WO2022233182A1 - 一种智能移动设备及其控制方法、电子设备、存储介质 - Google Patents

一种智能移动设备及其控制方法、电子设备、存储介质 Download PDF

Info

Publication number
WO2022233182A1
WO2022233182A1 PCT/CN2022/079586 CN2022079586W WO2022233182A1 WO 2022233182 A1 WO2022233182 A1 WO 2022233182A1 CN 2022079586 W CN2022079586 W CN 2022079586W WO 2022233182 A1 WO2022233182 A1 WO 2022233182A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile device
attribute information
area
target
intelligent mobile
Prior art date
Application number
PCT/CN2022/079586
Other languages
English (en)
French (fr)
Inventor
张磊
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to EP22798524.9A priority Critical patent/EP4336298A1/en
Publication of WO2022233182A1 publication Critical patent/WO2022233182A1/zh

Links

Images

Classifications

    • 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
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/639—Resolving or avoiding being stuck or obstructed
    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/40—Indoor domestic environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present disclosure relates to the technical field of intelligent control, and in particular, to an intelligent mobile device and a control method thereof, an electronic device, and a storage medium.
  • an embodiment of the present disclosure provides a control method for an intelligent mobile device, including:
  • the intelligent mobile device is controlled to leave the trapped area and re-enter the trapped area in a direction different from the direction when entering the trapped area. Describe the trapped area.
  • the re-entering the stuck area in a direction different from the direction when entering the stuck area includes:
  • the target advancing direction is different from the direction when entering the stuck area and points to the direction of the stuck area; the target advancing distance is After getting out of trouble, the distance between the intelligent mobile device and the edge of the stuck area in the moving direction of the target;
  • the smart mobile device Based on the target advancing distance, the smart mobile device is controlled to move along the target advancing direction, so that the smart mobile device re-enters the stuck area.
  • controlling the smart mobile device to move along the target forward direction based on the target forward distance, so that the smart mobile device re-enters the stuck area comprising:
  • ground medium attribute information includes the information detected by the intelligent mobile device in the moving direction of the target.
  • the smart mobile device If the first real-time distance is greater than or equal to the target advancing distance, and the second ground medium attribute information matches the target ground medium attribute information, it is determined that the smart mobile device re-enters the card trap along the area.
  • the determining the target advancing direction and the target advancing distance of the intelligent mobile device includes:
  • the reference distance is the moving distance of the smart mobile device from the trapped position to the successfully escaped position
  • the target advancing distance of the intelligent mobile device is obtained.
  • the preset angle is not less than 30°.
  • controlling the smart mobile device to leave the trapped area specifically includes:
  • the preset backward direction is the direction opposite to the direction of entering the trapped area
  • the method further includes: confirming that the smart mobile device has left the stuck area, specifically including:
  • the second real-time distance is greater than or equal to a preset backward distance, it is determined that the smart mobile device has left the trapped area.
  • the method further includes: confirming that the smart mobile device has left the stuck area, specifically including:
  • the method further includes:
  • the intelligent mobile device After driving out of the stuck area, the intelligent mobile device is controlled to continue traveling along the direction when entering the stuck area.
  • an embodiment of the present disclosure provides an intelligent mobile device, including an environment monitoring sensor and a controller;
  • the environment monitoring sensor is used to detect the ground medium attribute during the movement of the intelligent mobile device, so as to obtain the first ground medium attribute information, the second ground medium attribute information or the current ground medium attribute information, the first ground medium attribute information
  • the information includes the medium attribute information of the ground in the stuck area
  • the second ground medium attribute information includes the ground medium attribute information detected in the moving direction of the target, and the moving direction of the target is the same as entering the stuck area.
  • the controller is configured to perform the above-mentioned control method of the smart mobile device.
  • an embodiment of the present disclosure provides an electronic device, including a processor and a memory, where the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the above-mentioned intelligent mobile device. Control Method.
  • an embodiment of the present disclosure provides a storage medium storing computer program instructions, where the computer program instructions implement the steps of the above-mentioned control method for a smart mobile device when invoked and executed by a processor.
  • an intelligent mobile device in the case of differences in the types of ground media and relative height difference between the two media, the reduction of the intelligent mobile device can be reduced. Enter the risk of being trapped in the trapped area again, so that the smart mobile device can move normally in the trapped area and complete the task.
  • FIG. 1 is a schematic structural diagram of a ranging sensor of a cleaning robot according to an optional embodiment of the present disclosure
  • FIG. 2 is a schematic perspective view of a cleaning robot according to an optional embodiment of the present disclosure
  • FIG. 3 is a flowchart of a method for controlling a smart mobile device according to an optional embodiment of the present disclosure
  • step S302 is a flowchart of step S302;
  • FIG. 5 is a schematic diagram of a traveling route of a smart mobile device according to an optional embodiment of the present disclosure
  • step S401 is a flowchart of step S401
  • FIG. 7 is a schematic diagram of a calculation principle of a target advancing direction according to an optional embodiment of the present disclosure.
  • step S402 is a flowchart of step S402
  • step S302 is a flowchart of controlling the smart mobile device to leave the stuck area in step S302 according to an optional embodiment of the present disclosure
  • FIG. 10 is a flow chart of confirming that the smart mobile device leaves the trapped area according to an optional embodiment of the present disclosure.
  • the control method of the smart mobile device provided by the present application can be applied to the smart mobile device.
  • the smart mobile device provided by the second aspect of the present disclosure will be described in detail below.
  • the smart mobile device 1 includes, but is not limited to, an environment monitoring sensor 2 , a walking component 3 and a controller.
  • the walking component 3 is a component related to the movement of the intelligent mobile device 1.
  • the walking unit includes a drive wheel 31 and a universal wheel 32.
  • the universal wheel 32 and the drive wheel 31 cooperate to realize the steering and movement of the intelligent mobile device 1.
  • a drive wheel 31 is arranged on the left and right sides of the bottom, and the universal wheel 32 is arranged on the center line of the bottom surface of the intelligent mobile device 1.
  • each driving wheel 31 is provided with a driving wheel motor, and driven by the driving wheel motor, the driving wheel 31 rotates. After the driving wheel 31 rotates, it drives the intelligent mobile device 1 to move.
  • the steering angle of the intelligent mobile device 1 can be controlled.
  • the controller may include, but is not limited to, a central processing unit (CPU, Central processing unit), a control circuit, and the like.
  • CPU central processing unit
  • CPU Central processing unit
  • control circuit and the like.
  • the environmental monitoring sensor 2 may include, but is not limited to, a visual sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a camera or a depth camera, etc.
  • the environmental monitoring sensor is used to detect the type of the ground medium, which can distinguish the type of the ground medium, and detect the type of the ground medium.
  • the detection result is sent to the controller. Taking the forward direction of the intelligent mobile device in normal operation, the environment monitoring sensor 2 is usually arranged at the front or bottom of the intelligent mobile device, so as to know the ground medium in front or at the current position in time.
  • the smart mobile device is also provided with a communication unit for wired or wireless communication with the external device. It can access wireless networks based on communication standards such as WiFi, 2G, 3G, 4G or 5G, or a combination thereof.
  • the communication unit receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication unit further includes a Near Field Communication (NFC) module to facilitate short-range communication.
  • NFC Near Field Communication
  • the NFC module may be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the intelligent mobile device of the exemplary embodiment of the present disclosure may be a cleaning robot, and in this case, it exemplarily further includes a cleaning component.
  • the cleaning components may include, but are not limited to, mopping elements, sweeping elements 4, spraying elements, and the like.
  • the mopping element is used for mopping the area to be cleaned.
  • the number of mopping elements can be one or more.
  • the mopping cloth in the mopping element can be made of cotton thread cloth, fiber cloth, etc.
  • the mopping element is set on the cleaning robot. the bottom of the body.
  • the cleaning member 4 may include at least a rolling brush structure and a dust suction structure, and the rolling brush structure may include a rotating roller and brush teeth arranged on the rotating roller. Dust port, the brush teeth protrude from the vacuum port and contact the area to be cleaned.
  • the drive motor is used to drive the rotating roller and the brush teeth on it to rotate to perform cleaning work, sucking the garbage and conveying it into the dust suction structure through the collection inlet.
  • the dust collecting structure can include a dust collecting box, a dust collecting fan and a corresponding channel.
  • the dust collecting fan has an air inlet and an air outlet. The exhaust channel is connected.
  • the fan motor in the vacuum fan drives the fan to rotate, so that the airflow mixed with garbage enters the dust collecting box, and the garbage in the airflow is filtered by the filter in the dust collecting box and remains in the dust collecting box Inside, the filtered air flow is discharged from the air outlet of the dust suction fan to the outside of the cleaning robot through the air exhaust channel.
  • the thickness of the medium and long-haired carpet is equal to the gap between the cleaning robot and the ground, or even higher than the front impact. If the posture and action of the cleaning robot on the carpet are not suitable, it is very likely that the edge of the carpet is pushed up, the carpet is slipped, or the resistance of the carpet is increased, causing the cleaning robot to be trapped by the carpet and unable to clean the carpet.
  • a first aspect of an embodiment of the present disclosure provides a method for controlling a smart mobile device, including:
  • Step S301 When the smart mobile device is stuck, acquire first ground medium attribute information of the stuck area, where the first ground medium attribute information includes the ground medium attribute information of the stuck area.
  • the smart mobile device Due to the complex working environment of the smart mobile device, it may be stuck in some areas.
  • the following conditions can be used to judge whether the smart mobile device is trapped: the driving wheel of the smart mobile device is slipping, overcurrent, unable to move forward, etc.
  • the property information of the first ground medium can be obtained by detecting the environment monitoring sensor provided on the smart mobile device.
  • the environment monitoring sensor as the visual sensor
  • the ground medium image of the intelligent mobile device in the preset forward direction is captured by the vision sensor, and the ground medium image is processed by the preset recognition algorithm and the ground medium model characteristics, so as to obtain the information about the ground medium.
  • the relevant parameters of the medium that is, the property information of the first ground medium.
  • the environment monitoring sensor as an ultrasonic sensor is usually disposed at the bottom of the smart mobile device and close to the position in the direction of travel of the smart mobile device, and the ground where the smart mobile device is currently located is detected by the ultrasonic principle.
  • media attribute information wherein, the above-mentioned features of the ground medium model include but are not limited to the color, pattern, and the like of the ground medium.
  • Step S302 If the attribute information of the first ground medium matches the attribute information of the target ground medium, control the intelligent mobile device to leave the stuck area and re-enter the stuck area in a direction different from the direction when entering the stuck area.
  • the attribute information of the target ground medium can be the attribute information of the ground medium that is prone to be trapped among the different ground medium attribute information. For example, if a carpet is partially laid on a hard floor, the smart mobile device can easily travel from the hard floor to the carpet. Trapped during the process, so the property information of the target floor medium is the carpet information.
  • the first ground medium attribute information is the attribute information of the target ground medium, so that it can be determined that the first medium attribute information is the attribute information of the target ground medium.
  • the attribute information of the terrestrial medium changes, that is to say, the smart mobile device is located at the junction of two different terrestrial media, so it can be determined that the smart mobile device is stuck due to the change of the terrestrial medium. For example, the area where the smart mobile device operates is partially laid with carpet on the hard floor, the medium attribute information of the target floor is carpet information, but the smart mobile device is trapped, and the acquired first floor medium attribute information is the same as that of the carpet.
  • the smart mobile device When the information matches, it can be determined that the smart mobile device is stuck in the process of moving from the hard floor to the carpet, due to factors such as the edge of the carpet being pushed up, the upper carpet slipping or the resistance of the upper carpet increasing, which hinders the advancement of the smart mobile device.
  • control the smart mobile device to leave the trapped area and re-enter the trapped area in a direction different from the direction when entering the trapped area, thereby reducing the risk of the smart mobile device entering the trapped area and getting trapped again. risk, so that the smart mobile device can move normally in the trapped area and complete the task.
  • step S302 includes:
  • Step S401 Determine the target advancing direction and the target advancing distance of the intelligent mobile device; wherein, the target advancing direction is different from the direction when entering the stuck area and points to the stuck area; the target advancing distance is after getting out of trouble, the intelligent mobile device is The distance from the edge of the stuck area in the direction of the target's advance.
  • the smart mobile device can travel along the target's forward direction to the new ground-medium junction point, that is, The position is a certain distance from the junction of the original ground medium to avoid the situation of being trapped again at the junction of the original ground medium.
  • the target advancing distance is set as the distance between the smart mobile device and the edge of the stuck area in the target advancing direction, so that the distance traveled by the smart mobile device can be reduced, the power consumption of the smart mobile device can be reduced, and the travel time can be shortened.
  • the solid line arrow is the direction when entering the stuck area
  • the dotted arrow is the target forward direction
  • the intelligent mobile device travels along the direction when entering the stuck area, on the ground.
  • the medium junction point A is trapped
  • the point B is the final position where the smart mobile device leaves the trapped area.
  • a new ground medium junction point C is determined, thus avoiding walking to the ground medium junction again. Point A and get trapped.
  • this step includes the following steps:
  • Step S601 Taking the position where the smart mobile device successfully escapes as a starting point, deflect a preset angle clockwise or counterclockwise to obtain the target forward direction of the smart mobile device.
  • the deflection direction and preset angle can be set by the staff. Further, the preset angle is set to a relatively large angle, so as to avoid the new ground medium boundary point being too close to the original ground medium boundary point and being trapped again. Optionally, the preset angle is not less than 30°.
  • Step S602 Obtain a reference distance, where the reference distance is the moving distance of the intelligent mobile device from the trapped position to the successful escape.
  • the reference distance is the distance between point A and point B.
  • Step S603 Obtain the target advancing distance of the intelligent mobile device based on the preset angle and the reference distance.
  • the angle between the preset advancing direction and the edge of the carpet is usually 90°.
  • the reference distance d and the preset angle ⁇ are known, and the target forward distance L can be calculated by using a trigonometric function, that is, after getting out of trouble, the intelligent mobile device travels along the target forward direction to a new The distance from the junction of the ground medium.
  • Step S402 Based on the target advancing distance, control the smart mobile device to move along the target advancing direction, so that the smart mobile device re-enters the stuck area.
  • the smart mobile device By controlling the smart mobile device to advance the target forward distance along the target forward direction, the smart mobile device can reach the new ground-medium junction point to re-enter the stuck area.
  • control step specifically includes:
  • Step S801 starting from the position where the smart mobile device has successfully escaped from trouble, control the smart mobile device to travel along the target forward direction.
  • the smart mobile device travels straight from the final position point B, which is successfully escaped, to the new ground-medium junction point C along the moving direction of the target.
  • Straight-line travel can reduce the distance and time of travel, which not only reduces the power consumption of the smart mobile device, but also enables the smart mobile device to reach the new ground-medium junction point as soon as possible.
  • Step S802 Obtain the first real-time distance traveled by the intelligent mobile device in the target forward direction and second ground medium attribute information, where the second ground medium attribute information includes ground medium attribute information detected by the intelligent mobile device in the target forward direction.
  • Step S803 If the first real-time distance is greater than or equal to the target advancing distance, and the second ground medium attribute information matches the target ground medium attribute information, determine that the intelligent mobile device re-enters the stuck area along the moving direction of the target.
  • the accuracy of the judgment can be improved by judging whether the intelligent mobile device travels to the stuck area along the target forward direction by identifying the travel distance and the ground medium attribute information.
  • the intelligent mobile device continues to take the intelligent mobile device as the cleaning robot, and the area where the intelligent mobile device operates is partially laid with carpet on the hard floor as an example. Assume that the first real-time distance is 0.5m, the target forward distance is 0.45m, and the second ground medium property If the information matches the carpet information, it can be determined that the smart mobile device re-enters the trapped area in the direction of the target.
  • controlling the intelligent mobile device to leave the stuck area specifically includes:
  • Step S901 Acquire a preset backward direction, and the preset backward direction is opposite to the direction when entering the trapped area.
  • the preset backward direction is on the same line when entering the trapped area. For example, when pre-entering the trapped area, it is perpendicular to the edge of the trapped area and forward, then the preset backward direction is perpendicular to the edge of the trapped area and toward the rear direction.
  • Step S902 Control the smart mobile device to leave the trapped area along a preset backward direction.
  • the back-off distance can be preset according to the size of the smart mobile device to ensure that after reaching the preset back-off distance, the smart mobile device can completely escape from the trapped point and improve the success of getting out of the trap; it can also be monitored according to the detection of the sensor during the back-off process. As a result, it is determined whether or not the stuck area has been driven.
  • the method further includes the step of confirming that the smart mobile device has left the trapped area, and for confirming that the smart mobile device has left the trapped area, a variety of implementation methods can be used. elaborate.
  • the first implementation confirms that the smart mobile device has left the trapped area specifically includes:
  • Step S1001 Acquire a second real-time distance traveled by the smart device in a preset backward direction.
  • Step S1002 If the second real-time distance is greater than or equal to the preset backward distance, it is determined that the smart mobile device has left the trapped area.
  • the preset backward distance is 0.7m, and if the second real-time distance is 0.71m, it can be determined that the smart mobile device has successfully escaped trouble.
  • the second implementation method, confirming that the smart mobile device has left the trapped area specifically includes:
  • the identification of the current ground medium attribute information can determine whether the smart mobile device has successfully escaped from the trap, so as to determine whether the front end of the smart mobile device has escaped from the trapped point, so as to determine whether the smart mobile device is integrated as a whole.
  • the judgment is improved by matching the detected medium attribute information with the target ground medium attribute information.
  • the method further includes:
  • Step S303 After driving out of the stuck area, control the intelligent mobile device to travel in the direction of entering the stuck area.
  • control the forward direction of the smart mobile device After driving out of the stuck area, control the forward direction of the smart mobile device to adjust to the forward direction when entering the stuck area before, so that the smart mobile device travels in the direction of normal operation, so that the smart mobile device can continue to travel normally and homework to avoid missing some areas.
  • an embodiment of the present disclosure provides an intelligent mobile device, including an environment monitoring sensor and a controller; an environment monitoring sensor for detecting ground medium properties during the movement of the smart mobile device, so as to obtain first ground medium property information , the second ground medium attribute information or the current ground medium attribute information, the first ground medium attribute information includes the ground medium attribute information of the trapped area, and the second ground medium attribute information includes the ground medium attribute information detected in the direction of the target , the target forward direction is different from the direction when entering the stuck area and points to the stuck area; the controller is configured to execute the above-mentioned control method of the smart mobile device.
  • an embodiment of the present disclosure provides an electronic device, including a processor and a memory, where the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the above-mentioned control method for a smart mobile device.
  • the processor may be a central processing unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure.
  • the one or more processors included in the computer equipment may be the same type of processors, such as one or more CPUs; or may be different types of processors, such as one or more CPUs and one or more ASICs.
  • the memory may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.
  • the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • an embodiment of the present disclosure provides a storage medium storing computer program instructions, and when the computer program instructions are invoked and executed by a processor, the steps of the above-mentioned control method for a smart mobile device are implemented.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种智能移动设备及其控制方法，其步骤包括：当智能移动设备（1）被卡困时，获取卡困区域的第一地面介质属性信息，第一地面介质属性信息包括卡困区域的地面的介质属性信息（S301）；如果第一地面介质属性信息与目标地面介质属性信息相匹配，则控制智能移动设备（1）离开卡困区域，并沿与进入卡困区域时的方向不同的方向重新进入卡困区域（S302），从而在地面介质种类存在差异以及两种地面介质之间存在相对高度差的情况下，降低智能移动设备（1）进入卡困区域再次被困住的风险，以使智能移动设备（1）在卡困区域正常移动，完成作业任务。

Description

一种智能移动设备及其控制方法、电子设备、存储介质
相关申请的交叉引用
本申请要求于2021年5月6日递交的中国专利申请第202110491513.7号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及智能控制技术领域，具体而言涉及一种智能移动设备及其控制方法、电子设备、存储介质。
背景技术
随着生活水平的提高以及技术的发展，清洁机器人等智能移动设备得到了广泛的应用。智能移动设备在工作的过程中，通常需要在不同地面(例如硬质地板或地毯)上行进，但是当一种地面介质向另一种地面介质行进时，由于地面介质种类的差异以及两种介质之间的相对高度差，易导致智能移动设备被困住而无法移动，进而无法完成工作任务。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
第一方面，本公开实施例提供了一种智能移动设备的控制方法，包括：
当智能移动设备被卡困时，获取该卡困区域的第一地面介质属性信息，所述第一地面介质属性信息包括所述卡困区域的的地面的介质属性信息；
如果所述第一地面介质属性信息为目标地面介质属性信息相匹配，则控制所述智能移动设备离开所述卡困区域，并沿与进入所述卡困区域时的方向不同的方向重新进入所述卡困区域。
可选地，所述沿与进入所述卡困区域时的方向不同的方向重新进入所述卡困区域，包括：
确定所述智能移动设备的目标前进方向及目标前进距离；其中，所述目标前进方向为与进入所述卡困区域时的方向不同且指向所述卡困区域的方向；所述目标前进距离为脱困后，所述智能移动设备在所述目标前进方向上与所述卡困区域边缘的距离；
基于所述目标前进距离，控制所述智能移动设备沿所述目标前进方向移动，以使所述智能移动设备重新进入所述卡困区域。
可选地，所述基于所述目标前进距离，控制所述智能移动设备沿所述目标前进方向，以使所述智能移动设备重新进入所述卡困区域，包括：
以所述智能移动设备脱困成功的位置为起点，控制所述智能移动设备沿所述目标前进方向行进；
获取所述智能移动设备在所述目标前进方向行进的第一实时距离及第二地面介质属性信息，所述第二地面介质属性信息包括所述智能移动设备在所述目标前进方向上检测到的地面介质属性信息；
如果所述第一实时距离大于或等于所述目标前进距离，且所述第二地面介质属性信息与所述目标地面介质属性信息相匹配，则确定所述智能移动设备沿重新进入所述卡困区域。
可选地，所述确定所述智能移动设备的目标前进方向及目标前进距离，包括：
以所述智能移动设备脱困成功的位置为起点，顺时针或逆时针偏转预设角度，得到所述智能移动设备的目标前进方向；
获取基准距离，所述基准距离为所述智能移动设备从被卡困的位置移动到所述脱困成功的位置的移动距离；
基于所述夹角及所述基准距离，得到所述智能移动设备的目标前进距离。
可选地，所述预设角度不小于30°。
可选地，所述控制所述智能移动设备离开所述卡困区域，具体包括：
获取预设后退方向，所述预设后退方向为与进入所述卡困区域的方向相反的方向；
沿所述预设后退方向，控制所述智能移动设备离开所述卡困区域。
可选地，该方法还包括：确认所述智能移动设备已离开所述卡困区域，具体包括：
获取智能设备沿所述预设后退方向行进的第二实时距离；
如果所述第二实时距离大于或等于预设后退距离，则确定所述智能移动设备已离开所述卡困区域。
可选地，该方法还包括：确认所述智能移动设备已离开所述卡困区域，具体包括：
当获知当前地面介质属性信息不与所述目标地面介质属性信息相匹配时，确定所述智能移动设备已离开所述卡困区域。
可选地，所述沿与进入所述卡困区域时的方向不同的方向重新进入所述卡困区域之后，还包括：
在行驶出所述卡困区域后，控制所述智能移动设备在沿所述进入所述卡困区域时的方向继续行进。
第二方面，本公开实施例提供了一种智能移动设备，包括环境监测传感器及控制器；
所述环境监测传感器，用于检测智能移动设备移动过程中的地面介质属性，以得到第一地面介质属性信息、第二地面介质属性信息或当前地面的介质属性信息，所述第一地面介质属性信息包括所述卡困区域的地面的介质属性信息，所述第二地面介质属性信息包括 所述目标前进方向上检测到的地面介质属性信息，所述目标前进方向为与进入所述卡困区域时的方向不同且指向所述卡困区域的方向；
所述控制器被配置为执行上述的智能移动设备的控制方法。
第三方面，本公开实施例提供了一种电子设备，包括处理器和存储器，所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行上述的智能移动设备的控制方法。
第四方面，本公开实施例提供了一种存储介质，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现上述的智能移动设备的控制方法的步骤。
根据本公开实施例所提供的一种智能移动设备及其控制方法、电子设备、存储介质，从而在由于地面介质种类存在差异以及两种介质之间存在相对高度差的情况下，降低智能移动设备进入该卡困区域再次被困住的风险，以使该智能移动设备在卡困区域正常移动，完成作业任务。
附图说明
本公开的下列附图在此作为本公开实施例的一部分用于理解本公开。附图中示出了本公开的实施例及其描述，用来解释本公开的原理。
附图中：
图1为根据本公开的一个可选实施例的清洁机器人的测距传感器的结构示意图；
图2为根据本公开的一个可选实施例的清洁机器人的立体示意图；
图3为根据本公开的一个可选实施例的智能移动设备的控制方法的流程图；
图4为步骤S302的流程图；
图5为根据本公开的一个可选实施例的智能移动设备的行进路线示意图；
图6为步骤S401的流程图；
图7为根据本公开的一个可选实施例的目标前进方向的计算原理示意图；
图8为步骤S402的流程图；
图9为根据本公开的一个可选实施例的步骤S302中控制智能移动设备离开卡困区域的流程图；
图10为根据本公开的一个可选实施例的确认智能移动设备离开卡困区域的流程图。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本公开更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本公开可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本公开发生混淆，对于本领域公知的一些技术特征未进行描述。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本 公开的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本公开的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本公开的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
本申请提供的智能移动设备的控制方法可以应用于智能移动设备中，为了清楚描述本公开的智能移动设备的控制方法，下面首先对本公开的第二方面提供的智能移动设备进行详细阐述。
如图1和图2所示，智能移动设备1包括但不限于包括环境监测传感器2、行走组件3及控制器。
行走组件3为与智能移动设备1的移动相关的部件，行走单元包括驱动轮31和万向轮32，万向轮32和驱动轮31配合实现智能移动设备1的转向和移动，在智能移动设备1底部左右两边各设置一个驱动轮31，万向轮32设置在智能移动设备1的底面的中心线上。其中，每一驱动轮31上设有驱动轮电机，在驱动轮电机的带动下，驱动轮31转动。驱动轮31转动后，带动智能移动设备1移动。通过控制左右驱动轮31的转速差，可控制智能移动设备1的转向角度。
控制器可以包括但不限于中央处理器(CPU，Central processing unit)和控制电路等。
环境监测传感器2可以包括但不限于视觉传感器、激光传感器、超声传感器、红外传感器、摄像机或深度相机等，该环境监测传感器用于检测地面介质的类型，其能够分辨出地面介质的类型，并将检测结果发送给控制器。以智能移动设备在正常作业状态下行进的方向为前方，环境监测传感器2通常设置在智能移动设备的前端或者底端，以便能及时获知前方或当前位置的地面介质。
进一步地，智能移动设备上还设有用于与外部设备进行有线或无线通信的通信单元。其可以接入基于通信标准的无线网络，如WiFi，2G，3G，4G或5G，或它们的组合。在一个示例性实施例中，通信单元经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信单元还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
本公开示例性实施例的智能移动设备可以为清洁机器人，此时其示例性地还包括清洁组件。
清洁组件可以包括但不限于拖擦件、清扫件4及喷洒件等。拖擦件用于对待清洁区域进行拖地清洁，拖擦件的数量可以是一个或多个，拖擦件中的拖布可采用棉线布料、纤维 布料等等制成，拖擦件设置在清洁机器人主体的底部。
清扫件4可至少包括滚刷结构和吸尘结构，滚刷结构可包括转动辊和设置在转动辊上的刷齿，转动辊设置在清洁机器人主体内，且在清洁机器人主体的下部设有吸尘口，刷齿凸出吸尘口与待清洁区域接触。在实际应用中，驱动马达用于驱动转动辊及其上的刷齿转动以进行清扫工作，将垃圾吸入并通过收集入口输送到吸尘结构内。吸尘结构可包括集尘盒、吸尘风机和相应的通道，吸尘风机具有进风口和出风口，吸尘风机的进风口通过进风通道与集尘盒连通，吸尘风机的出风口与排风通道连通。在实际应用中，由吸尘风机中的风机马达驱动风扇旋转，以使得掺杂有垃圾的气流进入集尘盒内，气流中的垃圾经集尘盒内的滤网过滤后存留在集尘盒内，过滤后的气流由吸尘风机的出风口经由排风通道而排出清洁机器人的外部。
以智能移动设备为清洁机器人为例，当清洁机器人从硬质地板向中长毛地毯上行进时，由于中长毛地毯的厚度与清洁机器人前撞距离地面的缝隙大小相当，甚至高于前撞的高度，如果清洁机器人上地毯时的姿态和动作不合适，极易出现地毯边缘推起、上地毯打滑或上地毯阻力变大而导致清洁机器人被地毯困住，无法清理地毯的情况。
下面对本公开第一方面的一种清洁机器人的控制方法进行详细介绍。
如图3所示，本公开实施例第一方面提供了一种智能移动设备的控制方法，包括：
步骤S301：当智能移动设备被卡困时，获取该卡困区域的第一地面介质属性信息，第一地面介质属性信息包括卡困区域的地面的介质属性信息。
由于智能移动设备的工作环境较为复杂，在某些区域可能被卡困，判断智能移动设备是否被卡困可以采用以下判断条件：智能移动设备驱动轮打滑、过流、无法继续前进等。
第一地面介质属性信息可通过设置在智能移动设备上的环境监测传感器检测得到。以环境监测传感器为视觉传感器为例，通过视觉传感器拍摄智能移动设备在预设前进方向上的地面介质图像，并利用预设识别算法及地面介质模型特征对地面介质图像进行处理，从而得到关于地面介质的相关参数，即第一地面介质属性信息。在另一实施例中，以环境监测传感器是超声传感器为例，超声传感器通常设置在智能移动设备的底部并靠近智能移动设备行走方向的位置，通过超声原理检测出智能移动设备当前所处的地面的介质属性信息。其中，上述地面介质模型特征包括但不限于地面介质的颜色、花纹等。
步骤S302：如果第一地面介质属性信息与目标地面介质属性信息相匹配，则控制智能移动设备离开卡困区域，并沿与进入该卡困区域时的方向不同的方向重新进入卡困区域。
目标地面介质属性信息可为不同地面介质属性信息中，易发生被困现象的地面介质属性信息，例如，在硬质地板上局部铺设地毯，智能移动设备容易在由硬质地板向地毯上行进的过程中发生被困，由此目标地面介质属性信息为地毯信息。
将第一地面介质属性信息与目标地面介质属性信息进行匹配，如果第一地面介质属性信息与目标地面介质属性信息匹配成功，则可确定第一介质属性信息为目标地面介质属性 信息，从而可确定地面介质属性信息发生改变，也就是说智能移动设备处于两种不同地面介质的交界处，由此可确定智能移动设备由于地面介质的改变被卡困。例如，智能移动设备所作业的区域为在硬质地板上的局部铺设有地毯，目标地面介质属性信息为地毯信息，而在智能移动设备被卡困，并且获取的第一地面介质属性信息与地毯信息相匹配时，则可确定智能移动设备是由硬质地板向地毯上行进的过程中，由于地毯边缘推起、上地毯打滑或上地毯阻力变大等因素，阻碍智能移动设备前进而被困住，在这种情况下，控制智能移动设备离开卡困区域，并沿与进入卡困区域时的方向不同的方向重新进入卡困区域，从而降低智能移动设备进入该卡困区域再次被困住的风险，以使该智能移动设备在卡困区域正常移动，完成作业任务。
如图4所示，在具体应用中，在上述实施例中，步骤S302包括：
步骤S401：确定智能移动设备的目标前进方向及目标前进距离；其中，目标前进方向为与进入卡困区域时的方向不同且指向卡困区域的方向；目标前进距离为脱困后，智能移动设备在目标前进方向上与卡困区域边缘的距离。
将目标前进方向设置为与进入卡困区域时的方向不同且指向目标区域的方向，可使智能移动设备在离开卡困区域后，沿着目标前进方向行进至新的地面介质交界点，也就是与原地面介质交界处相距一定距离的位置，以避免在原地面介质交界点再次发生被困的情况。
将目标前进距离设置为智能移动设备在目标前进方向上与卡困区域边缘的距离，从而可减小智能移动设备行进的路程，减小智能移动设备的功耗，并且缩短行进时间。
示例性的，如图5所示，其中，实线箭头为进入卡困区域时的方向，虚线箭头为目标前进方向，智能移动设备在沿进入卡困区域时的方向行进的过程中，在地面介质交界点A被困，而点B为智能移动设备离开卡困区域的最终位置，根据目标前进方向及目标前进距离，确定了新的地面介质交界点C，从而避免了再次行走至地面介质交界点A并被困的可能。
具体地，如图6所示，该步骤包括如下步骤：
步骤S601：以智能移动设备脱困成功的位置为起点，顺时针或逆时针偏转预设角度，得到智能移动设备的目标前进方向。
偏转方向及预设角度可由工作人员进行设置。进一步地，预设角度设置为较大角度，以避免新的地面介质交界点与原地面介质交界点相距太近，再次出现被困住的情况。可选地，预设角度不小于30°。
步骤S602：获取基准距离，基准距离为智能移动设备从被卡困的位置移动到脱困成功的位置的移动距离。
示例性的，如图5所示，基准距离为点A到点B之间的距离。
步骤S603：基于预设角度及基准距离，得到智能移动设备的目标前进距离。
在智能移动设备为清洁机器人，智能移动设备所作业的区域为在硬质地板上的局部铺 设有地毯的情况下，通常预设前进方向与地毯边缘之间的夹角为90°。示例性的，以图7为例，已知基准距离d，预设角度β，利用三角函数，则可计算得到目标前进距离L，也就是脱困后，智能移动设备沿目标前进方向行进至新的地面介质交界点的距离。
步骤S402：基于目标前进距离，控制智能移动设备沿目标前进方向移动，以使智能移动设备重新进入卡困区域。
通过控制智能移动设备沿目标前进方向前进目标前进距离，从而使智能移动设备到达新的地面介质交界点，以重新进入卡困区域。
具体地，如图8所示，该控制步骤具体包括：
步骤S801：以智能移动设备脱困成功的位置为起点，控制智能移动设备沿目标前进方向行进。
如图5所示，智能移动设备由脱困成功的最终位置点B，沿着目标前进方向向新的地面介质交界点C直线行进。直线行进可减小行进的路程和时间，不仅可降低智能移动设备的功耗，也可使智能移动设备尽快到达新的地面介质交界点。
步骤S802：获取智能移动设备在目标前进方向行进的第一实时距离及第二地面介质属性信息，第二地面介质属性信息包括智能移动设备在目标前进方向上检测到的地面介质属性信息。
步骤S803：如果第一实时距离大于或等于目标前进距离，且第二地面介质属性信息与目标地面介质属性信息相匹配，则确定智能移动设备沿目标前进方向重新进入卡困区域。
通过行进距离及地面介质属性信息的识别来判断智能移动设备是否沿目标前进方向行进至卡困区域，可提高判断的准确性。继续以智能移动设备为清洁机器人，智能移动设备所作业的区域为在硬质地板上局部铺设有地毯为例，假设第一实时距离为0.5m，目标前进距离为0.45m，第二地面介质属性信息与地毯信息相匹配，则可确定智能移动设备沿目标前进方向重新进入卡困区域。
下面对移动智能机器人具体脱困过程进行阐述，在上述实施例中，如图9所示，步骤S302中控制智能移动设备离开卡困区域具体包括：
步骤S901：获取预设后退方向，预设后退方向与进入卡困区域时的方向相反。
预设后退方向与进入卡困区域时在同一直线上，例如，预进入卡困区域时是与被困区域边缘垂直且向前的方向，则预设后退方向是与被困区域边缘垂直且向后的方向。
步骤S902：沿预设后退方向，控制智能移动设备离开所述卡困区域。
后退距离可根据智能移动设备的尺寸进行预设，以确保达到预设后退距离后，智能移动设备能够完全脱离被困点，提高脱困的成功性；也可以在后退过程中根据环境监测传感器的检测结果，确定是否已驶离卡困区域。
直线后退可减小后退的路程和时间，不仅可降低智能移动设备的功耗，也可使智能移 动设备尽快脱困。
在一些可能实现的方式中，该方法还包括确认智能移动设备已离开卡困区域的步骤，而对于确认智能移动设备已离开卡困区域，可采用多种实现方式，下面分别对不同的判断方式进行详细阐述。
第一种实现方式，如图10所示，确认智能移动设备已离开卡困区域具体包括：
步骤S1001：获取智能设备沿预设后退方向行进的第二实时距离。
步骤S1002：如果第二实时距离大于或等于预设后退距离，则确定智能移动设备已离开卡困区域。
通过实时后退距离与预设后退距离进行比较来确定智能移动设备是否脱困成功，判断方式简单，对智能移动设备的控制器的要求较低，易于实现。
示例性的，预设后退距离为0.7m，如果第二实时距离为0.71m，则可确定智能移动设备脱困成功。
第二种实现方式，确认智能移动设备已离开卡困区域具体包括：
当获知当前地面介质属性信息不与目标地面介质属性信息相匹配时，确定智能移动设备已离开卡困区域。
通过配置在智能移动设备上的环境监测传感器，对当前地面介质属性信息的识别来确定智能移动设备是否脱困成功，从而可确定智能移动设备的前端是否脱离被困点，这样就判定智能移动是否整体脱困，并且通过检测的介质属性信息与目标地面介质属性信息的匹配来进行判断，相比于第一种实现方式，提高了判断的准确性。
在另一些可能的实现方式中，上述实施例中的步骤S302之后，还包括：
步骤S303：在行驶出卡困区域后，控制智能移动设备在沿进入卡困区域时的方向行进。
在行驶出卡困区域后，控制智能移动设备的前进方向调整至之前进入卡困区域时的前进方向，以使智能移动设备沿正常作业的运动方向行进，从而使智能移动设备继续进行正常的行进及作业，避免部分区域被遗漏。
第二方面，本公开实施例提供了一种智能移动设备，包括环境监测传感器及控制器；环境监测传感器，用于检测智能移动设备移动过程中的地面介质属性，以得到第一地面介质属性信息、第二地面介质属性信息或当前地面的介质属性信息，第一地面介质属性信息包括卡困区域的地面的介质属性信息，第二地面介质属性信息包括目标前进方向上检测到的地面介质属性信息，目标前进方向为与进入卡困区域时的方向不同且指向卡困区域的方向；控制器被配置为执行上述的智能移动设备的控制方法。
第三方面，本公开实施例提供了一种电子设备，包括处理器和存储器，存储器用于存放至少一可执行指令，可执行指令使处理器执行上述的智能移动设备的控制方法。
处理器可能是中央处理器CPU，或者是特定集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本公开实施例的一个或多个集成电路。计算机设 备包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个ASIC。
存储器，用于存放程序。存储器可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
第四方面，本公开实施例提供了一种存储介质，存储有计算机程序指令，计算机程序指令在被处理器调用和执行时实现上述的智能移动设备的控制方法的步骤。
本公开已经通过上述实施例进行了说明，但应当理解的是，上述实施例只是用于举例和说明的目的，而非意在将本公开限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本公开并不局限于上述实施例，根据本公开的教导还可以做出更多种的变型和修改，这些变型和修改均落在本公开所要求保护的范围以内。本公开的保护范围由附属的权利要求书及其等效范围所界定。

Claims (12)

  1. 一种智能移动设备的控制方法，其特征在于，包括：
    当智能移动设备被卡困时，获取该卡困区域的第一地面介质属性信息，所述第一地面介质属性信息包括所述卡困区域的地面的介质属性信息；
    如果所述第一地面介质属性信息与目标地面介质属性信息相匹配，则控制所述智能移动设备离开所述卡困区域，并沿与进入所述卡困区域时的方向不同的方向重新进入所述卡困区域。
  2. 根据权利要求1所述的方法，其特征在于，所述沿与进入所述卡困区域时的方向不同的方向重新进入所述卡困区域，包括：
    确定所述智能移动设备的目标前进方向及目标前进距离；其中，所述目标前进方向为与进入所述卡困区域时的方向不同且指向所述卡困区域的方向；所述目标前进距离为脱困后，所述智能移动设备在所述目标前进方向上与所述卡困区域边缘的距离；
    基于所述目标前进距离，控制所述智能移动设备沿所述目标前进方向移动，以使所述智能移动设备重新进入所述卡困区域。
  3. 根据权利要求2所述的方法，其特征在于，所述基于所述目标前进距离，控制所述智能移动设备沿所述目标前进方向，以使所述智能移动设备重新进入所述卡困区域，包括：
    以所述智能移动设备脱困成功的位置为起点，控制所述智能移动设备沿所述目标前进方向行进；
    获取所述智能移动设备在所述目标前进方向行进的第一实时距离及第二地面介质属性信息，所述第二地面介质属性信息包括所述智能移动设备在所述目标前进方向上检测到的地面介质属性信息；
    如果所述第一实时距离大于或等于所述目标前进距离，且所述第二地面介质属性信息与所述目标地面介质属性信息相匹配，则确定所述智能移动设备重新进入所述卡困区域。
  4. 根据权利要求2所述的方法，其特征在于，所述确定所述智能移动设备的目标前进方向及目标前进距离，包括：
    以所述智能移动设备脱困成功的位置为起点，顺时针或逆时针偏转预设角度，得到所述智能移动设备的目标前进方向；
    获取基准距离，所述基准距离为所述智能移动设备从被卡困的位置移动到所述脱困成功的位置的移动距离；
    基于所述预设角度及所述基准距离，得到所述智能移动设备的目标前进距离。
  5. 根据权利要求4所述的方法，其特征在于，所述预设角度不小于30°。
  6. 根据权利要求1所述的方法，其特征在于，所述控制所述智能移动设备离开所述卡困区域，包括：
    获取预设后退方向，所述预设后退方向为与进入所述卡困区域的方向相反的方向；
    沿所述预设后退方向，控制所述智能移动设备离开所述卡困区域。
  7. 根据权利要求6所述的方法，其特征在于，还包括：确认所述智能移动设备已离开所述卡困区域，包括：
    获取智能设备沿所述预设后退方向行进的第二实时距离；
    如果所述第二实时距离大于或等于预设后退距离，则确定所述智能移动设备已离开所述卡困区域。
  8. 根据权利要求6所述的方法，其特征在于，还包括：确认所述智能移动设备已离开所述卡困区域，包括：
    当获知当前地面的介质属性信息不与所述目标地面介质属性信息相匹配时，确定所述智能移动设备已离开所述卡困区域。
  9. 根据权利要求1所述的方法，其特征在于，所述沿与进入所述卡困区域时的方向不同的方向重新进入所述卡困区域之后，还包括：
    在行驶出所述卡困区域后，控制所述智能移动设备在沿所述进入所述卡困区域时的方向继续行进。
  10. 一种智能移动设备，其特征在于，包括环境监测传感器及控制器；
    所述环境监测传感器，用于检测智能移动设备移动过程中的地面介质属性，以得到第一地面介质属性信息、第二地面介质属性信息或当前地面的介质属性信息，所述第一地面介质属性信息包括所述卡困区域的地面的介质属性信息，所述第二地面介质属性信息包括所述目标前进方向上检测到的地面介质属性信息，所述目标前进方向为与进入所述卡困区域时的方向不同且指向所述卡困区域的方向；
    所述控制器被配置为执行权利要求1-9任一项所述的智能移动设备的控制方法。
  11. 一种电子设备，其特征在于，包括处理器和存储器，所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行如权利要求1-9中任一项所述的智能移动设备的控制方法。
  12. 一种存储介质，其特征在于，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现权利要求1-9任一项所述的智能移动设备的控制方法的步骤。
PCT/CN2022/079586 2021-05-06 2022-03-07 一种智能移动设备及其控制方法、电子设备、存储介质 WO2022233182A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22798524.9A EP4336298A1 (en) 2021-05-06 2022-03-07 Intelligent mobile device and control method therefor, and electronic device and storage medium

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110491513.7 2021-05-06
CN202110491513.7A CN114625117A (zh) 2021-05-06 2021-05-06 一种智能移动设备及其控制方法、电子设备、存储介质

Publications (1)

Publication Number Publication Date
WO2022233182A1 true WO2022233182A1 (zh) 2022-11-10

Family

ID=81896717

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/079586 WO2022233182A1 (zh) 2021-05-06 2022-03-07 一种智能移动设备及其控制方法、电子设备、存储介质

Country Status (3)

Country Link
EP (1) EP4336298A1 (zh)
CN (1) CN114625117A (zh)
WO (1) WO2022233182A1 (zh)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108693880A (zh) * 2018-05-15 2018-10-23 北京石头世纪科技有限公司 智能移动设备及其控制方法、存储介质
CN109765898A (zh) * 2019-01-31 2019-05-17 科沃斯机器人股份有限公司 自移动设备的控制方法、装置、设备及计算机可读存储介质
CN109875470A (zh) * 2019-01-31 2019-06-14 科沃斯机器人股份有限公司 脱困方法、设备及存储介质
US20190298134A1 (en) * 2018-03-29 2019-10-03 Panasonic Intellectual Property Management Co., Ltd. Self-driving cleaner, method for cleaning by self-driving cleaner, and recording medium
CN110338708A (zh) * 2019-06-21 2019-10-18 华为技术有限公司 一种扫地机器人的清扫控制方法及设备
CN110522352A (zh) * 2018-05-23 2019-12-03 科沃斯机器人股份有限公司 行走机构、自移动机器人及该行走机构的操作方法
CN111166240A (zh) * 2018-11-09 2020-05-19 北京奇虎科技有限公司 清洁禁区的设置方法、装置、设备及存储介质
CN111796290A (zh) * 2019-04-08 2020-10-20 速感科技（北京）有限公司 地面探测方法、地面探测器和自主移动设备
CN111802968A (zh) * 2020-08-02 2020-10-23 珠海市一微半导体有限公司 判断机器人被困状态的检测及脱困方法
CN112205937A (zh) * 2019-07-12 2021-01-12 北京石头世纪科技股份有限公司 一种自动清洁设备控制方法、装置、设备和介质
JP2021018485A (ja) * 2019-07-17 2021-02-15 株式会社ダイヘン 移動体の制御装置及び移動体

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190298134A1 (en) * 2018-03-29 2019-10-03 Panasonic Intellectual Property Management Co., Ltd. Self-driving cleaner, method for cleaning by self-driving cleaner, and recording medium
CN108693880A (zh) * 2018-05-15 2018-10-23 北京石头世纪科技有限公司 智能移动设备及其控制方法、存储介质
CN110522352A (zh) * 2018-05-23 2019-12-03 科沃斯机器人股份有限公司 行走机构、自移动机器人及该行走机构的操作方法
CN111166240A (zh) * 2018-11-09 2020-05-19 北京奇虎科技有限公司 清洁禁区的设置方法、装置、设备及存储介质
CN109765898A (zh) * 2019-01-31 2019-05-17 科沃斯机器人股份有限公司 自移动设备的控制方法、装置、设备及计算机可读存储介质
CN109875470A (zh) * 2019-01-31 2019-06-14 科沃斯机器人股份有限公司 脱困方法、设备及存储介质
CN111796290A (zh) * 2019-04-08 2020-10-20 速感科技（北京）有限公司 地面探测方法、地面探测器和自主移动设备
CN110338708A (zh) * 2019-06-21 2019-10-18 华为技术有限公司 一种扫地机器人的清扫控制方法及设备
CN112205937A (zh) * 2019-07-12 2021-01-12 北京石头世纪科技股份有限公司 一种自动清洁设备控制方法、装置、设备和介质
JP2021018485A (ja) * 2019-07-17 2021-02-15 株式会社ダイヘン 移動体の制御装置及び移動体
CN111802968A (zh) * 2020-08-02 2020-10-23 珠海市一微半导体有限公司 判断机器人被困状态的检测及脱困方法

Also Published As

Publication number Publication date
CN114625117A (zh) 2022-06-14
EP4336298A1 (en) 2024-03-13

Similar Documents

Publication Publication Date Title
US11042760B2 (en) Mobile robot, control method and control system thereof
US10254756B2 (en) Cleaning robot and method for controlling the same
JP7141220B2 (ja) 自走式電気掃除機
JP3830905B2 (ja) ロボット掃除機とそのシステム及び制御方法
JP5891736B2 (ja) 自走式掃除機
JP2013012200A (ja) ロボット掃除機及びその制御方法
KR101938703B1 (ko) 로봇 청소기 및 그 제어방법
KR102082757B1 (ko) 청소 로봇 및 그 제어 방법
WO2011000256A1 (zh) 清洁机器人及其脏物识别装置和该机器人的清洁方法
JP2005211365A (ja) 自律走行ロボットクリーナー
WO2023020490A1 (zh) 清洁机器人及其控制方法、装置、电子设备、存储介质
TWI748534B (zh) 清掃機器人及其控制方法
KR20230010575A (ko) 자율 청소 기기의 주행 제어 방법, 기기, 시스템 및 매체
CN112423639B (zh) 自主行走式吸尘器
WO2022233182A1 (zh) 一种智能移动设备及其控制方法、电子设备、存储介质
KR20210007360A (ko) 이동 로봇 및 그 제어방법
CN112423640A (zh) 自主行走式吸尘器
CN110870717B (zh) 真空吸尘器设备
WO2023088063A1 (zh) 清洁机器人控制方法及控制装置
KR20160138632A (ko) 로봇 청소기의 사람 검출 장치 및 그 방법
WO2020059292A1 (ja) 自律走行掃除機
JP7129659B2 (ja) 自走式掃除機
KR20060105832A (ko) 로봇청소기의 청소영역 설정방법
JP2015058256A (ja) 掃除機、掃除機制御方法および掃除機制御プログラム
JP2022163754A (ja) 掃除機管理装置およびプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22798524

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 18559173

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2022798524

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2022798524

Country of ref document: EP

Effective date: 20231206