CN116700237A - Control method and device of self-mobile device and storage medium - Google Patents
Control method and device of self-mobile device and storage medium Download PDFInfo
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- CN116700237A CN116700237A CN202210190809.XA CN202210190809A CN116700237A CN 116700237 A CN116700237 A CN 116700237A CN 202210190809 A CN202210190809 A CN 202210190809A CN 116700237 A CN116700237 A CN 116700237A
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000001276 controlling effect Effects 0.000 claims description 43
- 230000037361 pathway Effects 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 25
- 230000007613 environmental effect Effects 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000007935 neutral effect Effects 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 9
- 238000004140 cleaning Methods 0.000 description 24
- 230000007246 mechanism Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 7
- 230000002093 peripheral effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 238000013473 artificial intelligence Methods 0.000 description 2
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- 241001417527 Pempheridae Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003709 image segmentation 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The application belongs to the field of automatic control, and particularly relates to a control method, equipment and storage medium of self-mobile equipment, wherein the method comprises the following steps: controlling the self-moving device to travel in a target channel, wherein the target channel refers to a channel with a channel spacing larger than the minimum distance and smaller than the maximum distance; controlling the self-moving device to back up to exit the target channel under the condition that the self-moving device cannot pass through the target channel is determined; the problem that the self-mobile device cannot leave the narrow channel due to the fact that the self-mobile device cannot realize direction turning in the narrow channel can be solved; after determining that the self-moving equipment cannot turn the advancing direction in the target channel, controlling the self-moving equipment to back up to exit the target channel, and at the moment, even if the self-moving equipment is non-circular, the self-moving equipment cannot be trapped in the target channel due to the fact that the self-moving equipment cannot turn around, so that the escaping effect of the self-moving equipment can be ensured.
Description
Technical Field
The application belongs to the field of automatic control, and particularly relates to a control method, equipment and storage medium of self-mobile equipment.
Background
Currently, a self-moving device may enter a narrow channel by collision and move within the narrow channel. In the case where the self-moving device cannot pass through the narrow passage, it is necessary to leave the narrow passage.
Conventional approaches to leaving narrow channels from mobile devices include: the self-moving device is controlled to turn around to leave the narrow channel.
However, the self-mobile device may not be able to effect a direction change within the narrow channel, which may result in a problem that the self-mobile device cannot leave the narrow channel.
Disclosure of Invention
The application provides a control method, equipment and storage medium of a self-mobile device, which can solve the problem that the self-mobile device can not leave a narrow channel because the self-mobile device can not realize direction turning in the narrow channel. The application provides the following technical scheme:
in a first aspect, a control method of a self-mobile device is provided, wherein a minimum distance between non-adjacent edge portions of the self-mobile device is not equal to a maximum distance between non-adjacent edge portions; the method comprises the following steps:
controlling the self-moving device to travel in a target channel, wherein the target channel refers to a channel with a channel spacing larger than the minimum distance and smaller than the maximum distance;
and controlling the self-moving device to back up to exit the target channel under the condition that the self-moving device cannot pass through the target channel.
Optionally, the self-moving device comprises a wheel body and a driving piece connected with the wheel body; the driving piece operates in a first direction to drive the wheel body to move in the travelling process of the self-moving equipment;
the controlling the self-moving device to reverse includes:
and controlling the driving piece to run in a second direction so as to drive the wheel body to drive the self-moving equipment to back up, wherein the second direction is opposite to the first direction.
Optionally, the controlling the self-moving device to reverse includes:
acquiring the middle position of the target channel;
and controlling the self-moving device to reverse according to the intermediate position.
Optionally, after the controlling the self-mobile device to reverse according to the intermediate position, the method further includes:
in the event of a collision of the self-moving device, adjusting a reverse direction based on a collision position;
and controlling the self-moving device to reverse according to the regulated reverse direction.
Optionally, the controlling the self-moving device to reverse according to the adjusted reverse direction includes;
and adjusting the reversing direction to a direction away from the collision position by a preset angle to obtain the adjusted reversing direction.
Optionally, before the adjusting the reverse direction based on the collision position, the method further includes:
recording the number of times that the self-moving device collides in the reversing process;
and outputting an alarm prompt or executing a preset escape action under the condition that the times reach the times threshold.
Optionally, the preset escaping action includes:
adjusting the driving power of the reverse to the maximum power; reversing according to the maximum power;
or alternatively, the process may be performed,
after the self-mobile equipment is controlled to advance for a certain distance, the driving power of the reversing is regulated to the maximum power; reversing according to the maximum power.
Optionally, the controlling the self-moving device to reverse according to the intermediate position includes:
acquiring the reversing direction of the self-moving equipment;
determining whether an included angle between the reversing direction and a preset direction is larger than an angle threshold value; the preset direction is parallel to the middle line of the target channel;
and correcting the reversing direction under the condition that the included angle is larger than an angle threshold value, so that the included angle between the reversing direction and the preset direction is smaller than or equal to the angle threshold value.
Optionally, after the controlling the self-mobile device to move in the target channel, the method further comprises:
determining whether the self-mobile device can pass through the target channel based on the number of times the self-mobile device collides in the travelling process;
or alternatively, the process may be performed,
based on the device status of the self-mobile device, it is determined whether the self-mobile device is capable of passing through the target pathway.
Optionally, before the self-mobile device is controlled to move in the target channel, the method further comprises
Acquiring the environmental information of the self-mobile device in the travelling direction;
determining whether the passage exists in the traveling direction based on the environmental information;
acquiring the channel spacing of the channel based on the environmental information when the channel exists;
controlling the self-moving device to travel within the target channel if the channel spacing is greater than the minimum distance and less than the maximum distance.
In a second aspect, an electronic device is provided, the device comprising 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 according to the first aspect.
In a third aspect, there is provided a computer-readable storage medium having stored therein a program for implementing the control method of the self-mobile device provided in the first aspect when executed by a processor.
The application has the beneficial effects that: by controlling the self-moving device to travel within a target channel, the target channel refers to a channel with a channel spacing greater than a minimum distance and less than a maximum distance; in the event that it is determined that the self-mobile device cannot pass through the target pathway, the self-mobile device is controlled to reverse to exit the target pathway. The method and the device can solve the problem that the self-moving device can not leave the narrow channel because the self-moving device can not realize direction change in the narrow channel. Controlling the self-moving device to reverse to exit the target pathway after determining that the self-moving device cannot reverse the traveling direction in the target pathway. At this time, even if the self-moving device is non-circular, the self-moving device cannot be trapped in the target channel due to the fact that the self-moving device cannot turn around, and therefore the escaping effect of the self-moving device can be guaranteed.
In addition, since the self-moving device can collide for a plurality of times in the moving direction in the target channel, at this time, whether the self-moving device can continue to move in the target channel is determined based on the number of times of collision, and the problem that the self-moving device is trapped in the target channel due to infinite times of collision of the self-moving device in the target channel can be avoided.
In addition, by determining that the self-mobile device cannot pass through the target channel when the residual electric quantity is low, the problem that the self-mobile device cannot leave the target channel due to insufficient electric quantity, and therefore cannot finish cleaning work can be prevented.
In addition, when the dirt degree of the cleaning mechanism is high, the self-moving equipment is determined to be unable to pass through the target channel, so that the problem that the self-moving equipment cannot achieve the expected cleaning effect in the target channel due to the high dirt degree of the cleaning mechanism can be prevented, and the cleaning efficiency of the self-moving equipment is ensured.
In addition, because the body position of the self-moving equipment possibly deviates greatly in the reversing process, the self-moving equipment collides with two sides of the target channel, and the self-moving equipment can be prevented from deviating greatly by correcting the body position and correcting the reversing direction, so that the collision with the target channel for two times is reduced.
In addition, since the self-mobile device may encounter a movable obstacle during the reversing process, the user can be informed of the existence of the obstacle by outputting an alarm prompt, so that the user can remove the obstacle in time or remove the self-mobile device, thereby avoiding the self-mobile device from being trapped.
In addition, since the obstacle encountered by the self-moving device at a certain position during the reverse, it may be an obstacle that is moved to the position after passing the position from the moving device. At this time, the probability that the obstacle is movable is large. At this time, by increasing the probability that the power hits the obstacle, the problem of the self-moving device getting trapped during the reverse can be avoided.
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 flow chart of a method of controlling a self-mobile device according to one embodiment of the present application;
FIG. 3 is a block diagram of a self-mobile device control apparatus provided by one embodiment of the present application;
fig. 4 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.
In this embodiment, the minimum distance between non-adjacent edge portions of the self-moving device is not equal to the maximum distance between non-adjacent edge portions. That is, the self-mobile device as a whole is in a non-circular shape, such as: the whole self-mobile device is D-shaped.
As can be seen from fig. 1, the self-mobile device at least includes: a driving member 110, a wheel 120 and a controller 130.
The driving member 110 is coupled to the wheel 120, and is used for driving the wheel 120 to move to drive the self-moving device.
The driving member 110 is connected to the controller 130, and is configured to drive the wheel 120 to move in response to a command sent by the controller 130.
Alternatively, the driving member 110 may be implemented as a dc motor, a servo motor, a stepping motor, or the like, and the implementation of the driving member 110 is not limited in this embodiment.
The controller 130 is used to control the self-mobile device. Alternatively, the controller 130 may be implemented as a single-chip microcomputer, or a processor, and the implementation of the controller 130 is not limited in this embodiment.
In this embodiment, the controller 130 is configured to: controlling the self-moving equipment to travel in a target channel, wherein the target channel refers to a channel with a channel spacing larger than a minimum distance and smaller than a maximum distance; in the event that it is determined that the self-mobile device cannot pass through the target pathway, the self-mobile device is controlled to reverse to exit the target pathway.
Wherein, reversing refers to: the driving piece of the self-moving device is reversed to change the driving direction, so that the moving mode of the self-moving device with the opposite travelling direction is realized. Reversing is different from turning around. Specifically, turning around refers to a movement manner in which the driving direction of the driving member is not changed, thereby reversing the traveling direction of the self-moving device. In the turning process, the self-mobile device often needs a larger width space to realize turning, and the reversing does not need a larger width space.
Optionally, to determine whether a target pathway exists in the direction of travel of the self-mobile device, a first sensor 140 is provided on the self-mobile device.
The first sensor 140 is used to collect environmental information from the mobile device in the direction of travel. Alternatively, the first sensor 140 may be a camera, an infrared sensor, a lidar sensor, or the like, which is equipped with a color system (Red Green Blue, RGB) detection function, and the type of the first sensor 140 is not limited in this embodiment.
Alternatively, the first sensor 140 may be mounted on the housing of the self-mobile device and used to collect the environment from the direction of travel of the mobile device. The acquisition range of the first sensor 140 includes, but is not limited to: in the region directly in front of, obliquely above and/or obliquely below the direction of travel of the self-moving device; and/or from a left region of the travel direction of the mobile device; and/or from a right region of the travel direction of the mobile device; and/or from a rear region of the travel direction of the mobile device, etc., the present embodiment defines the acquisition range of the first sensor 140.
Alternatively, the number of the first sensors 140 may be one or at least two, and in the case where the number of the first sensors 140 is at least two, the types of the different first sensors 140 are the same or different, and the number and implementation of the first sensors 140 are not limited in this embodiment.
The first sensor 140 is connected to the controller 130 to transmit the collected environmental information to the controller 130.
Accordingly, after acquiring the environmental information in the traveling direction, the controller 130 determines whether a channel exists in the traveling direction based on the environmental information; in the case where a channel exists, acquiring a channel pitch of the channel based on the environmental information; in the case where the lane spacing is greater than the minimum distance and less than the maximum distance, the self-moving device is controlled to travel within the target lane.
Optionally, a second sensor 150 is also provided on the self-mobile device, the second sensor 150 being connected to the controller 130 and being configured to send sensory data to the controller 130. Accordingly, the controller 130 determines whether the self-mobile device can pass through the target channel based on the sensing data after receiving the sensing data; if the mobile device can continue to pass through the target channel, the mobile device is controlled to continue to travel; if the target channel cannot be continuously passed, the self-moving device is controlled to back up so as to exit the target channel.
Illustratively, the second sensor 150 may be a collision sensor for acquiring collision results from the mobile device. Optionally, collision sensors are mounted on both sides of the direction of travel of the self-moving device. During the traveling process, the controller 130 records the number of collisions between the collision sensor and the target channel based on the collision result; in the case where the number of collisions reaches the threshold, the controller 130 controls the self-moving device to reverse.
Such as: the threshold number of collisions is set to 16, and when the value of the collision sensor reaches 16, i.e., the number of collisions from the mobile device with both sides of the tunnel reaches 16, the controller 130 controls the mobile device to reverse.
It should be noted that, in actual implementation, the self-mobile device may further include other components, such as: power supply components, shock absorbing components, etc., are not specifically mentioned herein.
In the conventional control method of the self-mobile device, the self-mobile device is trapped in the narrow channel and needs to change the traveling direction to leave the narrow channel, however, the non-circular self-mobile device may not realize the direction change in the narrow channel, which may cause the problem that the self-mobile device cannot leave the narrow channel. In this embodiment, the self-moving device is controlled to reverse to exit the target channel after determining that the self-moving device cannot turn the traveling direction in the target channel. At this time, even if the self-moving device is non-circular, the self-moving device cannot be trapped in the target channel due to the fact that the self-moving device cannot turn around, and therefore the escaping effect of the self-moving device can be guaranteed.
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. 2 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:
in step 201, the self-mobile device is controlled to travel in a target channel, wherein the target channel is a channel with a channel spacing greater than a minimum distance and less than a maximum distance.
In one example, controlling the self-mobile device to travel within the target channel includes: acquiring environmental information of the mobile device in the travelling direction; determining whether a channel exists in the traveling direction based on the environmental information; in the case where a channel exists, acquiring a channel pitch of the channel based on the environmental information; in the case where the lane spacing is greater than the minimum distance and less than the maximum distance, the self-moving device is controlled to travel within the target lane.
And under the condition that the channel spacing is smaller than the minimum distance, determining that the target channel does not exist in the travelling direction, and controlling the self-mobile device to change the travelling direction so as to travel in the direction away from the channel.
And under the condition that the channel spacing is larger than the maximum distance, determining that a target channel does not exist in the travelling direction, controlling the self-mobile equipment to enter the channel, travelling in the channel, and turning around to exit the channel under the condition that the channel cannot be passed.
The self-moving device is provided with a first sensor, the first sensor is used for acquiring the environmental information of the self-moving device in the running direction, and the self-moving device acquires the environmental information acquired by the first sensor.
Illustratively, the environmental information includes point cloud data or an environmental image; accordingly, determining whether a channel exists in the traveling direction based on the environmental information includes: and carrying out target recognition on the environment information to obtain a target recognition result, wherein the target recognition result is used for indicating whether a channel exists in the environment information.
Among other algorithms for target recognition of environmental information include, but are not limited to: neural network recognition, feature recognition, image segmentation recognition, and the like, the present embodiment does not limit the algorithm of target recognition.
In the case where a channel exists, acquiring a channel pitch of the channel based on the environmental information includes: channel side positions are determined based on the environmental information, and channel spacing is determined based on the channel side positions.
In other implementations, the target recognition result may also include a channel pitch, and the embodiment does not limit the manner of obtaining the channel pitch.
In another example, controlling the self-mobile device to travel within the target pathway includes: in response to the control instruction, the self-mobile device is controlled to travel within the target channel. At this time, the cleaning device is communicatively connected to a control device for controlling the movement of the self-moving device. The control device may be a remote controller, a mobile phone, a tablet computer, a wearable device, etc., and the embodiment does not limit the device type of the control device.
Optionally, the self-moving device travels entirely along an intermediate position of the target pathway as it travels within the target pathway. Wherein the intermediate position is determined from the mobile device based on the lane spacing of the target lane. Specifically, the intermediate position is 1/2 of the channel pitch.
Movement from the mobile device may be hindered by obstructions within the target passageway. Based on this, in order to avoid trapping the self-mobile device within the target pathway, it is necessary to determine whether the self-mobile device can continue to pass through the target pathway during travel within the target pathway. Wherein determining from the mobile device whether it can continue through the target channel includes, but is not limited to, the following two ways:
first, it is determined whether the self-mobile device can pass through the target pathway based on the number of times the self-mobile device collides during traveling.
Accordingly, the collision sensor is arranged on the self-mobile device to acquire whether the self-mobile device collides in the travelling process. Wherein determining whether the self-mobile device is capable of passing through the target channel based on the number of times the self-mobile device collides in the traveling process comprises: under the condition that the number of times of collision reaches a preset number of times threshold, determining that the self-mobile equipment cannot pass through the target channel; and if the number of times of collision is smaller than the preset number of times threshold, controlling the mobile equipment to shift a preset angle to the right side and then continue to move forwards, and if the mobile equipment collides with the right side of the channel, controlling the automatic equipment to shift a preset angle to the left side and then continue to move forwards.
The preset angle is preset in the self-mobile device, and the preset angle can be 5 degrees, 10 degrees and the like, and the value of the preset angle is not limited in this embodiment.
In other embodiments, the preset angle shifted to the right and the preset angle shifted to the left may be different, and the embodiment is not limited to the manner of shifting the angle from the mobile device.
Since the self-moving device can collide for a plurality of times in the moving direction in the target channel, at the moment, whether the self-moving device can continue to move in the target channel is determined based on the collision times, and the problem that the self-moving device is trapped in the target channel due to infinite collision of the self-moving device in the target channel can be avoided.
Second, based on the device status of the self-mobile device, it is determined whether the self-mobile device is capable of passing through the target channel.
In one example, the device state includes a remaining power from the mobile device. Accordingly, determining whether the self-mobile device is capable of passing through the target channel based on the device state of the self-mobile device includes: under the condition that the residual electric quantity of the self-mobile device is smaller than or equal to a preset electric quantity threshold value, determining that the self-mobile device cannot pass through the target channel; and under the condition that the residual electric quantity of the self-mobile device is larger than the preset electric quantity threshold value, acquiring the residual electric quantity of the self-mobile device again so as to compare the residual electric quantity with the preset electric quantity threshold value.
In this example, by determining that the self-mobile device cannot pass through the target channel when the remaining power is low, it is possible to prevent the self-mobile device from being unable to leave the target channel due to insufficient power, thereby causing a problem that the self-mobile device cannot complete the cleaning work.
In another example, taking a self-moving device as an example of a cleaning device, a dirt sensor is disposed on the cleaning device, the dirt sensor is used for acquiring a dirt level of the cleaning mechanism, and the device state includes the dirt level of the cleaning mechanism of the self-moving device. Accordingly, determining whether the self-mobile device is capable of passing through the target channel based on the device state of the self-mobile device includes: determining that the self-moving device cannot pass through the target channel under the condition that the dirt degree of the self-moving device cleaning mechanism is larger than a preset dirt degree threshold value; and acquiring the dirt level of the self-moving device cleaning mechanism again to compare the dirt level with a preset dirt level threshold value under the condition that the dirt level of the self-moving device cleaning mechanism is smaller than or equal to the preset dirt level threshold value.
In this example, by determining that the self-moving device cannot pass through the target channel when the degree of dirt of the cleaning mechanism is high, the problem that the self-moving device cannot achieve the intended cleaning effect in the target channel due to the high degree of dirt of the cleaning mechanism can be prevented, thereby ensuring the cleaning efficiency of the self-moving device.
In step 202, in the case that it is determined that the self-mobile device cannot pass through the target channel, the self-mobile device is controlled to reverse to exit the target channel.
Optionally, the drive member is operable in a first direction in the direction of travel from the mobile device to drive the wheel to travel and travel within the target pathway. Accordingly, controlling the self-moving device to reverse in the event that travel cannot continue within the target pathway, comprising: the controller controls the driving piece to run in a second direction so as to drive the wheel body to drive the self-moving equipment to back up, and the second direction is opposite to the first direction.
Based on the driving principle, the reversing in the present embodiment means: the controller controls the driving piece to run in the opposite direction to the forward direction, so that the reversing of the self-moving equipment is realized, and at the moment, even if the self-moving equipment is non-circular, the self-moving equipment cannot be trapped in the target channel due to the fact that the self-moving equipment cannot turn around, so that the escaping effect of the self-moving equipment can be ensured.
Optionally, controlling the reverse from the mobile device includes: acquiring the middle position of a target channel; controlling the self-moving device to reverse according to the intermediate position.
Since the intermediate position of the target channel is already recorded during the traveling process, the intermediate position of the target channel can be obtained by reading the history of the traveling process.
Or, in the reversing process of the self-mobile device, the first sensor can also collect the environment information of the target channel, and the channel spacing of the target channel is determined based on the environment information; an intermediate position is determined based on the channel spacing.
Wherein controlling the self-moving device to reverse according to the intermediate position comprises: acquiring a reverse direction of the mobile device; determining whether an included angle between the reversing direction and the preset direction is larger than an angle threshold value; and correcting the reversing direction under the condition that the included angle is larger than the angle threshold value, so that the included angle between the reversing direction and the preset direction is smaller than or equal to the angle threshold value.
Wherein the preset direction is parallel to the middle line of the target channel.
Because the body position of the self-moving equipment possibly deviates greatly in the reversing process, the self-moving equipment collides with two sides of the target channel, and the collision with two sides of the target channel is reduced by correcting the body position and correcting the reversing direction.
In other embodiments, the self-mobile device may also reverse in accordance with the travel route, at which point the travel route is stored in the self-mobile device.
Optionally, after controlling the self-mobile device to reverse according to the intermediate position, the following steps S1 and S2 are further included:
step S1, in the event of a collision from the mobile device, the reverse direction is adjusted based on the collision position.
Optionally, the reverse direction is adjusted by a preset angle in a direction away from the collision position, resulting in an adjusted reverse direction.
Illustratively, the self-moving device is provided with a collision sensor, and when a collision is detected, the reverse direction is adjusted by a preset angle towards a direction away from the collision, so as to obtain an adjusted reverse direction.
The preset angle is preset in the self-mobile device, and the preset angle can be 5 degrees, 10 degrees and the like, and the value of the preset angle is not limited in this embodiment.
Optionally, before adjusting the reverse direction based on the collision position, that is, before step S1, further includes: recording the number of times that the self-mobile device collides in the reversing process; and under the condition that the times reach the times threshold, outputting an alarm prompt or executing a preset escaping action.
Optionally, the alert prompt may be an alert prompt voice sent from the mobile device itself, or an alert prompt sent to a mobile terminal bound to the self-mobile device, which is not limited by the output mode of the alert prompt in this embodiment.
Since the self-mobile device may encounter a movable obstacle during the reversing process, the user can be informed of the existence of the obstacle by outputting an alarm prompt, so that the user can remove the obstacle in time or remove the self-mobile device, thereby avoiding the self-mobile device from being trapped.
Optionally, the preset escaping action includes: adjusting the driving power of the reverse to the maximum power; reversing according to the maximum power; or after the mobile device is controlled to advance for a certain distance, the driving power of the reversing is regulated to the maximum power; reversing according to the maximum power.
Since the obstacle encountered by the self-moving device at a certain position during the reverse may be an obstacle that is moved to the position after passing the position from the moving device. At this time, the probability that the obstacle is movable is large. At this time, by increasing the probability that the power hits the obstacle, the problem of the self-moving device getting trapped during the reverse can be avoided.
And S2, controlling the self-moving device to reverse according to the regulated reverse direction.
In summary, according to the control method for the self-mobile device provided by the embodiment, the self-mobile device is controlled to travel in the target channel, where the target channel refers to a channel with a channel spacing greater than the minimum distance and less than the maximum distance; in the event that it is determined that the self-mobile device cannot pass through the target pathway, the self-mobile device is controlled to reverse to exit the target pathway. The method and the device can solve the problem that the self-moving device can not leave the narrow channel because the self-moving device can not realize direction change in the narrow channel. Controlling the self-moving device to reverse to exit the target pathway after determining that the self-moving device cannot reverse the traveling direction in the target pathway. At this time, even if the self-moving device is non-circular, the self-moving device cannot be trapped in the target channel due to the fact that the self-moving device cannot turn around, and therefore the escaping effect of the self-moving device can be guaranteed.
In addition, since the self-moving device can collide for a plurality of times in the moving direction in the target channel, at this time, whether the self-moving device can continue to move in the target channel is determined based on the number of times of collision, and the problem that the self-moving device is trapped in the target channel due to infinite times of collision of the self-moving device in the target channel can be avoided.
In addition, by determining that the self-mobile device cannot pass through the target channel when the residual electric quantity is low, the problem that the self-mobile device cannot leave the target channel due to insufficient electric quantity, and therefore cannot finish cleaning work can be prevented.
In addition, when the dirt degree of the cleaning mechanism is high, the self-moving equipment is determined to be unable to pass through the target channel, so that the problem that the self-moving equipment cannot achieve the expected cleaning effect in the target channel due to the high dirt degree of the cleaning mechanism can be prevented, and the cleaning efficiency of the self-moving equipment is ensured.
In addition, because the body position of the self-moving equipment possibly deviates greatly in the reversing process, the self-moving equipment collides with two sides of the target channel, and the self-moving equipment can be prevented from deviating greatly by correcting the body position and correcting the reversing direction, so that the collision with the target channel for two times is reduced.
In addition, since the self-mobile device may encounter a movable obstacle during the reversing process, the user can be informed of the existence of the obstacle by outputting an alarm prompt, so that the user can remove the obstacle in time or remove the self-mobile device, thereby avoiding the self-mobile device from being trapped.
In addition, since the obstacle encountered by the self-moving device at a certain position during the reverse, it may be an obstacle that is moved to the position after passing the position from the moving device. At this time, the probability that the obstacle is movable is large. At this time, by increasing the probability that the power hits the obstacle, the problem of the self-moving device getting trapped during the reverse can be avoided.
Fig. 3 is a block diagram of a control apparatus for a self-mobile device according to an embodiment of the present application, and this embodiment is described by taking the application of the apparatus to the self-mobile device shown in fig. 1 as an example. The device at least comprises the following modules: a travel module 310 and a reverse module 320.
A traveling module 310, configured to control the self-mobile device to travel in a target channel, where the target channel is a channel with a channel spacing greater than a minimum distance and less than a maximum distance;
a reversing module 320 is configured to control the self-mobile device to reverse to exit the target pathway if it is determined that the self-mobile device cannot pass through the target pathway.
For relevant details reference is made to the above embodiments.
It should be noted that: in the control of the self-mobile device control apparatus provided in the above embodiment, only the division of the above functional modules is used for illustration, 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 self-mobile device control apparatus is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the self-mobile device control device and the self-mobile device control method provided in the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments, which are not repeated herein.
The present embodiment provides an electronic device, as shown in fig. 4, which may be the self-mobile device in fig. 1. The electronic device comprises at least a processor 401 and a memory 402.
Processor 401 may include one or more processing cores such as: 4 core processors, 8 core processors, etc. The processor 401 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 401 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 401 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 401 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 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 402 is used to store at least one instruction for execution by processor 401 to implement the self-mobile device control method provided by the method embodiments of the present application.
In some embodiments, the electronic device may further optionally include: a peripheral interface and at least one peripheral. The processor 401, memory 402, 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 electronic device may also include fewer or more components, as the present embodiment is not limited in this regard.
Optionally, the present application further provides a computer readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the self-mobile device control method of the above 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.
Claims (12)
1. A control method of a self-moving device, characterized in that a minimum distance between non-adjacent edge portions of the self-moving device is not equal to a maximum distance between non-adjacent edge portions; the method comprises the following steps:
controlling the self-moving device to travel in a target channel, wherein the target channel refers to a channel with a channel spacing larger than the minimum distance and smaller than the maximum distance;
and controlling the self-moving device to back up to exit the target channel under the condition that the self-moving device cannot pass through the target channel.
2. The method of claim 1, wherein the self-moving device comprises a wheel and a drive member coupled to the wheel; the driving piece operates in a first direction to drive the wheel body to move in the travelling process of the self-moving equipment;
the controlling the self-moving device to reverse includes:
and controlling the driving piece to run in a second direction so as to drive the wheel body to drive the self-moving equipment to back up, wherein the second direction is opposite to the first direction.
3. The method of claim 1, wherein the controlling the self-moving device to reverse comprises:
acquiring the middle position of the target channel;
and controlling the self-moving device to reverse according to the intermediate position.
4. The method of claim 2, wherein said controlling said self-moving device to reverse in accordance with said neutral position further comprises:
in the event of a collision of the self-moving device, adjusting a reverse direction based on a collision position;
and controlling the self-moving device to reverse according to the regulated reverse direction.
5. The method of claim 4, wherein said controlling the self-moving device to reverse in an adjusted reverse direction comprises;
and adjusting the reversing direction to a direction away from the collision position by a preset angle to obtain the adjusted reversing direction.
6. The method of claim 4, wherein before adjusting the reverse direction based on the collision position, further comprising:
recording the number of times that the self-moving device collides in the reversing process;
and outputting an alarm prompt or executing a preset escape action under the condition that the times reach the times threshold.
7. The method of claim 6, wherein the preset override action comprises:
adjusting the driving power of the reverse to the maximum power; reversing according to the maximum power;
or alternatively, the process may be performed,
after the self-mobile equipment is controlled to advance for a certain distance, the driving power of the reversing is regulated to the maximum power; reversing according to the maximum power.
8. The method of claim 2, wherein said controlling the self-moving device to reverse in accordance with the neutral position comprises:
acquiring the reversing direction of the self-moving equipment;
determining whether an included angle between the reversing direction and a preset direction is larger than an angle threshold value; the preset direction is parallel to the middle line of the target channel;
and correcting the reversing direction under the condition that the included angle is larger than an angle threshold value, so that the included angle between the reversing direction and the preset direction is smaller than or equal to the angle threshold value.
9. The method of claim 1, wherein the controlling the self-mobile device after traveling within the target pathway further comprises:
determining whether the self-mobile device can pass through the target channel based on the number of times the self-mobile device collides in the travelling process;
or alternatively, the process may be performed,
based on the device status of the self-mobile device, it is determined whether the self-mobile device is capable of passing through the target pathway.
10. The method of claim 1, wherein the controlling the self-mobile device prior to traveling within a target pathway further comprises:
acquiring the environmental information of the self-mobile device in the travelling direction;
determining whether the passage exists in the traveling direction based on the environmental information;
acquiring the channel spacing of the channel based on the environmental information when the channel exists;
controlling the self-moving device to travel within the target channel if the channel spacing is greater than the minimum distance and less than the maximum distance.
11. An electronic device comprising a processor and a memory; the memory has stored therein a program that is loaded and executed by the processor to implement the control method of the self-mobile device as claimed in claims 1-10.
12. A computer-readable storage medium, characterized in that the storage medium has stored therein a program which, when executed by a processor, is adapted to carry out the control method of a self-mobile device as claimed in claims 1-10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210190809.XA CN116700237A (en) | 2022-02-25 | 2022-02-25 | Control method and device of self-mobile device and storage medium |
| PCT/CN2023/074694 WO2023160368A1 (en) | 2022-02-25 | 2023-02-07 | Self-moving device control method, device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210190809.XA CN116700237A (en) | 2022-02-25 | 2022-02-25 | Control method and device of self-mobile device and storage medium |
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| CN116700237A true CN116700237A (en) | 2023-09-05 |
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| CN202210190809.XA Pending CN116700237A (en) | 2022-02-25 | 2022-02-25 | Control method and device of self-mobile device and storage medium |
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| WO (1) | WO2023160368A1 (en) |
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| CN117282698A (en) * | 2023-09-20 | 2023-12-26 | 宁夏隆基宁光仪表股份有限公司 | Photovoltaic cleaning robot and method for autonomously selecting cleaning route thereof |
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