device described above.
In still another aspect, the present application further provides a computer readable storage medium, wherein a program is stored in the storage medium, and the program when executed by a processor implements the method for controlling a self-mobile device provided in the above aspect.
The technical scheme provided by the application has the following advantages: the method comprises the steps that environmental information is collected through a first sensor positioned on a lifting mechanism, and the first sensor is driven by the lifting mechanism to move along a direction perpendicular to self-moving equipment; obtaining the maximum lifting height of the lifting mechanism; controlling the operation of the lifting mechanism based on the maximum lifting height, and acquiring environmental information acquired in the operation process; the problem that environmental information is not comprehensive enough due to the fact that the acquisition range of the first sensor is limited can be solved; the lifting mechanism drives the first sensor to do lifting motion, so that the first sensor can collect environmental information at different heights, and more comprehensive environmental information is collected. Meanwhile, the lifting mechanism is controlled to operate based on the maximum lifting height by acquiring the maximum lifting height of the lifting mechanism, so that the lifting mechanism can operate in an effective range, and the operation safety of the self-moving equipment is improved.
In addition, the maximum rising height is determined by determining the suspension height of the suspension obstacle, so that the problem that the self-moving equipment is laterally turned over due to the fact that the self-moving equipment cannot collide with the suspension obstacle in the moving process can be solved, and the running safety of the self-moving equipment can be guaranteed.
In addition, if the maximum elevation is not the limit elevation of the lift mechanism, it is indicated that the self-moving device is passing the bottom of the hanging obstacle. By determining whether the self-moving device has passed the hanging obstacle; under the condition that the self-moving equipment passes through the hanging obstacle, the step of acquiring the maximum lifting height of the lifting mechanism is executed again, so that the self-moving equipment can be ensured to be capable of timely adjusting the height of the lifting mechanism, and the comprehensiveness of environmental information is ensured.
In addition, the lifting platform is controlled to lift through the stepping motor, so that the realization complexity and the volume of the lifting mechanism can be simplified, and the light-weight design of the self-moving equipment is realized.
In addition, the lifting mechanism is controlled to lift according to the preset lifting period in the maximum lifting height, so that the first sensor can be ensured to maintain lifting movement in the maximum lifting height, and the information comprehensiveness in the maximum lifting height is ensured.
In addition, the first sensor is driven to rotate by controlling the rotating mechanism, and can acquire environmental information in different directions, so that the comprehensiveness of the environmental information is further improved. .
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a self-mobile device according to one embodiment of the present application;
FIG. 2 is a schematic view of a lifting mechanism according to an embodiment of the present application;
FIG. 3 is a flow chart of a method of controlling a self-mobile device according to one embodiment of the present application;
FIG. 4 is a block diagram of a control apparatus for a self-mobile device provided in one embodiment of the present application;
fig. 5 is a block diagram of an electronic device provided in one embodiment of the application.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In the present application, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present application.
Fig. 1 is a schematic structural diagram of a self-mobile device according to an embodiment of the present application, where the self-mobile device is an electronic device that can realize automatic movement without user driving. Optionally, the self-mobile device may include other functions in addition to the self-mobile function, such as: and may further include a cleaning function, and the self-moving device may be a sweeper, a cleaner, a mopping machine, a floor washing machine, or the like, and the embodiment does not limit the implementation manner of the self-moving device. As shown in fig. 1, the self-mobile device includes at least: the lifting mechanism 110, the first sensor 120, and the controller 130.
The lifting mechanism 110 is capable of up and down movement in a direction perpendicular to the self-moving device. Wherein, the direction perpendicular to the self-mobile device means: perpendicular to the moving surface on which the self-moving device is placed. In the case where the self-moving device is flat as a whole, the direction perpendicular to the self-moving device may also be a direction perpendicular to the device surface of the self-moving device.
The lifting mechanism 110 is mounted on the top or side of the self-moving device, and the mounting position of the lifting mechanism 110 is not limited in this embodiment.
Schematically, referring to fig. 2, the lifting mechanism 110 includes a lifting table 111, a stepping motor 112 connected to the lifting table 111, and a linear displacement of the stepping motor 112 is parallel to a direction perpendicular to the self-moving device.
The lifting platform is used for placing an object driven by the lifting mechanism 110. The stepping motor can drive the lifting platform to lift in the direction vertical to the self-moving equipment.
In other embodiments, the lifting mechanism 110 may be implemented in other manners, such as: the lifting table is driven by the air cylinder to lift in a direction perpendicular to the self-moving device, and the implementation manner of the lifting mechanism 110 is not limited in this embodiment.
The first sensor 120 is used to collect environmental information. The first sensor 120 may be a single-line laser radar (Laser Direct Structuring, LDS), and accordingly, the environmental information is point cloud data collected by the LDS; or the first sensor 120 may be an image sensor, and accordingly, the environmental information is image data collected by the image sensor, and the type of the first sensor 120 and the type of the corresponding environmental information are not limited in this embodiment.
Alternatively, the number of the first sensors 120 may be one or at least two, and the present embodiment does not limit the number of the first sensors 120.
In one example, the first sensor 120 may be directly placed on the lifting mechanism 110 and moved in a direction perpendicular to the self-moving device under the driving of the lifting mechanism 110. At this time, the first sensor 120 may collect environmental information at different heights under the driving of the lifting mechanism 110.
In another example, referring to fig. 2, the self-moving device further includes a rotation mechanism mounted on the lifting mechanism 110, and the first sensor 120 is mounted on the rotation mechanism 140. The rotation mechanism 140 rotates around a direction perpendicular to the self-moving device. The rotation direction of the rotation mechanism 140 may be counterclockwise (indicated by an arrow in fig. 2) and/or clockwise, and the present embodiment does not limit the rotation direction of the rotation mechanism. At this time, the first sensor 120 is driven by the lifting mechanism 110, so that environmental information can be collected at different heights and also can be collected from environmental information in different directions of the mobile device.
In this way, the first sensor 120 may collect more comprehensive environmental information.
The controller 130 is used to control the self-mobile device. The control includes controlling the lifting mechanism 110 and the first sensor 120. At this time, the controller 130 is connected to the elevating mechanism 110 and the first sensor 120, respectively.
In this embodiment, the controller 130 is configured to: acquiring the maximum elevation of the lifting mechanism 110; the elevating mechanism 110 is controlled to operate based on the maximum elevation and acquires environmental information collected during operation.
In this embodiment, the lifting mechanism 110 drives the first sensor 120 to perform lifting motion, so that the first sensor 120 can collect environmental information at different heights, thereby collecting more comprehensive environmental information. Meanwhile, by acquiring the maximum elevation height of the lifting mechanism 110 and controlling the lifting mechanism 110 to operate based on the maximum elevation height, the lifting mechanism 110 can be ensured to operate within an effective range, and the operation safety of the self-moving equipment is improved.
Where the self-moving device further includes a rotation mechanism, the controller 130 is also coupled to the rotation mechanism to control the actuation, closing, direction of rotation, and/or angle of rotation of the rotation mechanism.
It should be added that the self-mobile device may further include components required for performing self-mobile operation, such as: the first driving mechanism is connected with the controller 130 to drive the wheel body to operate under the control of the controller 130, so that the self-movement of the self-moving equipment is realized.
In addition, in the case where the self-moving device also has a cleaning function, the self-moving device may further include components required in performing a cleaning work, such as: a cleaning mechanism, a second driving mechanism for driving the cleaning mechanism, and the like.
The second driving mechanism is connected with the controller 130, and is used for driving the cleaning mechanism to perform rotary motion under the control of the controller 130 so as to perform cleaning work. The second driving mechanism is installed inside the self-moving device.
The cleaning mechanism may be a roller brush, a rag, or a structure having an adsorption capability, etc., and the implementation of the cleaning mechanism is not limited in this embodiment.
Optionally, the self-mobile device may further include a power supply, a communication component, and the like, where components included in the self-mobile device are not listed in this embodiment.
The control method of the self-mobile device is described below. The following embodiment will take as an example a self-mobile device as shown in fig. 1 as an execution subject of the method.
Fig. 3 is a flowchart of a control method of a self-mobile device according to an embodiment of the present application, where the method includes at least the following steps:
step 301, a maximum elevation of the lifting mechanism is obtained.
In one example, the maximum elevation is automatically identified from the mobile device. At this time, the maximum elevation height of the elevating mechanism is obtained, including: acquiring a suspension height of a suspension obstacle in the case where the environmental information indicates that the suspension obstacle exists in the traveling direction; the maximum elevation height is determined based on the suspension height, the maximum elevation height enabling the self-mobile device to pass the suspension obstacle.
The hanging obstacle refers to an obstacle with a space between the bottom surface and the moving surface where the self-moving device is located. Such as: the hanging barrier can be a table or a chair with a space between the bottom surface and the ground; or, a cabinet or the like hung on a wall, and the type of the hanging obstacle is not specifically exemplified here in this embodiment.
The manner in which the presence of a hanging obstacle in the direction of travel is determined from the mobile device includes, but is not limited to, the following:
first kind: the environmental information is point cloud data, each point in the point cloud data including distance data between obstacles in front of the first sensor. In the presence of a hanging obstacle in the direction of travel, for a portion spaced from the moving surface, the laser light tends to penetrate that portion so that the distance data is greater than the distance threshold. For a suspended obstacle body portion, the laser light is emitted through the portion such that the distance data is less than a distance threshold. Based on the above law, determining from the mobile device whether there is a hanging obstacle in the direction of travel, comprising: in the height direction, if the distance data is changed from being larger than the distance threshold value to being smaller than the distance threshold value from bottom to top and the height being larger than the distance threshold value is larger than the height threshold value, determining that a suspension barrier exists in the travelling direction; if the distance data is unchanged from bottom to top or the height of the distance data greater than the distance threshold is less than or equal to the height threshold, determining that no hanging obstacle exists in the travelling direction.
Wherein the distance threshold and the height threshold are pre-stored in the self-mobile device, the height threshold being determined based on a lowest device height of the self-mobile device. Specifically, the height threshold is greater than or equal to the lowest device height, and the values of the distance threshold and the height threshold are not limited in this embodiment.
Accordingly, in a case where the environmental information indicates that there is a hanging obstacle in the traveling direction, acquiring a hanging height of the hanging obstacle includes: the suspension height is obtained from the continuous height of the distance data greater than the distance threshold.
Second kind: after the environment information acquired by the first sensor is acquired from the mobile equipment, the environment information is subjected to target recognition, and a target recognition result is obtained. The object recognition result includes whether the environmental information includes a hanging obstacle, and a hanging height of the hanging obstacle when the hanging obstacle exists.
The target recognition mode comprises the following steps: and inputting the environmental information into a pre-trained target recognition model to obtain a target recognition result. The target recognition model is obtained by training a neural network model by using sample environment information and obstacle labels in the sample environment information. The obstacle tag is used for indicating whether a hanging obstacle exists in the sample environment information or not and the hanging height of the hanging obstacle.
Among them, neural network models include, but are not limited to: deep neural network (Deep Neural Network, DNN), recurrent neural network (Recurrent Neural Network, RNN), convolutional neural network (Convolutional Neural Network, CNN), etc., the present embodiment does not limit the type of neural network model.
In other embodiments, the self-mobile device may also determine whether there is a hanging obstacle in the traveling direction by other means, and acquire the hanging height of the hanging obstacle, and the present embodiment is not limited to the determination means.
In addition, in the case where the environmental information indicates that there is no hanging obstacle in the traveling direction, the maximum rising height is determined as the limit height of the elevating mechanism. The limit height is the highest height that can be reached by the lifting mechanism due to the equipment of the lifting mechanism.
Determining a maximum elevation based on the suspension elevation, comprising: acquiring the lowest ground clearance of the lifting mechanism; calculating a difference between the suspension height and the minimum ground clearance height; the maximum elevation is determined to be less than or equal to the difference.
Optionally, prior to step 301, the self-moving device may control the lifting mechanism to perform a lifting motion in a certain period to collect more comprehensive environmental information to determine whether a hanging obstacle exists in the traveling direction. The certain period may be 3 seconds, or 2 seconds, etc., and the value of the certain period is not limited in this embodiment.
Alternatively, the lifting mechanism can be kept stationary in place during the lifting movement of the lifting mechanism controlled by the mobile device according to a certain period, so as to prevent the obstacle from being hung in front of the collision.
And 302, controlling the operation of the lifting mechanism based on the maximum lifting height, and acquiring the environmental information acquired in the operation process.
In one example, controlling elevator operation based on a maximum elevation includes: and controlling the lifting mechanism to lift according to a preset lifting period in the maximum lifting height.
The preset lifting period is preset in the self-mobile device, and can be set by a user or set in the self-mobile device by a developer, and can be 3 seconds, 2 seconds or the like, and the value of the preset lifting period is not limited in this embodiment.
In another example, the self-moving device may also control the lifting mechanism to maintain the position of the maximum elevation in the unchanged, in the case where the maximum elevation is less than or equal to the acquisition range of the first sensor in the height direction.
And the self-moving equipment continues to move according to the travelling direction in the process of controlling the operation of the lifting mechanism based on the maximum lifting height. At this point, if the maximum elevation is not the limit elevation of the elevator mechanism, it is indicated that the self-moving device is passing the bottom of the hanging obstacle. In order to ensure that the self-mobile device can adjust the height of the lifting mechanism in time, after controlling the lifting mechanism to operate based on the maximum lifting height and acquiring the environmental information acquired during the operation process, i.e. after step 302, the self-mobile device can also determine whether the self-mobile device has passed through the hanging obstacle; in case the self-moving device has passed the hanging obstacle, the step of obtaining the maximum elevation of the lifting mechanism is performed again, i.e. step 301 is performed again, even if the lifting mechanism is adjusted.
Optionally, the self-moving device further comprises a second sensor connected to the controller, the second sensor being configured to detect a vertical distance between the self-moving device and an obstacle above the self-moving device. Accordingly, determining whether the self-mobile device has passed the hanging obstacle comprises: in the event that the vertical distance acquired by the second sensor is greater than or equal to a preset distance threshold, it is determined that the self-moving device has passed the hanging obstacle.
And determining that the self-mobile device does not pass through the suspended obstacle under the condition that the vertical distance acquired by the second sensor is smaller than a preset distance threshold value.
The second sensor may be mounted on the lifting mechanism, or mounted on the rotating mechanism, or mounted on the upper surface of the self-moving device, and the mounting position of the second sensor is not limited in this embodiment.
The second sensor may be an infrared sensor, a laser sensor, an image sensor, or the like, and the implementation of the second sensor is not limited in this embodiment.
In addition, the number of the second sensors may be one or at least two, and the present embodiment does not limit the number of the second sensors.
The preset distance threshold may be a fixed value or a value determined based on the hanging height of the hanging obstacle.
In the case where the preset distance threshold is a value determined based on the suspension height of the suspension obstacle, the preset distance threshold is greater than or equal to the difference between the suspension height and the maximum height of the current device. Where the current device maximum height refers to the maximum height from the various components on the mobile device.
The self-moving equipment can know the lifting height of the lifting platform on the lifting mechanism, and the object height of the object on the lifting platform is fixed, so that the sum of the lifting height and the object height is the maximum height of the current equipment.
Optionally, the self-moving device further comprises a rotating mechanism mounted on the lifting mechanism, and the first sensor is mounted on the rotating mechanism; the rotating mechanism is connected with the controller, and the controller is also used for controlling the rotating mechanism to rotate so as to drive the first sensor to rotate around the direction vertical to the self-moving equipment. Thus, the first sensor can collect environmental information in different directions, and the comprehensiveness of the environmental information is further improved.
The controller controls the rotation mechanism to rotate, comprising: controlling the rotating mechanism to continuously rotate for 360 degrees; or, in case it is determined that the self-moving device changes the traveling direction, controlling the rotation mechanism to rotate toward the changed traveling direction to acquire environmental information before the traveling direction is changed to determine whether an obstacle exists in front; or, in the case that it is determined that there is no obstacle in the traveling direction, the rotation mechanism is controlled to rotate 360 degrees, and the timing and angle of controlling the rotation mechanism to rotate from the mobile device are not limited in this embodiment.
In summary, in the control method of the self-mobile device provided by the embodiment, the first sensor located on the lifting mechanism collects the environmental information, and moves along the direction perpendicular to the self-mobile device under the driving of the lifting mechanism; obtaining the maximum lifting height of the lifting mechanism; controlling the operation of the lifting mechanism based on the maximum lifting height, and acquiring environmental information acquired in the operation process; the problem that environmental information is not comprehensive enough due to the fact that the acquisition range of the first sensor is limited can be solved; the lifting mechanism drives the first sensor to do lifting motion, so that the first sensor can collect environmental information at different heights, and more comprehensive environmental information is collected. Meanwhile, the lifting mechanism is controlled to operate based on the maximum lifting height by acquiring the maximum lifting height of the lifting mechanism, so that the lifting mechanism can operate in an effective range, and the operation safety of the self-moving equipment is improved.
In addition, the maximum rising height is determined by determining the suspension height of the suspension obstacle, so that the problem that the self-moving equipment is laterally turned over due to the fact that the self-moving equipment cannot collide with the suspension obstacle in the moving process can be solved, and the running safety of the self-moving equipment can be guaranteed.
In addition, if the maximum elevation is not the limit elevation of the lift mechanism, it is indicated that the self-moving device is passing the bottom of the hanging obstacle. By determining whether the self-moving device has passed the hanging obstacle; under the condition that the self-moving equipment passes through the hanging obstacle, the step of acquiring the maximum lifting height of the lifting mechanism is executed again, so that the self-moving equipment can be ensured to be capable of timely adjusting the height of the lifting mechanism, and the comprehensiveness of environmental information is ensured.
In addition, the lifting platform is controlled to lift through the stepping motor, so that the realization complexity and the volume of the lifting mechanism can be simplified, and the light-weight design of the self-moving equipment is realized.
In addition, the lifting mechanism is controlled to lift according to the preset lifting period in the maximum lifting height, so that the first sensor can be ensured to maintain lifting movement in the maximum lifting height, and the information comprehensiveness in the maximum lifting height is ensured.
In addition, the first sensor is driven to rotate by controlling the rotating mechanism, and can acquire environmental information in different directions, so that the comprehensiveness of the environmental information is further improved.
Fig. 4 is a block diagram of a control apparatus of a self-mobile device according to an embodiment of the present application. The device at least comprises the following modules: a height acquisition module 410 and an information acquisition module 420.
A height acquisition module 410, configured to acquire a maximum lifting height of the lifting mechanism;
and the information acquisition module 420 is used for controlling the operation of the lifting mechanism based on the maximum lifting height and acquiring the environmental information acquired in the operation process.
For relevant details reference is made to the above embodiments.
It should be noted that: in the control device of the self-mobile device provided in the above embodiment, only the division of the above functional modules is used for illustration when the control of the self-mobile device is performed, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the control device of the self-mobile device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device of the self-mobile device provided in the above embodiment and the control method embodiment of the self-mobile device belong to the same concept, and the specific implementation process of the control device is detailed in the method embodiment, which is not described herein again.
Fig. 5 is a block diagram of an electronic device provided in one embodiment of the application. The device may be a self-moving device as described in fig. 1, comprising at least a processor 501 and a memory 502.
The processor 501 may include one or more processing cores, such as: 4 core processors, 8 core processors, etc. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 501 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 501 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store at least one instruction for execution by processor 501 to implement the control method of the self-mobile device provided by the method embodiments of the present application.
In some embodiments, the external parameter calibration device may further optionally include: a peripheral interface and at least one peripheral. The processor 501, memory 502, and peripheral interfaces may be connected by buses or signal lines. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.
Of course, the external reference calibration device may also include fewer or more components, as this embodiment is not limited in this regard.
Optionally, the present application further provides a computer readable storage medium, in which a program is stored, the program being loaded and executed by a processor to implement the control method of the self-mobile device of the above method embodiment.
Optionally, the present application further provides a computer product, where the computer product includes a computer readable storage medium, where a program is stored, where the program is loaded and executed by a processor to implement the method for controlling a self-mobile device according to the above-mentioned method embodiment.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
It will be apparent that the embodiments described above are merely some, but not all, embodiments of the application. Based on the embodiments of the present application, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present application.
Claims (11)
1. A self-moving device, the self-moving device comprising:
a lifting mechanism;
the first sensor is positioned on the lifting mechanism and used for collecting environmental information and moving along the direction vertical to the self-moving equipment under the drive of the lifting mechanism;
and the controller is respectively connected with the lifting mechanism and the first sensor and is used for:
obtaining the maximum lifting height of the lifting mechanism;
and controlling the lifting mechanism to operate based on the maximum lifting height, and acquiring environmental information acquired in the operation process.
2. The self-moving device of claim 1, wherein the obtaining the maximum elevation of the lifting mechanism comprises:
acquiring a suspension height of a suspension obstacle in a case where the environmental information indicates that the suspension obstacle exists in a traveling direction;
the maximum elevation height is determined based on the suspension height, the maximum elevation height enabling the self-moving device to pass through the suspension obstacle.
3. The self-moving device according to claim 2, wherein after controlling the operation of the lifting mechanism based on the maximum elevation and acquiring environmental information acquired during the operation, further comprising:
determining whether the self-moving device has passed the hanging obstacle;
the step of obtaining the maximum elevation of the lifting mechanism is performed again in case the self-moving device has passed the hanging obstacle.
4. The self-mobile device of claim 3, wherein the self-mobile device further comprises: a second sensor connected to the controller, the second sensor configured to detect a vertical distance between the self-moving device and an obstacle above the self-moving device;
the determining whether the self-mobile device has passed the hanging obstacle comprises:
and determining that the self-mobile device passes through the suspended obstacle under the condition that the vertical distance acquired by the second sensor is greater than or equal to a preset distance threshold value.
5. The self-moving device of claim 1, wherein the obtaining the maximum elevation of the lifting mechanism comprises:
in the case where the environmental information indicates that there is no hanging obstacle in the traveling direction, the maximum elevation is determined to be a limit elevation of the elevating mechanism.
6. The self-moving device according to any one of claims 1 to 5, wherein the lifting mechanism comprises: the linear displacement of the stepping motor is parallel to the direction perpendicular to the self-moving equipment.
7. The self-moving device of any one of claims 1-5, wherein said controlling operation of said lifting mechanism based on said maximum elevation comprises:
and controlling the lifting mechanism to lift according to a preset lifting period in the maximum lifting height.
8. The self-moving device according to any one of claims 1 to 5, further comprising a rotation mechanism mounted on the lifting mechanism, the first sensor being mounted on the rotation mechanism; the rotating mechanism is connected with the controller, and the controller is further used for:
and controlling the rotation mechanism to rotate so as to drive the first sensor to rotate around the direction perpendicular to the self-moving device.
9. A control method of a self-moving device, characterized in that the self-moving device includes the self-moving device according to any one of claims 1 to 8, the method comprising:
obtaining the maximum lifting height of the lifting mechanism;
and controlling the lifting mechanism to operate based on the maximum lifting height, and acquiring environmental information acquired in the operation process.
10. An electronic device comprising a processor and a memory; the memory stores therein a program that is loaded and executed by the processor to realize the control method of the self-mobile device according to claim 9.
11. A computer-readable storage medium, in which a program is stored which, when being executed by a processor, is adapted to carry out the method of controlling a self-mobile device according to claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210191070.4A CN116661432A (en) | 2022-02-21 | 2022-02-21 | Self-mobile device, control method and device for self-mobile device, and storage medium |
| PCT/CN2022/137602 WO2023155556A1 (en) | 2022-02-21 | 2022-12-08 | Self-moving device, method for controlling self-moving device, and device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210191070.4A CN116661432A (en) | 2022-02-21 | 2022-02-21 | Self-mobile device, control method and device for self-mobile device, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116661432A true CN116661432A (en) | 2023-08-29 |
Family
ID=87577475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210191070.4A Pending CN116661432A (en) | 2022-02-21 | 2022-02-21 | Self-mobile device, control method and device for self-mobile device, and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116661432A (en) |
| WO (1) | WO2023155556A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101450569B1 (en) * | 2013-03-05 | 2014-10-14 | 엘지전자 주식회사 | Robot cleaner |
| CN108030447B (en) * | 2017-12-29 | 2023-10-31 | 美的集团电子商务有限公司 | Sweeping robot, map building method and control method thereof |
| DE102018117191A1 (en) * | 2018-07-17 | 2020-01-23 | Miele & Cie. Kg | Vacuum robot, charging station for a vacuum robot and method for operating a vacuum robot |
| CN110968081B (en) * | 2018-09-27 | 2022-09-23 | 广东美的生活电器制造有限公司 | Control method and control device of sweeping robot with telescopic camera |
| CN111930106A (en) * | 2019-04-28 | 2020-11-13 | 广东宝乐机器人股份有限公司 | Mobile robot and control method thereof |
| CN113439524A (en) * | 2021-06-15 | 2021-09-28 | 江苏科技大学 | Household mowing robot and system based on single-line laser radar automatic lifting device and image building method |
-
2022
- 2022-02-21 CN CN202210191070.4A patent/CN116661432A/en active Pending
- 2022-12-08 WO PCT/CN2022/137602 patent/WO2023155556A1/en unknown
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|---|---|
| WO2023155556A1 (en) | 2023-08-24 |
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