CN117369428A

CN117369428A - Mobile control method, device and storage medium for self-mobile device

Info

Publication number: CN117369428A
Application number: CN202210742879.1A
Authority: CN
Inventors: 朱晨阳; 盛蕴霞; 霍江浩
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2024-01-09

Abstract

The application relates to a mobile control method, mobile control equipment and a storage medium of self-mobile equipment, and belongs to the technical field of computers. The movement control method comprises the following steps: controlling the self-mobile device to move with a first movement strategy; acquiring obstacle data in the current travelling direction; controlling the self-mobile device to move in a second movement strategy in case the obstacle data indicates that a first obstacle exists in the current travelling direction; the second movement strategy refers to a strategy of moving along the edge of the first obstacle; the second movement strategy is different from the first movement strategy; triggering and executing the step of controlling the self-mobile device to move according to a first movement strategy under the condition that the self-mobile device moves to a target position along the edge; the problem of poor cleaning effect on the edge of the obstacle can be solved; since the first obstacle can be moved along the edge of the obstacle in the event of encountering the first obstacle, the cleaning effect of the edge of the first obstacle can be improved.

Description

Mobile control method, device and storage medium for self-mobile device

Technical Field

The application belongs to the technical field of computers, and particularly relates to a mobile control method, mobile control equipment and a storage medium of self-mobile equipment.

Background

Currently, a self-mobile device is an electronic device that can automatically move without power supplied by a user. Such as: a sweeper, a mopping machine, etc.

The self-moving device can move in a track with a preset shape in the target working area to work on the target working area.

However, there may be an obstacle in the target working area, and the self-moving device always moves in a track of a preset shape, and may not have a good cleaning effect on the edge of the obstacle.

Disclosure of Invention

The technical problem to be solved by the application includes the problem of poor cleaning effect on the edge of the obstacle.

In order to solve the above technical problems, the present application provides a mobile control method of a self-mobile device, including:

controlling the self-mobile device to move with a first movement strategy;

acquiring obstacle data in the current travelling direction;

controlling the self-moving device to move in a second movement strategy if the obstacle data indicates that a first obstacle exists in the current travel direction; the second movement strategy refers to a strategy of moving along the edge of the first obstacle; the second movement policy is different from the first movement policy;

triggering and executing the step of controlling the self-mobile device to move according to a first movement strategy under the condition that the self-mobile device moves to a target position along the edge.

Optionally, the step of triggering and executing the control of the movement of the self-mobile device according to the first movement strategy when the self-mobile device moves to the target position along the edge comprises the following steps:

acquiring the equipment position of the self-moving equipment in the process of moving along the edge of the obstacle;

determining whether the device location reaches the other side of the obstacle;

triggering the step of controlling the movement of the self-moving device in a first movement strategy in case the device position reaches the other side of the obstacle.

Optionally, the determining whether the device position reaches the other side of the obstacle includes:

determining an intersection point between an extension line of the starting position in the starting traveling direction and the edge;

based on a positional relationship between the device position and the intersection, it is determined whether the device position reaches the other side of the obstacle.

Optionally, in case the device position reaches the other side of the obstacle, the method further comprises:

triggering and executing the step of controlling the self-mobile equipment to move according to a first movement strategy by taking the initial movement direction as the current movement direction; the initial travel direction is a travel direction of the self-mobile device determined to move with the second movement strategy.

and triggering and executing the step of controlling the self-mobile device to move according to a first movement strategy by taking a starting travel direction or the opposite direction of the starting travel direction as the current travel direction under the condition that the device position does not reach the other side of the first obstacle and the self-mobile device cannot move continuously along the edge.

Optionally, the method further comprises:

and marking the first obstacle when the self-moving device moves to the target position along the edge, so that the self-moving device moves according to the first movement strategy, and if the first obstacle is detected to not move along the edge of the first obstacle again.

Optionally, the first movement strategy refers to a strategy of covering the target working area with a track of a preset shape; the track with the preset shape is a continuous track, the track with the preset shape comprises at least two first track parts which are parallel to each other, and a second track part which enables the adjacent two first track parts to be connected end to end, and the length of the second track part is a preset length.

Optionally, the controlling the self-mobile device to move with a first movement policy includes:

controlling the self-moving device to move in the first direction to form the first track portion;

controlling the self-moving device to move the preset length along the second direction to form the second track part under the condition that the obstacle data indicates that a second obstacle exists in the first direction; the second direction is perpendicular to the first direction;

after the self-moving device moves a preset distance, if the second obstacle still exists in the first direction, controlling the self-moving device to move in the opposite direction of the first direction;

and if the second obstacle does not exist in the first direction, controlling the self-moving equipment to move in the first direction, and covering missing areas on two sides of the obstacle.

Optionally, the first obstacle refers to an obstacle whose size data is smaller than a size threshold.

Optionally, a sensing component is arranged on the self-mobile device to collect the obstacle data; the obstacle data includes a width of a face of the obstacle facing the self-moving device;

The size threshold is less than or equal to a maximum width that the sensing assembly is capable of capturing.

Optionally, the method further comprises:

and acquiring the size threshold, wherein the size threshold is determined based on the number of collisions when the self-moving device moves along the edges of obstacles with different sizes, and the number of collisions when the self-moving device moves around the edges of the obstacles with the size data smaller than the size threshold is smaller than the number threshold.

Optionally, the first movement strategy refers to a strategy of covering the target working area with a track of a preset shape; the track with the preset shape is a continuous track, the track with the preset shape comprises at least two first track parts which are parallel to each other, and a second track part which enables the adjacent two first track parts to be connected end to end, and the length of the second track part is a preset length; the size threshold is determined based on the preset length.

In another aspect, the present application further provides an electronic device, including: a processor and a memory; the memory stores therein a program loaded and executed by the processor to implement the movement control method of the self-mobile device provided in the above aspect.

In yet 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 movement of a self-mobile device provided in the above aspect.

The technical scheme that this application provided has following advantage at least: moving with a first movement strategy by controlling the self-moving device; acquiring obstacle data in the current travelling direction; controlling the self-mobile device to move in a second movement strategy in case the obstacle data indicates that a first obstacle exists in the current travelling direction; the second movement strategy refers to a strategy of moving along the edge of the first obstacle; the second movement strategy is different from the first movement strategy; triggering and executing the step of controlling the self-mobile device to move according to a first movement strategy under the condition that the self-mobile device moves to a target position along the edge; the problem of poor cleaning effect on the edge of the obstacle can be solved; since the first obstacle can be moved along the edge of the obstacle in the event of encountering the first obstacle, the cleaning effect of the edge of the first obstacle can be improved.

In addition, by executing the first movement strategy again after the first movement strategy is wound on the other side of the first obstacle, the cleaning effect of the edge of the first obstacle can be ensured, the self-moving equipment can be ensured to continuously cover the target working area according to the first movement strategy, the track does not need to be planned again, and the equipment resources can be saved.

In addition, by winding to the position opposite to the starting position on the other side of the first obstacle, the problem of missing the other side of the first obstacle can be avoided, and therefore the cleaning effect of the self-moving device is ensured.

In addition, under the condition that the self-moving device moves to the target position along the edge, the mark marks the first obstacle as the second obstacle, so that in the moving process of the self-moving device by the first moving strategy, if the first obstacle is detected to be no longer moving along the edge of the first obstacle again, the self-moving device can be ensured not to repeatedly clean the edge of the same first obstacle, and the equipment resources of the self-moving device are saved.

In addition, when the track with the preset shape comprises a first track part and a second track part which enables two adjacent first track parts to be connected end to end, and the length of the second track part is the preset length, the set size threshold is determined based on the preset length, so that the self-moving device can be ensured not to move in the opposite direction along the second direction to clean the missing area, and the edge cleaning effect of the first obstacle is improved, and meanwhile, the return motion of the self-moving device is reduced.

In addition, the size threshold value of the first obstacle is smaller than or equal to the maximum width which can be acquired by the sensing assembly, or the size threshold value is determined based on the collision times when the edge of the obstacle moves, so that the problem that the blind collision times of the self-moving equipment are more due to the vision blind area of the sensing assembly can be solved, and the service life of the self-moving equipment can be prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly explain the drawings needed in the embodiments or the prior art description, and it is obvious that the drawings in the following description 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 flow chart of a method of motion control of a self-mobile device provided in one embodiment of the present application;

FIG. 2 is a schematic illustration of a pre-set shaped trajectory provided in one embodiment of the present application;

FIG. 3 is a schematic diagram of a movement track of a self-moving device according to one embodiment of the present application;

FIG. 4 is a schematic diagram of a movement track of a self-moving device according to another embodiment of the present application;

FIG. 5 is a schematic diagram of a movement track of a self-moving device according to still another embodiment of the present application;

FIG. 6 is a schematic diagram of a movement track of a self-moving device according to yet another embodiment of the present application;

FIG. 7 is a block diagram of a mobile control device of a self-mobile device provided in one embodiment of the present application;

fig. 8 is a block diagram of an electronic device provided in one embodiment of the present 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 invention are shown. The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and 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 this 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.

Illustratively, the present embodiment is described taking an example in which a movement control method of a self-moving device is used in the self-moving device, which may be a device having a cleaning capability and a self-moving capability, such as a floor sweeper, a floor mop, or the like; or the self-mobile device may be a device having a transportation capability and a self-mobile capability, such as a meal delivery robot, a logistics robot, etc., and the embodiment does not limit the type of the device of the self-mobile device.

In other embodiments, the method of controlling movement of the self-mobile device may also be used in other devices communicatively connected to the self-mobile device, such as: cell phone, wearable equipment, computer, tablet computer, etc., the embodiment does not limit the equipment type of other equipment.

Fig. 1 is a flowchart of a method for controlling movement of a self-mobile device according to an embodiment of the present application, where the method includes at least the following steps:

step 101, control moves from a mobile device with a first movement strategy.

The first movement policy is a movement policy of the self-mobile device when the self-mobile device is not in distress, the first movement policy pre-stored in the self-mobile device, the first movement policy including, but not limited to, one of the following: the implementation of the first movement strategy is not limited in this embodiment, such as moving in the target working area with a pre-planned path, covering the target working area with a track of a preset shape, or moving randomly within the target working area.

The target working area may be a complete working area where the self-mobile device is located, or may be a part of the complete working area.

Taking a first movement strategy as an example, a strategy of covering a target working area with a track of a preset shape is taken as an example. In one example, the track of the preset shape is a continuous track, the track of the preset shape includes at least two first track portions parallel to each other, and a second track portion connecting adjacent two first track portions end to end, the length of the second track portion being the preset length. In other words, the preset shape is overall arcuate or S-shaped, for example: refer to the arcuate path shown in fig. 2.

Accordingly, controlling the self-mobile device to move in a first movement strategy at least comprises the following steps 21-23:

step 21, controlling movement from the mobile device in a first direction to form a first track portion.

The first direction may be any direction in space, and the first direction may be a current device direction from the mobile device when starting to move with the first movement strategy; alternatively, the first direction is a fixed direction pre-existing in the self-mobile device, such as: north direction, such as: in this case, the device direction of the self-mobile device needs to be adjusted to the first direction before the self-mobile device moves in the first movement strategy.

Step 22, controlling the self-mobile device to move a preset length along a second direction to form a second track part in the case that the obstacle data indicates that a second obstacle exists in the first direction; the second direction is perpendicular to the first direction.

The second obstacle may be a region boundary (such as a wall, or a boundary line, etc.) of the target working region, or an obstacle (such as a trash can, a ladder, a cabinet, etc.) that blocks movement of the obstacle within the region boundary, and the embodiment does not limit the type of the second obstacle.

In this embodiment, the second obstacle is opposite to the first obstacle, i.e., the obstacle other than the first obstacle is the second obstacle. Optionally, the first obstacle is an obstacle whose size data is smaller than a size threshold. It is known that the second obstacle includes an obstacle whose size data is greater than or equal to the size threshold.

The preset length is preset in the self-mobile device.

Taking the self-moving device as the cleaning device for example, the preset length is related to the cleaning range of the cleaning mechanism on the self-moving device. Specifically, in the case where the center point of the self-moving device coincides with the trajectory, the preset length is less than or equal to two times the farthest distance between the center point and the cleaning range.

In the case that the self-mobile device is another type of device, the preset length may also be set based on the movement requirement of the self-mobile device, and the setting manner of the preset length is not limited in this embodiment.

Step 23, after moving a preset distance from the mobile device, if there is still a second obstacle in the first direction, controlling the mobile device to move in a direction opposite to the first direction; and if the second obstacle does not exist in the first direction, controlling the mobile equipment to move in the first direction, and covering missing areas on two sides of the obstacle.

If a second obstacle is still present in the first direction, the second obstacle may be a second obstacle encountered before moving in the second direction, or may be a second obstacle different from the second obstacle encountered before moving in the second direction.

In one example, the manner of covering the missing areas on both sides of the obstacle includes: if the second obstacle is encountered in the moving process in the first direction, the moving process is carried out in the opposite direction of the second direction for a preset length; after the mobile device moves a preset distance, if a second obstacle still exists in the first direction, determining whether the current position belongs to a cleaned range; if not, the mobile device is controlled to move in the opposite direction of the first direction. Then, the step of moving the preset length in the opposite direction of the second direction if the second obstacle is encountered is performed again.

If the current position belongs to the cleaned range, moving to a preset first track in the second direction, wherein the preset first track is a first track formed when the first movement along the first direction is determined when no second obstacle exists; after moving to the preset first track, moving along the preset first track in the opposite direction of the first direction.

In other embodiments, the self-mobile device may also cover the missing areas on both sides of the obstacle in other ways, and the coverage manner of the missing areas is not limited in this embodiment.

Optionally, in order to ensure that the moving track of the self-moving device can cover the whole target working area and ensure the moving efficiency, the first track is generally parallel to an area boundary of the target working area, and the distance between the first track and the area boundary is less than or equal to one half of a preset length, and meanwhile, the self-moving device can be ensured not to collide with the area boundary.

In another example, the target working area is a closed area, and the track of the preset shape may also be in a shape of a Chinese character 'hui'. Accordingly, controlling the self-mobile device to move with the first movement policy includes: moving from a starting position based on a region boundary of the target work region; in the moving process, if the self-moving equipment does not meet the second obstacle, under the condition of moving to a position with a preset length from the starting position of a third track formed by moving based on the area boundary, adjusting the travelling direction of the self-moving equipment so as to move based on the third track; and if the self-moving device encounters the second obstacle, adjusting the traveling direction of the self-moving device to be perpendicular to the traveling direction when the self-moving device encounters the second obstacle, and when the self-moving device encounters the region boundary again, triggering the step of adjusting the traveling direction of the self-moving device to move based on the third track when the self-moving device moves to a position which is a preset length from the starting position of the third track formed by the movement based on the region boundary.

In the process of moving based on the third track, if the self-moving device does not meet the second obstacle, the self-moving device adjusts the travelling direction of the self-moving device to move based on the fourth track under the condition of moving to a position which is a preset length from the starting position of the fourth track formed based on the third track; and if the self-moving device encounters the second obstacle, adjusting the traveling direction of the self-moving device to be perpendicular to the traveling direction when the self-moving device encounters the second obstacle, and when the self-moving device encounters the third track again, triggering the step of adjusting the traveling direction of the self-moving device to move based on the fourth track when the self-moving device moves to a position which is a preset length from the starting position of the fourth track formed based on the region boundary movement.

The control device is controlled to move based on the area boundary to traverse the area on the other side of the second obstacle with the logic after each track covers the area on one side of the second obstacle until the coverage of the target working area is completed.

The foregoing movement manners of the preset shape and the preset shape are merely schematic, and the self-moving device may also move in other shapes or movement manners when actually implemented, which is not specifically shown in the present embodiment.

In the above examples, the manner in which the self-mobile device determines whether the second obstacle is present includes, but is not limited to, at least one of:

first kind: the self-mobile device is provided with a sensing component for detecting the obstacle, and the sensing component can be an image sensor, a laser radar or the like, and the type of the sensing component is not limited in the embodiment. Accordingly, the self-mobile device identifies whether a second obstacle is present based on the obstacle data acquired by the sensing component. The identification mode may be based on neural network identification, or cluster identification based on point cloud data, etc., and the embodiment does not limit the identification mode.

Second kind: a region map of the target work area is stored from the mobile device, the region map including obstacle information for each obstacle in the target work area. Accordingly, the self-mobile device performs obstacle detection based on the obstacle information on the area map to determine whether the second obstacle exists.

In the case that the first movement strategy is to move in the target working area with a pre-planned path, the pre-planned path can cover the complete target working area and avoid each obstacle in the target working area, and the path may be planned based on a route shortest principle or may be planned based on a time shortest principle, and the planning mode of the path is not limited in this embodiment.

Optionally, the self-mobile device is controlled to move in the first movement strategy in response to the movement instruction. The mobile instruction may be sent by other devices communicatively connected to the mobile device, or may be generated after the mobile device is powered on, or may also be generated when the mobile device meets a preset condition, for example: the embodiment does not limit the acquisition mode of the movement instruction, which is generated after the area map of the working area is generated from the mobile device.

Step 102, obtaining obstacle data in the current travelling direction.

Obstacle data includes, but is not limited to: whether there is an obstacle in the current traveling direction, and obstacle information of the obstacle in the case where the obstacle is present.

Wherein the obstacle information is used for indicating the classification of the obstacle, i.e. for indicating whether the obstacle is a first obstacle or a second obstacle. The obstacle information may be an obstacle classification (e.g., 1 for a first obstacle, 2 for a second obstacle); alternatively, the obstacle information may be size data collected from a sensing component mounted on the mobile device, and the implementation of the obstacle information is not limited in this embodiment.

The method of acquiring the obstacle data refers to the method of determining whether the second obstacle exists by the self-mobile device, and at this time, only the related content of the second obstacle needs to be modified to the first obstacle, which is not described herein.

Step 103, controlling the self-mobile device to move in a second movement strategy in the case that the obstacle data indicates that a first obstacle exists in the current travelling direction; the second movement strategy refers to a strategy of moving along the edge of the first obstacle; the second movement strategy is different from the first movement strategy.

Controlling the self-mobile device to move with the second movement policy means: the slave mobile device is controlled to move along the edge of the first obstacle.

Means of moving along the edge of the first obstacle from the mobile device include, but are not limited to:

identifying an edge location of the first obstacle; moving a first distance from the edge location; the first distance is such that the self-mobile device does not collide with the first obstacle and such that the working range of the self-mobile device can cover the edge position;

alternatively, the distance between the self-mobile device and the first obstacle is controlled to be kept at the second distance by collision data fed back from a collision sensor installed on the self-mobile device. Alternatively, the collision data may be pressure data that has a negative correlation with the distance from the mobile device to the first obstacle, i.e. the greater the pressure data, the closer the mobile device is to the first obstacle. The second distance can ensure that the working range of the self-moving device covers the edge of the first obstacle.

In other embodiments, the manner of controlling the movement of the mobile device along the edge of the first obstacle may be other manners, which are not listed here.

Step 104, in the case of movement from the mobile device to the target location along the edge, triggering execution of the step of controlling movement from the mobile device in the first movement strategy.

In the target work area, the self-moving device switches between the first movement strategy and the second movement strategy until the traveling traversing of the target work area is completed.

The target position is also different based on the different placement states of the first obstacle. Different implementations of the target location are described separately below.

First kind: in the case where the obstacle data indicates that there is a first obstacle in the current traveling direction, the self-moving device is located at one side of the first obstacle, and the target position is a position located at the other side of the first obstacle.

Accordingly, in case the slave mobile device moves to the target location along the edge, the step of controlling the slave mobile device to move in the first movement strategy is triggered to be performed, and at least steps 31-33 are included:

step 31, acquiring a device position of the self-mobile device during movement of the self-mobile device along an edge of the obstacle.

The position and orientation sensor is arranged on the self-mobile device, and the device position of the self-mobile device under the world coordinate system can be determined based on the position and orientation data acquired by the position and orientation sensor.

Step 32, it is determined whether the device position has reached the other side of the obstacle.

In one example, determining whether the device location reaches the other side of the obstacle includes: determining an intersection point between an extension line of the starting position in the starting travelling direction and the edge; based on the positional relationship between the device position and the intersection, it is determined whether the device position reaches the other side of the obstacle.

The initial traveling direction is the traveling direction of the self-mobile device when the self-mobile device moves according to the second movement strategy.

Such as: referring to fig. 3, the self-moving device moves in a first movement strategy (the first movement strategy is taken as an example of covering a target working area by an arcuate track in fig. 3), and when a first obstacle 31 is encountered during movement, an intersection 32 of a current starting position between a starting traveling direction and the edge of the other side of the first obstacle is determined, and meanwhile, the self-moving device switches to a second movement strategy to move along the edge of the first obstacle 31, and when the device position reaches the intersection 32 of the other side of the first obstacle, the arrival at the other side of the obstacle is determined. At this time, the mobile device can be regarded as being wound around to a corresponding position behind the first obstacle when the first obstacle is found, so as to work on the edge of the first obstacle.

In another example, determining whether the device location reaches the other side of the obstacle includes: obtaining a device direction from a mobile device; in case the angle between the device direction and the initial edge travel direction is greater than 90 degrees, it is determined to reach the other side of the obstacle. The initial edgewise travel direction refers to an initial direction adjusted from the initial travel direction to a direction capable of moving along the edge of the first obstacle.

In actual implementation, the manner of determining whether the device position reaches the other side of the obstacle may be other manners, which are not listed here.

Step 33, in case the device position reaches the other side of the obstacle, triggering the execution of the step of controlling the movement of the self-moving device in a first movement strategy.

The self-mobile device takes the initial traveling direction as the current traveling direction, and triggers and executes the step of controlling the self-mobile device to move according to a first movement strategy; the initial direction of travel is a direction of travel determined from the mobile device when moving with the second movement strategy. Therefore, the self-mobile device can continue to move according to the original track corresponding to the first movement strategy, the advancing traversing sequence of the target working area is not disturbed, the track is not required to be planned again, and the computing resource of the self-mobile device is saved.

Such as: referring to fig. 3, in case that the intersection 32 is reached from the mobile device, the movement is again performed according to the first movement strategy with the initial travel direction as the current travel direction.

Second kind: in case the obstacle data indicates that there is a first obstacle in the current direction of travel, the self-mobile device is now located on one side of the first obstacle, while the self-mobile device cannot reach the other side of the first obstacle. Such as: the first obstacle is a cabinet body and the like arranged close to the wall.

Accordingly, in the case of movement from the mobile device to the target location along the edge, triggering execution of the step of controlling movement from the mobile device in a first movement strategy comprises:

when the device position does not reach the other side of the first obstacle and the self-mobile device cannot continue moving along the edge, the step of controlling the self-mobile device to move in the first movement strategy is triggered and executed by taking the current device position as a target position and taking the initial travel direction or the opposite direction of the initial travel direction as the current travel direction.

Specifically, in the case where there is a second obstacle in the initial traveling direction, triggering and executing a step of controlling the self-mobile device to move in the first movement strategy with the opposite direction of the initial traveling direction as the current traveling direction; in case there is a second obstacle in the initial direction of travel, the step of controlling the movement of the self-moving device in the first movement strategy is triggered to be performed with the initial direction of travel as the current direction of travel.

If the same first obstacle is encountered again during the movement according to the first movement strategy, the self-moving device can trigger the step of moving according to the second movement strategy again. At this time, referring to fig. 4, in the case where the self-moving device encounters the first obstacle 41 for the first time, it winds around the target position 42 and continues to move in an arcuate trajectory; in the case of encountering the first obstacle 41 for the second time during the movement, winding to the target position 43 and continuing to move in an arcuate trajectory; in the case of encountering the first obstacle 41 for the third time during the movement, the movement is continued in an arcuate path while winding around the target position 44, and the cycle is thus continued. From the above, it is known that the self-moving device may repeatedly clean the edge of the first obstacle.

Based on the above technical problem, optionally, in a case that the self-mobile device moves to the target position along the edge, the self-mobile device may further mark the first obstacle, so that the self-mobile device does not move along the edge of the first obstacle if it is detected again during the movement of the self-mobile device in the first movement strategy.

At this time, referring to fig. 5, in the case where the mobile device encounters the first obstacle 51 for the first time, it winds around the target position 52 and continues to move in an arcuate trajectory; in the case of a second encounter with the first obstacle 51 during movement, the movement continues thereafter in an arcuate path, since it no longer moves along the first obstacle edge. At this time, the self-moving device does not repeatedly clean the edge of the same first obstacle, and the working efficiency can be improved.

Optionally, in order to further improve the working effect on the edge of the first obstacle, the self-mobile device may also mark the first obstacle after encountering the same obstacle twice, so that the self-mobile device may wrap around the first obstacle for one turn, and improve the working effect on the edge of the first obstacle. At this time, referring to fig. 4, after the self-moving device is wound around the target position 43, it moves in an arcuate trajectory; and when the first obstacle is encountered for the third time, the first obstacle is not moved along the edge of the first obstacle any more, but continues to move in an arcuate track. Thus, the working efficiency can be improved, and the working effect on the edge of the first obstacle can be improved.

Optionally, referring to the arcuate track shown in fig. 5, as can be seen from fig. 5, after the travelling of the mobile device on the other side 53 of the first obstacle is completed, there is a missed scan area on one side 54 of the first obstacle, and at this time, the mobile device needs to cover the missed scan area according to the first movement strategy. When covering the missed scan area, the self-moving device needs to move in the opposite direction of the second direction, and the covering process is complex. Based on this, optionally, in the case that the track of the preset shape includes at least two first track portions parallel to each other and a second track portion connecting two adjacent first track portions end to end, the length of the second track portion is a preset length, the size threshold of the first obstacle is determined based on the preset length.

Specifically, the size threshold includes a width in the second direction, and the width in the second direction is less than or equal to the preset length.

At this time, when encountering a first obstacle with a width smaller than or equal to a preset length, the self-moving device moves again in an arcuate track after winding behind the first obstacle, and does not encounter the first obstacle any more, and a missed scanning area is not present, so that the problem of reverse direction (return work) around the second direction can be avoided.

Referring to fig. 6, moving from the mobile device in a first direction, in case of encountering a first obstacle 61, winding around to a target position 62, and continuing to move in the first direction, in case of encountering a second obstacle 63, moving a preset length in a second direction, and moving in the opposite direction to the first direction, since the second obstacle 63 is still present in the first direction. At this time, since the width of the first obstacle 61 in the second direction is smaller than the preset length, the first obstacle 61 is not encountered again, and the cleaning effect of the edge of the first obstacle 61 can be ensured.

Alternatively, in the case where an obstacle is identified from the mobile device by the sensing assembly, if the obstacle includes an outside of the sensing field of view of the sensing assembly, then obstacle data needs to be acquired by collision with the obstacle. Based on the above, in order to reduce the number of collisions with the obstacle, a sensing assembly is arranged on the self-mobile device to collect obstacle data; the obstacle data includes a width of a face of the obstacle facing the self-moving device; the size threshold is less than or equal to the maximum width that the sensing assembly is capable of capturing. In this way, the self-mobile device does not need to determine the obstacle data in a collision manner, and the number of collisions with the obstacle can be reduced.

Alternatively, the size threshold may be obtained from the mobile device from other devices. Such as: obtained from the server. At this point, the self-mobile device further includes acquiring a size threshold. Illustratively, the size threshold is determined based on a number of collisions when the self-moving device moves along an edge of an obstacle of a different size, the number of collisions when the self-moving device moves around an edge of an obstacle whose size data is less than the size threshold being less than the number threshold.

In summary, the method for controlling movement of the self-mobile device according to the present embodiment controls the self-mobile device to move with the first movement policy; acquiring obstacle data in the current travelling direction; controlling the self-mobile device to move in a second movement strategy in case the obstacle data indicates that a first obstacle exists in the current travelling direction; the second movement strategy refers to a strategy of moving along the edge of the first obstacle; the second movement strategy is different from the first movement strategy; triggering and executing the step of controlling the self-mobile device to move according to a first movement strategy under the condition that the self-mobile device moves to a target position along the edge; the problem of poor cleaning effect on the edge of the obstacle can be solved; since the first obstacle can be moved along the edge of the obstacle in the event of encountering the first obstacle, the cleaning effect of the edge of the first obstacle can be improved.

Fig. 7 is a block diagram of a mobile control apparatus of a self-mobile device according to an embodiment of the present application. The device at least comprises the following modules: a first mobile module 710, a data acquisition module 720, and a second mobile module 730.

A first movement module 710 for controlling the self-moving device to move with a first movement strategy;

a data acquisition module 720, configured to acquire obstacle data in a current traveling direction;

a second movement module 730 for controlling the self-moving device to move in a second movement strategy in case the obstacle data indicates that a first obstacle is present in the current direction of travel; the second movement strategy refers to a strategy of moving along the edge of the first obstacle; the second movement policy is different from the first movement policy;

the first movement module 710 is further configured to trigger the step of controlling the self-mobile device to move according to a first movement policy in a case that the self-mobile device moves to a target position along an edge.

For relevant details reference is made to the above embodiments.

It should be noted that: in the mobile control device of the self-mobile device according to the above embodiment, only the division of the above functional modules is used for illustration when the mobile 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 mobile control device of the self-mobile device is divided into different functional modules to perform all or part of the functions described above. In addition, the mobile control device of the self-mobile device and the mobile control method embodiment of the self-mobile device provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the mobile control device and the mobile control method embodiment of the self-mobile device are detailed in the method embodiment, and are not described herein again.

Fig. 8 is a block diagram of an electronic device provided in one embodiment of the present application. The device may be the electronic device described in fig. 1, comprising at least a processor 801 and a memory 802.

The processor 801 may include one or more processing cores, such as: 4 core processors, 8 core processors, etc. The processor 801 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 801 may also include a main processor, which is a processor for processing data in an awake state, also referred to as 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 801 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and rendering of content required to be displayed by the display screen. In some embodiments, the processor 801 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 802 may include one or more computer-readable storage media, which may be non-transitory. Memory 802 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 802 is used to store at least one instruction for execution by processor 801 to implement the movement control method of a self-mobile device provided by the method embodiments herein.

In some embodiments, the external parameter calibration device may further optionally include: a peripheral interface and at least one peripheral. The processor 801, the memory 802, and the 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 having a program stored therein, the program being loaded and executed by a processor to implement the movement control method of the self-mobile device of the above method embodiment.

Optionally, the application further provides a computer product, which includes a computer readable storage medium, where a program is stored, and the program is loaded and executed by a processor to implement the method for controlling movement of a self-mobile device according to 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 merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

It will be apparent that the embodiments described above are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, one of ordinary skill in the art could make other variations or modifications without making any inventive effort, which would be within the scope of the present application.

Claims

1. A method of movement control of a self-mobile device, the method comprising:

controlling the self-mobile device to move with a first movement strategy;

acquiring obstacle data in the current travelling direction;

2. The method of claim 1, wherein the step of triggering execution of the control of the movement of the self-moving device in the first movement strategy in the event that the self-moving device moves to a target location along an edge comprises:

determining whether the device location reaches the other side of the obstacle;

3. The method of claim 2, wherein the determining whether the device location reaches the other side of the obstacle comprises:

4. The method of claim 2, wherein in the event that the device location reaches the other side of the obstacle, the method further comprises:

5. The method of claim 2, wherein the step of triggering execution of the control of the movement of the self-moving device in the first movement strategy in the event that the self-moving device moves to a target location along an edge comprises:

6. The method according to claim 1, wherein the method further comprises:

7. The method of claim 1, wherein the first movement strategy is a strategy that covers a target work area with a track of a preset shape; the track with the preset shape is a continuous track, the track with the preset shape comprises at least two first track parts which are parallel to each other, and a second track part which enables the adjacent two first track parts to be connected end to end, and the length of the second track part is a preset length.

8. The method of claim 7, wherein the controlling the self-mobile device to move with a first movement policy comprises:

9. The method of any one of claims 1 to 8, wherein the first obstacle is an obstacle having size data less than a size threshold.

10. The method of claim 9, wherein a sensing component is provided on the self-moving device to collect the obstacle data; the obstacle data includes a width of a face of the obstacle facing the self-moving device;

11. The method according to claim 9, wherein the method further comprises:

12. The method of claim 9, wherein the first movement strategy is a strategy of covering a target work area with a track of a preset shape; the track with the preset shape is a continuous track, the track with the preset shape comprises at least two first track parts which are parallel to each other, and a second track part which enables the adjacent two first track parts to be connected end to end, and the length of the second track part is a preset length; the size threshold is determined based on the preset length.

13. An electronic device comprising a processor and a memory coupled to the processor, the memory having a program stored therein, the processor, when executing the program, being configured to implement the method of controlling movement of a self-moving device according to any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that the storage medium has stored therein a program for realizing the movement control method of the self-moving device according to any one of claims 1 to 12 when executed by a processor.