WO2021244075A1 - 自移动设备的控制方法、装置、设备及存储介质 - Google Patents

自移动设备的控制方法、装置、设备及存储介质 Download PDF

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Publication number
WO2021244075A1
WO2021244075A1 PCT/CN2021/077993 CN2021077993W WO2021244075A1 WO 2021244075 A1 WO2021244075 A1 WO 2021244075A1 CN 2021077993 W CN2021077993 W CN 2021077993W WO 2021244075 A1 WO2021244075 A1 WO 2021244075A1
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Prior art keywords
working
self
mobile device
area
work
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PCT/CN2021/077993
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English (en)
French (fr)
Inventor
孟佳
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追觅创新科技(苏州)有限公司
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Priority to KR1020227043160A priority Critical patent/KR20230009458A/ko
Priority to AU2021285325A priority patent/AU2021285325A1/en
Priority to JP2022570724A priority patent/JP2023526937A/ja
Priority to EP21818882.9A priority patent/EP4141601A4/en
Priority to CA3180008A priority patent/CA3180008A1/en
Priority to US18/008,177 priority patent/US20230288937A1/en
Publication of WO2021244075A1 publication Critical patent/WO2021244075A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/62—Vehicle position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/80—Time limits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/50—Control modes by future state prediction
    • B60L2260/54—Energy consumption estimation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles

Definitions

  • This application relates to the field of automation control technology, and in particular to a control method, device, device, and storage medium of a self-moving device.
  • the self-moving device may be a smart device with self-moving capability and capable of completing one or more tasks.
  • the one or more tasks may be, for example, sweeping the floor, mopping the floor, mowing the lawn, and delivering meals.
  • the self-mobile device during the working process of the self-mobile device, if the power is insufficient, the self-mobile device will stop working or return to the charging station for charging, resulting in low work efficiency of the self-mobile device.
  • the present application provides a control method, device, equipment and storage medium of a self-mobile device, which can intelligently charge the self-mobile device and improve the work efficiency of the self-mobile device.
  • an embodiment of the present application provides a method for controlling a mobile device, and the method includes:
  • the self-mobile device is charged according to the first power consumption.
  • acquiring the first working time period corresponding to the unworking area in the target working area includes:
  • the first working time is calculated.
  • the obtaining the total working hours corresponding to the target working area includes:
  • the total working time is obtained.
  • the historical work duration data corresponding to the target work area is the work time spent by the self-mobile device each time the entire target work area is completed in the historical time period, so According to the historical working time data, obtaining the total working time includes:
  • the calculating the first working time length according to the total working time length and the working time length includes:
  • the first working time is calculated.
  • acquiring the first working time period corresponding to the unworking area in the target working area includes:
  • the method further includes the step of determining the relationship between each working position in the target working area and the remaining working time, including:
  • the work process of the self-mobile device completing the work of the entire target work area at least once in the historical time period, wherein the work process includes each work position and each work position of the self-mobile device acquired at a preset time interval. The time point corresponding to the working position;
  • the relationship between each working position in the target working area and the remaining working time is determined.
  • the determining the first power consumption required by the non-working area according to the first working duration includes:
  • the first power consumption is calculated according to the power consumption corresponding to the unit time length and the first working time length.
  • the method before the charging the self-mobile device according to the first power consumption, the method further includes:
  • the method further includes:
  • an embodiment of the present application provides a device for controlling a self-moving device, the device including:
  • the time length obtaining module is configured to obtain the first working time length corresponding to the non-working area in the target working area when the current remaining power of the self-mobile device meets the preset charging conditions, where the target working area is the self The working area of the mobile device;
  • An electric quantity determining module configured to determine the first electric quantity required by the non-working area according to the first working time
  • the control module is configured to charge the self-mobile device according to the first power consumption.
  • an embodiment of the present application provides a control device for a self-mobile device, the device includes a processor and a memory; at least one instruction is stored in the memory, and the at least one instruction is loaded and loaded by the processor. It is executed to realize the control method of the self-mobile device as described in the first aspect.
  • an embodiment of the present application provides a self-moving device, the self-moving device includes a processor and a memory; at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor In order to realize the control method of the self-mobile device as described in the first aspect.
  • an embodiment of the present application provides a computer-readable storage medium that stores at least one instruction in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the self-explanation as described in the first aspect. Control method of mobile device.
  • the first working time corresponding to the non-working area in the target work area is acquired, and the target work area is the area where the self-mobile device works ; Determine the first power consumption required by the non-working area according to the first working time; charge the self-mobile device according to the first power consumption.
  • the self-mobile device is charged according to the first power consumption required by the non-working area. When the power of the self-mobile device reaches the first power consumption required by the non-working area, the self-mobile device can automatically Return to the non-working area to continue working, effectively improving the work efficiency of self-mobile equipment.
  • FIG. 1 is a schematic diagram of an application scenario of a method for controlling a mobile device provided by an embodiment of the present application.
  • Fig. 2 is a schematic structural diagram of a self-mobile device provided by an embodiment of the present application.
  • Fig. 3 is a flowchart of a method for controlling a mobile device provided by an embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of a control device for a self-mobile device provided by an embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of a control device for a self-mobile device provided by an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a self-mobile device provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of an application scenario of a charging control method for a self-mobile device provided by an embodiment of the present application.
  • the self-mobile device 10 can be controlled to move to the charging station 20, and the charging station 20 charges the self-mobile device 10.
  • the self-mobile device 10 may be a smart device with self-movement capability and capable of completing one or more tasks.
  • the one or more tasks can be cleaning tasks such as sweeping the floor, mopping the floor, and window cleaning, or delivery tasks such as food delivery and delivery of goods, or outdoor tasks such as mowing grass.
  • the embodiment of this application does not apply to self-moving equipment. The work performed is limited.
  • the charging station 20 may be a device that provides charging services for self-mobile devices.
  • the charging station 20 can charge the self-mobile device 10 through a wired charging method or a wireless charging method.
  • Fig. 1 is a schematic structural diagram of a self-mobile device provided by an embodiment of the present application.
  • the self-moving device 10 at least includes a control device 110 and a power supply device 120 connected to the control device 110.
  • the power supply device 120 is used to supply power to the mobile device 10.
  • the power supply device 120 may be a battery or other devices with a power supply function, and the embodiment of the present application does not limit the implementation of the power supply device 120 here.
  • the control device 110 is used to control the self-mobile device 10, for example, control the start and stop of the self-mobile device 10, the moving direction, the moving speed, the operation of each module in the self-mobile device 10, and so on.
  • the control device 110 is provided in the mobile device 10 as an example for description.
  • the control device 110 may not be provided in the self-mobile device 10.
  • the control device 110 may be provided in a remote control device, a charging station, etc., independent of the self-mobile device.
  • the embodiment of the present application does not implement the control device 110. The way is limited.
  • the control device 110 of the self-mobile device 10 is used to obtain the first working time period corresponding to the unworking area in the target working area when the current remaining power of the power supply device 120 meets the preset charging conditions; The first power consumption required by the work area; the self-mobile device 10 is charged according to the first power consumption.
  • the preset charging condition may be that the power is less than or equal to the preset power threshold and the work in the target work area has not been completed.
  • the embodiment of the present application does not limit the preset charging condition.
  • the target work area is the area where the mobile device 10 works.
  • the target work area may be an independent area; or, it may be a work area composed of multiple independent sub-areas, and the embodiment of the present application does not limit the type of the work area.
  • the target work area may be a preset work area, or may be a work area determined from the mobile device 10 in the historical work process, or may be a work area selected by the user, etc.
  • the embodiment of the application does not determine the target work area. limited.
  • the unworked area refers to an area where the mobile device 10 has not yet performed work in the target work area. Taking cleaning work performed by the mobile device 10 as an example, the unworked area refers to an area that has not yet been cleaned by the mobile device 10 in the target work area.
  • the first working time refers to the working time required by the mobile device 10 to complete the work in the non-working area.
  • the first power consumption refers to the power consumption required by the mobile device 10 to complete work in the non-working area.
  • the self-mobile device 10 when the self-mobile device 10 is in a low power state, the self-mobile device 10 is usually controlled to move to a charging station for charging.
  • the mobile device 10 receives a work instruction and then executes the work corresponding to the work instruction. For example, the user judges that the power of the mobile device 10 is sufficient to complete the work in the unworked area.
  • the instruction is sent to control the self-mobile device 10 to return to the non-working area to continue working.
  • the self-mobile device 10 cannot automatically complete the work in the non-working area during the charging process or after the charging is completed, and the self-mobile device 10 needs to be manually controlled.
  • the self-mobile device 10 After the self-mobile device 10 is charged to a fixed power (for example, 70% or 100% of the total power, etc.), the self-mobile device 10 returns to the non-working area to continue working. However, it takes a long time for the mobile device 10 to reach a fixed amount of power, which causes the mobile device 10 to continue its previous work after a long time has elapsed, resulting in low work efficiency.
  • a fixed power for example, 70% or 100% of the total power, etc.
  • the self-mobile device by obtaining the first working time required by the mobile device to complete the work in the non-working area, it is possible to accurately determine the first power consumption required by the mobile device to complete the work in the non-working area,
  • the self-mobile device is charged according to the first power consumption, so that when the power of the self-mobile device reaches the first power consumption required by the non-working area, the self-mobile device can automatically return to the non-working area to continue working. Effectively improve the work efficiency of self-mobile equipment.
  • Fig. 3 is a flowchart of a method for controlling a mobile device provided by an embodiment of the present application.
  • the method is applied to the self-mobile device 10 shown in FIG. 1 or FIG. 2 as an example for description. This method can be executed by the mobile device 10.
  • the method includes at least the following steps:
  • Step 301 In the case that the current remaining power of the mobile device meets the preset charging condition, obtain the first working time period corresponding to the unworking area in the target working area.
  • a self-moving device may be a smart device with self-moving capability and capable of completing one or more tasks.
  • the one or more tasks can be cleaning tasks such as sweeping the floor, mopping the floor, and window cleaning, or delivery tasks such as food delivery and delivery of goods, or outdoor tasks such as mowing grass.
  • the embodiment of this application does not apply to self-moving equipment. The work performed is limited.
  • the preset charging condition may be that the power is less than or equal to the preset power threshold and the work in the target working area is not completed, or the current remaining power is less than or equal to the first power consumption required by the non-working area, etc.
  • the embodiment of the application does not charge the preset Conditions are limited.
  • the target working area is the working area from the mobile device.
  • the target work area may be an independent area; or, it may be a work area composed of multiple independent sub-areas, and the embodiment of the present application does not limit the type of the work area.
  • the target work area can be a preset work area, a work area determined by the mobile device in the historical work process, or a work area selected by the user, etc.
  • the embodiment of the application does not determine the target work area. limited.
  • the target working area is the indoor area that the cleaning robot wants to clean, such as the whole house area, or the working area selected by the user, or the cleaning robot is passing by Work area determined after many cleaning tasks, etc.
  • the non-working area refers to the area where the mobile device has not been working in the target working area. Taking the cleaning work performed by the mobile device as an example, the unworked area refers to an area that has not been cleaned by the mobile device in the target work area.
  • the first working time refers to the working time required by the mobile device to complete the work in the non-working area.
  • the preset charging condition may be stored in the self-mobile device.
  • the preset charging condition may be that the power is less than or equal to the preset power threshold and the work in the target work area has not been completed.
  • the preset power threshold may be 5% or 10% of the total power, and the embodiment of the present application does not limit the value of the preset power threshold.
  • the methods for obtaining the first working duration corresponding to the unworking area in the target working area include but are not limited to the following :
  • the first way to obtain the first working hours obtain the total working hours corresponding to the target working area; in the case that the current remaining power of the mobile device meets the preset charging conditions, obtain the working hours of the mobile device in the target working area Duration: According to the total working time and the working time, the first working time is calculated.
  • the total working time refers to the total working time required by the mobile device to complete the work in the target work area.
  • the working time refers to the working time from when the mobile device starts working in the target working area to the time when the current remaining power meets the preset charging conditions.
  • obtaining the total working hours corresponding to the target working area may include: obtaining historical working hours data corresponding to the target working area; and obtaining the total working hours according to the historical working time data.
  • the historical work time data corresponding to the target work area refers to the work time spent by the mobile device each time the entire target work area is completed in the historical time period.
  • the work time only includes the work performed by the mobile device in the target work area. Duration does not include the duration of non-working situations such as mid-way charging or pause of the mobile device.
  • the historical time period may be a preset time period before the current time, for example, one month before the current time, three months before the current time, and so on.
  • the historical working hours data can be stored in the mobile device or sent to the server for storage.
  • the historical working time data corresponding to the target working area means that the cleaning robot completes the cleaning of the entire target working area every time during the historical time period. Length of working hours spent.
  • the total working time required for the self-mobile device to complete the work in the target work area and the working time of the self-mobile device in the target work area can be used to accurately obtain the completion of the work place by the self-mobile device in the non-working area.
  • the total working time is obtained according to the historical working time data, including: calculating the entire target working area in a single time according to the working time spent each time completing the work of the entire target working area in the historical time period
  • the average working hours required for the work of the person; the average working hours shall be regarded as the total working hours.
  • the working time spent by the mobile device each time completing the work of the entire target work area is usually close but there will be differences. Through the working time spent by the mobile device each time completing the work of the entire target work area in the historical time period, you can Calculate the average working time required by the mobile device to complete the work of the entire target working area in a single time, and the total working time of the mobile device to complete the work of the target working area this time can be accurately obtained through the average working time.
  • the method of obtaining the total working time corresponding to the target work area is not limited to the foregoing method, and the embodiment of the present application does not limit the method of obtaining the total working time corresponding to the target work area.
  • calculating the first working time according to the total working time and the working time includes: calculating the first working time according to the difference between the total working time and the working time.
  • the cleaning robot can calculate the non-working time The first working time required to clean the area.
  • the second way to obtain the first working time when the current remaining power of the self-mobile device meets the preset charging conditions, the current location of the self-mobile device is obtained; according to the current location of the self-mobile device and each work in the target work area The relationship between the position and the remaining working hours, and obtaining the first working hours.
  • the method of determining the relationship between each working position in the target working area and the remaining working time includes: obtaining the working process of completing the work in the entire target working area at least once from the mobile device in the historical time period, where , The working process includes each working position of the mobile device and the time point corresponding to each working position obtained at a preset time interval; according to each working position of the mobile device and the time point corresponding to each working position in each work process, Determine the relationship between each working position in the target working area and the remaining working time.
  • the remaining working time corresponding to the current position when the current remaining power of the mobile device meets the preset charging conditions can be determined, so that the remaining working time can be determined
  • the first working time required for the mobile device to complete the work in the unworked area can be determined
  • Step 302 Determine the first power consumption required by the non-working area according to the first working duration.
  • the first power consumption refers to the power consumption required by the mobile device to complete the work in the non-working area.
  • Determining the first power consumption of the non-working area according to the first working duration includes: obtaining the power consumption corresponding to the unit duration; and calculating the first power consumption according to the power consumption corresponding to the unit duration and the first working duration.
  • the power consumption per unit time refers to the power consumption that the mobile device needs to work in a unit time.
  • the power consumption corresponding to the unit duration can be obtained through experiments, and the embodiment of the present application does not limit the way of obtaining the power consumption corresponding to the unit duration.
  • calculating the first power consumption according to the power consumption corresponding to the unit time and the first working time includes: calculating according to the product of the power consumption corresponding to the unit time and the first working time Get the first electricity consumption.
  • Step 303 Charge the self-mobile device according to the first power consumption.
  • Charging the self-mobile device according to the first power consumption refers to charging the self-mobile device so that the power of the self-mobile device reaches the first power consumption.
  • the self-mobile device can continue to perform unfinished work, for example, return to the unworked area to continue working, or send out prompt messages (such as sound, indicator light), etc.
  • the embodiment of this application is not correct This is limited.
  • the method before charging the self-mobile device according to the first power consumption, the method further includes: controlling the self-mobile device to move to the charging station, so that the charging station is docked with the self-mobile device.
  • Charging station refers to equipment that provides charging services for power supply modules.
  • the charging station may charge the self-mobile device through a wired charging method or a wireless charging method.
  • the self-mobile device when the current remaining power of the self-mobile device meets the preset charging condition, the self-mobile device is controlled to move to the charging station for charging, that is, the self-mobile device can realize automatic recharging.
  • the method further includes: controlling the self-mobile device to move to the non-working area to continue working.
  • controlling the self-mobile device to move to the unworked area to continue working refers to controlling the self-mobile device to move to the first position to continue working. Since the self-mobile device moves to the non-work area to continue working when it reaches the first power consumption required by the non-work area, the self-mobile device can efficiently and intelligently complete the work in the non-work area.
  • the mobile device in the case where the first working hours corresponding to the non-working area is relatively short, it only takes a short time for the mobile device to be charged to reach the first power consumption, and then you can continue to work in the non-working area without Waiting for a long time to charge, the work efficiency is higher; in the case of a long first working time corresponding to the non-working area, the mobile device will continue to work in the non-working area after charging to the first power consumption to avoid insufficient power In order to complete the work in the unworked area.
  • the self-mobile device by obtaining the first working time required by the mobile device to complete the work in the non-working area, it is possible to accurately determine the first power consumption required by the mobile device to complete the work in the non-working area,
  • the self-mobile device is charged according to the first power consumption, so that when the power of the self-mobile device reaches the first power consumption required by the non-working area, the self-mobile device can automatically return to the non-working area to continue working. Effectively improve the work efficiency of self-mobile equipment.
  • the first example obtained from the historical working time data corresponding to the mobile device in the target working area.
  • the historical working time data is the working time spent each time completing the work of the entire target working area in the past month.
  • the working time is only Including the time spent by the mobile device performing work in the target work area.
  • the second example When the current remaining power of the mobile device reaches the preset power threshold of 5%, the current location of the mobile device is obtained; according to the current location of the mobile device, and each working location and remaining power in the target working area
  • the relationship between the working hours, the first working time obtained from the mobile device to complete the work in the unworked area is 90 minutes; the power consumption obtained from the mobile device to perform the unit-time work is 0.83% of the total power; calculation
  • the first working time corresponding to the unworking area in the target working area is obtained, and the target working area is The area where the self-mobile device works; the first power consumption required by the non-working area is determined according to the first working time; the self-mobile device is charged according to the first power consumption.
  • the self-mobile device is charged according to the first power consumption required by the non-working area.
  • Fig. 4 is a block diagram of a control device for a mobile device provided by an embodiment of the present application.
  • the embodiment of the present application takes the application of the device to the control device of the self-mobile device shown in FIG. 1 as an example for description.
  • the device includes at least the following modules: a duration acquisition module 401, an electric quantity determination module 402, and a charging control module 403.
  • the duration acquiring module 401 is used to acquire the first working duration corresponding to the non-working area in the target working area when the current remaining power of the self-mobile device meets the preset charging conditions, and the target working area is the working area of the self-mobile device ;
  • the power determination module 402 is configured to determine the first power consumption required by the non-working area according to the first working time
  • the control module 403 is configured to charge the self-mobile device according to the first power consumption.
  • the duration acquisition module 401 is used to:
  • the first working time is calculated.
  • the duration acquisition module 401 is used to:
  • the total working time is obtained.
  • the duration acquisition module 401 is used to:
  • the first working time is obtained.
  • the power determination module 402 is used to:
  • the first power consumption is calculated according to the power consumption corresponding to the unit time and the first working time.
  • control module 403 is also used to:
  • control module 403 is also used to:
  • the control device for self-mobile equipment acquires the first working time corresponding to the unworked area in the target work area when the current remaining power of the self-mobile equipment meets the preset charging conditions, and the target work area is The area where the self-mobile device works; the first power consumption required by the non-working area is determined according to the first working time; the self-mobile device is charged according to the first power consumption. In the embodiment of the present application, the self-mobile device is charged according to the first power consumption required by the non-working area. When the power of the self-mobile device reaches the first power consumption required by the non-working area, the self-mobile device can automatically Return to the non-working area to continue working, effectively improving the work efficiency of self-mobile equipment.
  • control device of the self-mobile device provided in the above-mentioned embodiment only uses the division of the above-mentioned functional modules as an example. In practical applications, the above-mentioned function allocation can be completed by different functional modules according to needs.
  • the internal structure of the control device of the mobile device is divided into different functional modules to complete all or part of the functions described above.
  • control device of the self-mobile device provided in the above embodiment and the embodiment of the control method of the self-mobile device belong to the same concept. For the specific implementation process, please refer to the method embodiment, which will not be repeated here.
  • Fig. 5 is a schematic structural diagram of a control device for a self-mobile device provided by an embodiment of the present application.
  • the device at least includes a processor 501 and a memory 502.
  • the processor 501 may include one or more processing cores, such as a 4-core processor, a 6-core processor, and so on.
  • the processor 501 can adopt at least one hardware form among DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array, Programmable Logic Array). accomplish.
  • the processor 501 may also include a main processor and a coprocessor.
  • the main processor is a processor used to process data in the awake state, also called a CPU (Central Processing Unit, central processing unit); the coprocessor is A low-power processor used to process data in the standby state.
  • the memory 502 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 502 is used to store at least one instruction, and the at least one instruction is loaded and executed by the processor 501 to implement the control method of the self-mobile device provided in the above-mentioned embodiment. .
  • control device of the self-mobile device may further include: a peripheral device interface and at least one peripheral device.
  • the processor 501, the memory 502, and the peripheral device interface may be connected by a bus or a signal line.
  • Each peripheral device can be connected to the peripheral device interface through a bus, a signal line or a circuit board.
  • peripheral devices include, but are not limited to: radio frequency circuits, positioning components, audio circuits, and power supplies.
  • control device of the self-mobile device does not constitute a limitation on the control device of the self-mobile device, and the control device of the self-mobile device may also include fewer or more modules, or combine certain components, Or use different component arrangements, which are not limited in the embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a self-mobile device provided by an embodiment of the present application.
  • the self-mobile device includes at least a processor 601 and a memory 602.
  • the processor 601 may include one or more processing cores, such as a 4-core processor, a 6-core processor, and so on.
  • the processor 601 may adopt at least one hardware form among DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array, Programmable Logic Array). accomplish.
  • the processor 601 may also include a main processor and a coprocessor.
  • the main processor is a processor used to process data in the awake state, also called a CPU (Central Processing Unit, central processing unit); the coprocessor is A low-power processor used to process data in the standby state.
  • the memory 602 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 602 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, and the at least one instruction is loaded and executed by the processor 601 to implement the control method for the self-mobile device provided in the above-mentioned embodiment. .
  • the self-mobile device may further include: a peripheral device interface and at least one peripheral device.
  • the processor 601, the memory 602, and the peripheral device interface may be connected by a bus or a signal line.
  • Each peripheral device can be connected to the peripheral device interface through a bus, a signal line or a circuit board.
  • peripheral devices include, but are not limited to: radio frequency circuits, positioning components, audio circuits, and power supplies.
  • the self-mobile device may further include one or more sensors 603.
  • the one or more sensors 603 include, but are not limited to: an acceleration sensor 6031, a gyroscope sensor 6032, and a distance sensor 6033.
  • the acceleration sensor 6031 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the control device of the mobile device.
  • the acceleration sensor 6031 can be used to detect the components of gravitational acceleration on three coordinate axes.
  • the processor 601 can control the self-mobile device according to the gravity acceleration signal collected by the acceleration sensor 6031.
  • the gyroscope sensor 6032 can detect the body direction and rotation angle of the control device of the mobile device, and the gyroscope sensor 6032 can cooperate with the acceleration sensor 6031 to collect the 3D actions of the control device of the mobile device.
  • the processor 601 can implement the following functions according to the data collected by the gyroscope sensor 6032: motion sensing (for example, controlling the self-mobile device according to the posture of the self-mobile device), and inertial navigation.
  • the distance sensor 6033 is used to collect the distance between the mobile device and the object.
  • the processor 601 can determine whether there is an obstacle, whether there is a cliff, and other information based on the data collected by the distance sensor 6033.
  • the self-mobile device may also include fewer or more modules, or combine certain components, or adopt different component arrangements. This embodiment of the application does not limit this.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the control method of the self-mobile device in the above method embodiment .

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Abstract

一种自移动设备(10)的控制方法、装置、设备及存储介质，属于自动化控制技术领域，方法包括：在自移动设备(10)的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长(301)，目标工作区域为自移动设备(10)工作的区域；根据第一工作时长确定未工作区域所需的第一用电量(302)；根据第一用电量对自移动设备(10)进行充电(303)。方法可以对自移动设备(10)进行智能充电，提高自移动设备(10)的工作效率。

Description

自移动设备的控制方法、装置、设备及存储介质 技术领域
本申请涉及自动化控制技术领域，尤其涉及一种自移动设备的控制方法、装置、设备及存储介质。
背景技术
随着科学技术的发展，自移动设备的智能化程度越来越高。自移动设备可以是具备自移动能力，能够完成一项或多项工作的智能设备，该一项或多项工作可以是例如扫地、拖地、割草、送餐等。
在相关技术中，在自移动设备的工作过程中，在电量不足的情况下，自移动设备会停止工作或者返回充电站进行充电，导致自移动设备的工作效率低下。
发明内容
本申请提供了一种自移动设备的控制方法、装置、设备及存储介质，可以对自移动设备进行智能充电，提高自移动设备的工作效率。
第一方面，本申请实施例提供了一种自移动设备的控制方法，所述方法包括：
在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，所述目标工作区域为所述自移动设备工作的区域；
根据所述第一工作时长确定所述未工作区域所需的第一用电量；
根据所述第一用电量对所述自移动设备进行充电。
在一种可能的实现方式中，所述在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，包括：
获取所述目标工作区域对应的总工作时长；
在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取所述自移动设备在所述目标工作区域中的已工作时长；
根据所述总工作时长和所述已工作时长，计算得到所述第一工作时长。
在一种可能的实现方式中，所述获取目标工作区域对应的总工作时长，包括：
获取所述目标工作区域对应的历史工作时长数据；
根据所述历史工作时长数据，得到所述总工作时长。
在一种可能的实现方式中，所述目标工作区域对应的历史工作时长数据为在历史时间段内，所述自移动设备每次完成整个所述目标工作区域的工作所花费的工作时长，所述根据所述历史工作时长数据，得到所述总工作时长包括：
根据所述历史时间段内每次完成整个所述目标工作区域的工作所花费的工作时长，计算单次完成整个所述目标工作区域的工作所需的平均工作时长；
将所述平均工作时长作为所述总工作时长。
在一种可能的实现方式中，所述根据所述总工作时长和所述已工作时长，计算得到所述第一工作时长，包括：
根据所述总工作时长和所述已工作时长的差值，计算得到所述第一工作时长。
在一种可能的实现方式中，所述在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，包括：
在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取所述自移动设备的当前位置；
根据所述自移动设备的当前位置、以及所述目标工作区域内各个工作位置与剩余工作时长的关系，获得所述第一工作时长。
在一种可能的实现方式中，还包括确定所述目标工作区域内各个工作位置与剩余工作时长的关系的步骤，包括：
获取历史时间段内所述自移动设备至少一次完成整个所述目标工作区域的工作的工作过程，其中，所述工作过程包括以预设时间间隔获取的所述自移动设备的各个工作位置、各个工作位置对应的时间点；
根据每次所述工作过程中所述自移动设备的各个工作位置的各个工作位置对应的时间点，确定所述目标工作区域内各个工作位置与剩余工作时长的关系。
在一种可能的实现方式中，所述根据所述第一工作时长确定所述未工作区域所需的第一用电量，包括：
获取单位时长对应的用电量；
根据所述单位时长对应的用电量与所述第一工作时长，计算得到所述第一用电量。
在一种可能的实现方式中，所述根据所述第一用电量对所述自移动设备进行充电之前，还包括：
控制所述自移动设备移动至充电站，以使所述充电站与所述自移动设备对接。
在一种可能的实现方式中，所述根据所述第一用电量对所述自移动设备进行充电之后，还包括：
控制所述自移动设备移动至所述未工作区域继续工作。
第二方面，本申请实施例提供了一种自移动设备的控制装置，所述装置包括：
时长获取模块，用于在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，所述目标工作区域为所述自移动设备工作的区域；
电量确定模块，用于根据所述第一工作时长确定所述未工作区域所需的第一用电量；
控制模块，用于根据所述第一用电量对所述自移动设备进行充电。
第三方面，本申请实施例提供了一种自移动设备的控制装置，所述装置包括处理器和存储器；所述存储器中存储有至少一条指令，所述至少一条指令由所述处理器加载并执行以实现如第一方面所述的自移动设备的控制方法。
第四方面，本申请实施例提供了一种自移动设备，所述自移动设备包括处理器和存储器；所述存储器中存储有至少一条指令，所述至少一条指令由所述处理器加载并执行以实现如第一方面所述的自移动设备的控制方法。
第五方面，本申请实施例提供了一种计算机可读存储介质，所述存储介质中存储有至少一条指令，所述至少一条指令由处理器加载并执行以实现如第一方面所述的自移动设备的控制方法。
在本申请实施例中，在自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，目标工作区域为自移动设备工作的区域；根据第一工作时长确定未工作区域所需的第一用电量；根据第一用电量对自移动设备进行充电。本申请实施例根据未工作区域所需的第一用电量对自移动设备进行充电，在自移动设备的电量达到未工作区域所需的第一用电量的情况下，自移动设备可以自动回到未工作区域继续工作，有效地提高自移动设备的工作效率。
附图说明
图1是本申请实施例提供的自移动设备的控制方法的应用场景示意图。
图2是本申请实施例提供的自移动设备的结构示意图。
图3是本申请实施例提供的自移动设备的控制方法的流程图。
图4是本申请实施例提供的自移动设备的控制装置的结构示意图。
图5是本申请实施例提供的自移动设备的控制装置的结构示意图。
图6是本申请实施例提供的自移动设备的结构示意图。
具体实施方式
下面结合附图和实施例，对本申请的具体实施方式作进一步详细描述。以下实施例用于说明本申请，但不用来限制本申请的范围。
图1是本申请实施例提供的自移动设备的充电控制方法的应用场景示意图。在自移动设备10的当前剩余电量符合预设充电条件的情况下，可以控制自移动设备移动10至充电站20，充电站20对自移动设备10进行充电。
自移动设备10可以是具备自移动能力，能够完成一项或多项工作的智能设备。该一项或多项工作可以是例如扫地、拖地、擦窗等清洁工作，也可以是送餐、派送物品等派送工作，还可以是割草等户外工作，本申请实施例不对自移动设备执行的工作进行限定。
充电站20可以是为自移动设备提供充电服务的设备。本申请实施例中，充电站20可以通过有线充电 方式或无线充电方式为自移动设备10充电。
图1是本申请实施例提供的自移动设备的结构示意图。如图1所示，该自移动设备10至少包括：控制装置110和与控制装置110相连的供电装置120。
供电装置120用于对自移动设备10进行供电。供电装置120可以是电池或者其他具有供电功能的装置，本申请实施例在此不对供电装置120的实现方式作限定。
控制装置110用于对自移动设备10进行控制，比如：控制自移动设备10的启停、移动方向、移动速度、自移动设备10中各个模块的运行等。可选地，本申请实施例以控制装置110设置于自移动设备10中为例进行说明。在其他实施例中，控制装置110也可以不设置在自移动设备10中，例如控制装置110可以设置在独立于自移动设备的遥控设备、充电站等，本申请实施例不对控制装置110的实现方式作限定。
自移动设备10的控制装置110用于在供电装置120的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长；根据第一工作时长确定未工作区域所需的第一用电量；根据第一用电量对自移动设备10进行充电。
预设充电条件可以是电量小于等于预设电量阈值且未完成目标工作区域的工作，本申请实施例不对预设充电条件进行限定。
目标工作区域为自移动设备10工作的区域。目标工作区域可以是一个独立区域；或者，可以是由多个独立子区域组成的工作区域，本申请实施例不对工作区域的类型进行限定。目标工作区域可以是预设的工作区域，也可以是自移动设备10在历史工作过程中确定的工作区域，还可以是用户选择的工作区域等，本申请实施例不对目标工作区域的确定方式进行限定。
未工作区域是指自移动设备10在目标工作区域内还未进行工作的区域。以自移动设备10执行清洁工作为例，未工作区域是指自移动设备10在目标工作区域内还未进行清洁的区域。
第一工作时长是指自移动设备10在未工作区域内完成工作所需的工作时长。
第一用电量是指自移动设备10在未工作区域内完成工作所需的用电量。
在相关技术中，在自移动设备10处于低电量的情况下，通常会控制自移动设备10移动至充电站进行充电。在一种情况下，在自移动设备10的充电过程中，自移动设备10接收到工作指令，然后执行该工作指令对应的工作，例如用户判断自移动设备10的电量足以完成未工作区域的工作时，发送指令控制自移动设备10返回未工作区域继续工作。然而，在该情况下，自移动设备10在充电过程中或者完成充电后无法自动完成未工作区域的工作，需要手动控制自移动设备10。在另一种情况下，在自移动设备10充电达到固定电量(例如总电量的70％或者100％等)后，自移动设备10回到未工作区域继续工作。然而，自移动设备10达到固定电量需要较长时间，导致自移动设备10在经过较长时间之后才能继续之前的工作，工作效率低下。
在本申请实施例中，通过获取自移动设备在未工作区域内完成工作所需的第一工作时长，能够准确地 确定自移动设备在未工作区域内完成工作所需的第一用电量，根据第一用电量对自移动设备进行充电，从而在自移动设备的电量达到未工作区域所需的第一用电量的情况下，自移动设备可以自动回到未工作区域继续工作，能够有效地提高自移动设备的工作效率。
图3是本申请实施例提供的自移动设备的控制方法的流程图。本申请实施例以该方法应用于图1或图2所示的自移动设备10为例进行说明。该方法可以由自移动设备10执行。该方法至少包括以下步骤：
步骤301，在自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长。
自移动设备可以是具备自移动能力，能够完成一项或多项工作的智能设备。该一项或多项工作可以是例如扫地、拖地、擦窗等清洁工作，也可以是送餐、派送物品等派送工作，还可以是割草等户外工作，本申请实施例不对自移动设备执行的工作进行限定。
预设充电条件可以是电量小于等于预设电量阈值且未完成目标工作区域的工作，或者可是当前剩余电量小于等于未工作区域所需的第一用电量等，本申请实施例不对预设充电条件进行限定。
目标工作区域为自移动设备工作的区域。目标工作区域可以是一个独立区域；或者，可以是由多个独立子区域组成的工作区域，本申请实施例不对工作区域的类型进行限定。目标工作区域可以是预设的工作区域，也可以是自移动设备在历史工作过程中确定的工作区域，还可以是用户选定的工作区域等，本申请实施例不对目标工作区域的确定方式进行限定。
以自移动设备为清洁机器人，且清洁机器人用于对室内地面进行清洁为例，目标工作区域为清洁机器人所要清洁的室内区域，例如全屋区域，或者用户选择的工作区域，或者清洁机器人在经过多次清洁工作后确定的工作区域等。
未工作区域是指自移动设备在目标工作区域内还未进行工作的区域。以自移动设备执行清洁工作为例，未工作区域是指自移动设备在目标工作区域内还未进行清洁的区域。
第一工作时长是指自移动设备在未工作区域内完成工作所需的工作时长。
预设充电条件可以存储在自移动设备中，比如：预设充电条件可以是电量小于等于预设电量阈值且未完成目标工作区域的工作。其中，预设电量阈值可以为总电量的5％或者10％，本申请实施例不对预设电量阈值的取值进行限定。
在一种可能的实现方式中，在自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长的方式包括但不限于以下几种：
获取第一工作时长的第一种方式：获取目标工作区域对应的总工作时长；在自移动设备的当前剩余电量符合预设充电条件的情况下，获取自移动设备在目标工作区域中的已工作时长；根据总工作时长和已工 作时长，计算得到第一工作时长。
总工作时长是指自移动设备在完成目标工作区域的工作所需的总工作时长。
已工作时长是指自移动设备在目标工作区域开始工作到当前剩余电量符合预设充电条件时所用的工作时长。
在一可能实现的实施方式中，获取目标工作区域对应的总工作时长可以包括：获取目标工作区域对应的历史工作时长数据；根据历史工作时长数据，得到总工作时长。
目标工作区域对应的历史工作时长数据是指在历史时间段内，自移动设备每次完成整个目标工作区域的工作所花费的工作时长，该工作时长仅包含自移动设备在目标工作区域执行工作的时长，不包含自移动设备中途充电、中途暂停等非工作情况下的时长。历史时间段可以是当前时间之前的预设时间段，例如，当前时间之前的一个月、当前时间之前的三个月等时间段。历史工作时长数据可以存储在自移动设备中，也可以发送至服务器进行存储。
以自移动设备为清洁机器人，且清洁机器人用于对室内地面进行清洁为例，目标工作区域对应的历史工作时长数据是指在历史时间段内，清洁机器人每次完成整个目标工作区域的清洁所花费的工作时长。
本申请实施例通过自移动设备在目标工作区域内完成工作所需的总工作时长以及自移动设备在目标工作区域内的已工作时长，可以准确地得到自移动设备在未工作区域内完成工作所需的第一工作时长。
在一可能实现的实施方式中，根据历史工作时长数据，得到总工作时长，包括：根据历史时间段内每次完成整个目标工作区域的工作所花费的工作时长，计算单次完成整个目标工作区域的工作所需的平均工作时长；将该平均工作时长作为总工作时长。
自移动设备每次完成整个目标工作区域的工作所花费的工作时长通常较为接近但会有差异，通过自移动设备在历史时间段内每次完成整个目标工作区域的工作所花费的工作时长，可以计算自移动设备单次完成整个目标工作区域的工作所需的平均工作时长，通过该平均工作时长可以准确地获取自移动设备本次完成目标工作区域的工作的总工作时长。
获取目标工作区域对应的总工作时长的方式不限于上述方法，本申请实施例不对获取目标工作区域对应的总工作时长的方式进行限定。
在一种可能的实现方式中，根据总工作时长和已工作时长，计算得到第一工作时长包括：根据总工作时长和已工作时长的差值，计算得到第一工作时长。
以自移动设备为清洁机器人，且清洁机器人用于对室内地面进行清洁为例，根据清洁机器人对目标工作区域进行清洁的总工作时长和已工作时长的差值，可以计算得到清洁机器人对未工作区域进行清洁所需的第一工作时长。
获取第一工作时长的第二种方式：在自移动设备的当前剩余电量符合预设充电条件的情况下，获取自移动设备的当前位置；根据自移动设备的当前位置、目标工作区域内各个工作位置与剩余工作时长的关系， 获得第一工作时长。
在一种可能实现的实现方式中，确定目标工作区域内各个工作位置与剩余工作时长的关系的方式包括：获取历史时间段内自移动设备至少一次完成整个目标工作区域的工作的工作过程，其中，该工作过程包括以预设时间间隔获取的自移动设备的各个工作位置、各个工作位置对应的时间点；根据每次工作过程中自移动设备的各个工作位置和各个工作位置对应的时间点，确定目标工作区域内各个工作位置与剩余工作时长的关系。
在本申请实施例中，根据目标工作区域内各个工作位置与剩余工作时长的关系，可以确定自移动设备的当前剩余电量符合预设充电条件时的当前位置所对应的剩余工作时长，从而可以确定自移动设备在未工作区域内完成工作所需的第一工作时长。
步骤302，根据第一工作时长确定未工作区域所需的第一用电量。
第一用电量是指自移动设备在未工作区域内完成工作所需的用电量。
根据第一工作时长确定未工作区域的第一用电量，包括：获取单位时长对应的用电量；根据单位时长对应的用电量与第一工作时长，计算得到第一用电量。
单位时长对应的用电量是指自移动设备在单位时间内工作需要耗费的用电量。单位时长对应的用电量可通过实验获得，本申请实施例不对获得单位时长对应的用电量的方式进行限定。
在一种可能的实现方式中，根据单位时长对应的用电量与第一工作时长，计算得到第一用电量，包括：根据单位时长对应的用电量与第一工作时长的乘积，计算得到第一用电量。
步骤303，根据第一用电量对自移动设备进行充电。
根据第一用电量对自移动设备进行充电是指对自移动设备进行充电，使自移动设备的电量达到第一用电量。
在自移动设备达到第一用电量后，自移动设备可以继续执行未完成的工作，例如返回未工作区域继续工作，或者，发出提示信息(如声音、指示灯)等，本申请实施例不对此进行限定。
在一种可能的实现方式中，根据第一用电量对自移动设备进行充电之前，还包括：控制自移动设备移动至充电站，以使充电站与自移动设备对接。
充电站是指为供电模块提供充电服务的设备。本申请实施例中，充电站可以通过有线充电方式或无线充电方式为自移动设备充电。
本申请实施例在自移动设备的当前剩余电量符合预设充电条件的情况下，控制自移动设备移动至充电站进行充电，即自移动设备可实现自动回充。
在一种可能的实现方式中，根据第一用电量对自移动设备进行充电之后，还包括：控制自移动设备移动至未工作区域继续工作。
将自移动设备在当前剩余电量符合预设充电条件情况下的工作位置作为第一位置，则控制自移动设备 移动至未工作区域继续工作是指控制自移动设备移动至第一位置继续工作。由于自移动设备在达到未工作区域所需的第一用电量时，移动至未工作区域继续工作，因此，自移动设备能够高效地、智能地完成未工作区域的工作。例如，在未工作区域对应的第一工作时长较短的情况，自移动设备只需要花较短的时间即可充电达到第一用电量，然后就可以继续在未工作区域进行工作，不需等待长时间的充电，工作效率较高；在未工作区域对应的第一工作时长较长的情况下，自移动设备充电达到第一用电量才继续在未工作区域进行工作，避免出现电量不足以完成未工作区域的工作的情况。
在本申请实施例中，通过获取自移动设备在未工作区域内完成工作所需的第一工作时长，能够准确地确定自移动设备在未工作区域内完成工作所需的第一用电量，根据第一用电量对自移动设备进行充电，从而在自移动设备的电量达到未工作区域所需的第一用电量的情况下，自移动设备可以自动回到未工作区域继续工作，能够有效地提高自移动设备的工作效率。
为了更清楚地介绍上述自移动设备的控制方法，下面通过两个例子进行说明。
第一个例子：获取自移动设备在目标工作区域对应的历史工作时长数据，该历史工作时长数据为在过去一个月内每次完成整个目标工作区域的工作所花费的工作时长，该工作时长仅包含自移动设备在目标工作区域执行工作的时长，不包含自移动设备中途充电、中途暂停等非工作情况下的时长；根据过去一个月内每次完成整个目标工作区域的工作所花费的工作时长，计算单次完成整个目标工作区域的工作所需的平均工作时长，得到自移动设备在目标工作区域完成工作的总工作时长为120分钟；在自移动设备的当前剩余电量到达预设电量阈值5％的情况下，获取自移动设备在目标工作区域中的已工作时长为90分钟，计算第一工作时长为120-90＝30分钟；获取自移动设备执行单位时长的工作所需的用电量，为总电量的0.83％；计算第一用电量为0.83×30＝25％，即总电量的25％；自移动设备移动至充电站进行充电；自移动设备在充电至电量达到总电量的25％的情况下，继续完成未工作区域的工作。
第二个例子：在自移动设备的当前剩余电量到达预设电量阈值5％的情况下，获取自移动设备的当前位置；根据自移动设备的当前位置、以及目标工作区域内各个工作位置与剩余工作时长的关系，获得自移动设备在未工作区域完成工作所需的第一工作时长为90分钟；获取自移动设备执行单位时长的工作所需的用电量，为总电量的0.83％；计算第一用电量为0.83×30＝25％，即总电量的25％；自移动设备移动至充电站进行充电；自移动设备在充电至电量达到总电量的25％的情况下，继续完成未工作区域的工作。
本申请实施例提供的自移动设备的控制方法，在自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，目标工作区域为自移动设备工作的区域；根据第一工作时长确定未工作区域所需的第一用电量；根据第一用电量对自移动设备进行充电。本申请实施例根据未工作区域所需的第一用电量对自移动设备进行充电，在自移动设备的电量达到未工作区域所需的第一用电量的情况下，自移动设备可以自动回到未工作区域继续工作，有效地提高自移动设备的工作效率。
可以理解，本申请提及的上述各个方法实施例，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例，限于篇幅，本申请不再赘述。
图4是本申请实施例提供的自移动设备的控制装置的框图。本申请实施例以该装置应用于图1所示的自移动设备的控制装置为例进行说明。该装置至少包括以下模块：时长获取模块401、电量确定模块402、充电控制模块403。
时长获取模块401，用于在自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，目标工作区域为自移动设备工作的区域；
电量确定模块402，用于根据第一工作时长确定未工作区域所需的第一用电量；
控制模块403，用于根据第一用电量对自移动设备进行充电。
在一种可能的实现方式中，时长获取模块401用于：
获取目标工作区域对应的总工作时长；
在自移动设备的当前剩余电量符合预设充电条件的情况下，获取自移动设备在目标工作区域中的已工作时长；
根据总工作时长和已工作时长，计算得到第一工作时长。
在一种可能的实现方式中，时长获取模块401用于：
获取目标工作区域对应的历史工作时长数据；
根据历史工作时长数据，得到总工作时长。
在一种可能的实现方式中，时长获取模块401用于：
在自移动设备的当前剩余电量符合预设充电条件的情况下，获取自移动设备的当前位置；
根据自移动设备的当前位置、以及目标工作区域内各个工作位置与剩余工作时长的关系，获得第一工作时长。
在一种可能的实现方式中，电量确定模块402用于：
获取单位时长对应的用电量；
根据单位时长对应的用电量与第一工作时长，计算得到第一用电量。
在一种可能的实现方式中，控制模块403还用于：
控制自移动设备移动至充电站，以使充电站与自移动设备对接。
在一种可能的实现方式中，控制模块403还用于：
控制自移动设备移动至未工作区域继续工作。
本申请实施例提供的自移动设备的控制装置，在自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，目标工作区域为自移动设备工作的区域；根 据第一工作时长确定未工作区域所需的第一用电量；根据第一用电量对自移动设备进行充电。本申请实施例根据未工作区域所需的第一用电量对自移动设备进行充电，在自移动设备的电量达到未工作区域所需的第一用电量的情况下，自移动设备可以自动回到未工作区域继续工作，有效地提高自移动设备的工作效率。
需要说明的是：上述实施例中提供的自移动设备的控制装置仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将自移动设备的控制装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的自移动设备的控制装置与自移动设备的控制方法实施例属于同一构思，其具体实现过程详见方法实施例，在此不再赘述。
图5是本申请实施例提供的自移动设备的控制装置的结构示意图。该装置至少包括处理器501和存储器502。
处理器501可以包括一个或多个处理核心，比如：4核心处理器、6核心处理器等。处理器501可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器501也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。
存储器502可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器502还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器502中的非暂态的计算机可读存储介质用于存储至少一条指令，该至少一条指令由处理器501加载并执行以实现上述实施例提供的自移动设备的控制方法。
在一些实施例中，自移动设备的控制装置还可包括：外围设备接口和至少一个外围设备。处理器501、存储器502和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口相连。示意性地，外围设备包括但不限于：射频电路、定位组件、音频电路、和电源等。
本领域技术人员可以理解，图5中示出的结构并不构成对自移动设备的控制装置的限定，自移动设备的控制装置还可以包括更少或更多的模块，或者组合某些组件，或者采用不同的组件布置，本申请实施例对此不作限定。
图6是本申请实施例提供的自移动设备的结构示意图。该自移动设备至少包括处理器601和存储器602。
处理器601可以包括一个或多个处理核心，比如：4核心处理器、6核心处理器等。处理器601可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器 601也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。
存储器602可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器602还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器602中的非暂态的计算机可读存储介质用于存储至少一条指令，该至少一条指令由处理器601加载并执行以实现上述实施例提供的自移动设备的控制方法。
在一些实施例中，自移动设备还可包括：外围设备接口和至少一个外围设备。处理器601、存储器602和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口相连。示意性地，外围设备包括但不限于：射频电路、定位组件、音频电路、和电源等。
在一些实施例中，自移动设备还可包括有一个或多个传感器603。该一个或多个传感器603包括但不限于：加速度传感器6031、陀螺仪传感器6032、以及距离传感器6033。
加速度传感器6031可以检测以自移动设备的控制装置建立的坐标系的三个坐标轴上的加速度大小。比如，加速度传感器6031可以用于检测重力加速度在三个坐标轴上的分量。处理器601可以根据加速度传感器6031采集的重力加速度信号，对自移动设备进行控制。
陀螺仪传感器6032可以检测自移动设备的控制装置的机体方向及转动角度，陀螺仪传感器6032可以与加速度传感器6031协同采集自移动设备的控制装置的3D动作。处理器601可以根据陀螺仪传感器6032采集的数据实现如下功能：动作感应(比如根据自移动设备的姿态来控制自移动设备)、以及惯性导航等。
距离传感器6033用于采集自移动设备与物体的距离。处理器601可以根据距离传感器6033采集的数据判断是否存在障碍物、是否存在悬崖等信息。
本领域技术人员可以理解，图6中示出的结构并不构成对自移动设备的限定，自移动设备还可以包括更少或更多的模块，或者组合某些组件，或者采用不同的组件布置，本申请实施例对此不作限定。
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质中存储有至少一条指令，该至少一条指令由处理器加载并执行以实现上述方法实施例的自移动设备的控制方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种自移动设备的控制方法，其特征在于，所述方法包括：
    在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，所述目标工作区域为所述自移动设备工作的区域；
    根据所述第一工作时长确定所述未工作区域所需的第一用电量；
    根据所述第一用电量对所述自移动设备进行充电。
  2. 如权利要求1所述的方法，其特征在于，所述在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，包括：
    获取所述目标工作区域对应的总工作时长；
    在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取所述自移动设备在所述目标工作区域中的已工作时长；
    根据所述总工作时长和所述已工作时长，计算得到所述第一工作时长。
  3. 如权利要求2所述的方法，其特征在于，所述获取目标工作区域对应的总工作时长，包括：
    获取所述目标工作区域对应的历史工作时长数据；
    根据所述历史工作时长数据，得到所述总工作时长。
  4. 如权利要求3所述的方法，其特征在于，所述目标工作区域对应的历史工作时长数据为在历史时间段内，所述自移动设备每次完成整个所述目标工作区域的工作所花费的工作时长，所述根据所述历史工作时长数据，得到所述总工作时长包括：
    根据所述历史时间段内每次完成整个所述目标工作区域的工作所花费的工作时长，计算单次完成整个所述目标工作区域的工作所需的平均工作时长；
    将所述平均工作时长作为所述总工作时长。
  5. 如权利要求2所述的方法，其特征在于，所述根据所述总工作时长和所述已工作时长，计算得到所述第一工作时长，包括：
    根据所述总工作时长和所述已工作时长的差值，计算得到所述第一工作时长。
  6. 如权利要求1所述的方法，其特征在于，所述在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，包括：
    在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取所述自移动设备的当前位置；
    根据所述自移动设备的当前位置、以及所述目标工作区域内各个工作位置与剩余工作时长的关系，获得所述第一工作时长。
  7. 如权利要求6所述的方法，其特征在于，还包括确定所述目标工作区域内各个工作位置与剩余工作时长的关系的步骤，包括：
    获取历史时间段内所述自移动设备至少一次完成整个所述目标工作区域的工作的工作过程，其中，所述工作过程包括以预设时间间隔获取的所述自移动设备的各个工作位置、各个工作位置对应的时间点；
    根据每次所述工作过程中所述自移动设备的各个工作位置的各个工作位置对应的时间点，确定所述目标工作区域内各个工作位置与剩余工作时长的关系。
  8. 如权利要求1所述的方法，其特征在于，所述根据所述第一工作时长确定所述未工作区域所需的第一用电量，包括：
    获取单位时长对应的用电量；
    根据所述单位时长对应的用电量与所述第一工作时长，计算得到所述第一用电量。
  9. 如权利要求1所述的方法，其特征在于，所述根据所述第一用电量对所述自移动设备进行充电之前，还包括：
    控制所述自移动设备移动至充电站，以使所述充电站与所述自移动设备对接。
  10. 如权利要求1所述的方法，其特征在于，所述根据所述第一用电量对所述自移动设备进行充电之后，还包括：
    控制所述自移动设备移动至所述未工作区域继续工作。
  11. 一种自移动设备的控制装置，其特征在于，所述装置包括：
    时长获取模块，用于在所述自移动设备的当前剩余电量符合预设充电条件的情况下，获取在目标工作区域中未工作区域对应的第一工作时长，所述目标工作区域为所述自移动设备工作的区域；
    电量确定模块，用于根据所述第一工作时长确定所述未工作区域所需的第一用电量；
    控制模块，用于根据所述第一用电量对所述自移动设备进行充电。
  12. 一种自移动设备的控制装置，其特征在于，所述装置包括处理器和存储器，所述存储器中存储有至少一条指令，所述至少一条指令由所述处理器加载并执行以实现如权利要求1至10任一所述的自移动设备的控制方法。
  13. 一种自移动设备，其特征在于，所述自移动设备包括处理器和存储器，所述存储器中存储有至少一条指令，所述至少一条指令由所述处理器加载并执行以实现如权利要求1至10任一所述的自移动设备的控制方法。
  14. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有至少一条指令，所述至少一条指令由处理器加载并执行以实现如权利要求1至10任一所述的自移动设备的控制方法。
PCT/CN2021/077993 2020-06-04 2021-02-26 自移动设备的控制方法、装置、设备及存储介质 WO2021244075A1 (zh)

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