WO2023130707A1 - 自移动设备的控制方法、装置、电子设备及可读存储介质 - Google Patents
自移动设备的控制方法、装置、电子设备及可读存储介质 Download PDFInfo
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- the present application relates to the technical field of equipment control, and in particular to a control method, device, electronic equipment and readable storage medium of self-moving equipment.
- Self-moving equipment is a kind of equipment that can move automatically under the control of the program, such as self-propelled equipment for sweeping floors, self-propelled equipment for mopping floors, and self-propelled equipment for window cleaning.
- the self-mobile device can receive the control instruction issued by the user, and work in response to the control instruction. After the work is completed, or after receiving the user's instruction to return to the pile, or when the power is low, the self-mobile device will automatically return to the charging pile for charging or maintenance (such as dust collection, cleaning mop, etc.).
- the self-mobile device in the process of returning to the pile, in order to ensure the success rate of one-time pile loading, the self-mobile device needs to be aligned with the center of the pile after a certain distance from the pile to charge in the forward or backward direction.
- the in-position switch on the pile it means that the self-mobile device has returned to the pile successfully and starts charging or performing other functions. Therefore, how to accurately and stably trigger the in-position switch has become an urgent problem to be solved.
- a method for controlling an autonomous mobile device comprising:
- a control device for self-moving equipment includes:
- the moving module is used to determine the position of the fixed pile in the process of returning to the pile, and move to the position of the fixed pile;
- a statistical module used to count the distance information between the current position and the position of the fixed pile
- a calculation module configured to calculate the moving speed of the device matched with the distance information
- the moving module is further configured to move to the position of the fixed pile according to the moving speed of the equipment, and the moving speed of the equipment includes the linear velocity or the angular velocity of the self-moving equipment.
- an electronic device including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method described in any one of the above-mentioned first aspects is implemented A step of.
- a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of the above-mentioned first aspects are implemented.
- FIG. 1 shows a schematic flow chart of a control method for a self-mobile device provided in an embodiment of the present application
- FIG. 2 shows a schematic flow chart of a control method of a self-mobile device provided by an embodiment of the present application
- FIG. 3 shows a schematic structural diagram of a control device for self-moving equipment provided by an embodiment of the present application
- FIG. 4 shows a schematic structural diagram of a control device for self-moving equipment provided by an embodiment of the present application
- FIG. 5 shows a schematic diagram of an apparatus structure of an electronic device provided by an embodiment of the present application.
- the present application provides a control method, device, electronic device, and readable storage medium for self-moving equipment, which can solve the problems of poor stability and low success rate of posting of current self-moving equipment.
- the software of self-moving devices such as sweeping robots and mopping robots needs to be adapted accordingly, that is, when approaching the limit slot, the tail of the self-moving device performs swing tracking according to the gradually narrowing signal (that is, swing left and right to carry out the pile back action). If the linear velocity or angular velocity of the self-moving device is too large, the tail of the self-moving device will easily miss the limit slot, resulting in the failure of the pile return, so it is necessary to re-down the pile and perform the pile return operation again; on the contrary, if it is too small, the self-moving device needs to It takes a lot of time to find the position of the limit slot, and the pile loading efficiency is relatively low.
- the fixed pile position moves, counts the distance information between the current position and the fixed pile position, and calculates the linear velocity or angular velocity that matches the distance information as the equipment movement speed, and moves to the fixed pile position according to the above equipment movement speed, based on the distance information with the fixed pile The distance reduces the linear velocity or angular velocity of the self-moving device.
- the moving speed and swing range of the self-moving device are controlled accordingly, so that the self-moving device can accurately align the pile, improve the efficiency of pile loading and the success of pile loading rate, and the pile back stability is better.
- An embodiment of the present application provides a method for controlling a self-mobile device, as shown in FIG. 1 , the method includes:
- the self-mobile device will receive mobile control instructions issued by the user based on the terminal to control the self-mobile device to return to the fixed pile to perform charging, backwashing and other pile operations.
- the self-mobile device will determine the location of the fixed pile and move to the fixed pile location. It should be noted that the self-mobile device will automatically return to the fixed pile for charging, dust collection, backwashing and other operations after completing the corresponding work. At this time, it is also necessary to move to the fixed pile after determining the location of the fixed pile. Therefore, the postback operation from the mobile device may be an active behavior or a passive behavior, which is not specifically limited in this application.
- the position of the fixed pile is also the current location of the fixed pile.
- the fixed pile can be a charging pile for charging self-moving equipment; it can also be a cleaning pile for cleaning and maintenance of self-mobile equipment, so as to provide clean water, dust collection, Cleaning from the cleaning parts on the mobile device, any function or combination of functions in the sewage contained in the mobile device; it can also be a pile with charging and cleaning maintenance functions.
- This application does not limit the specific functions provided by the fixed pile.
- the self-mobile device when the self-mobile device determines that it is necessary to start the stake return operation, it will first move towards the fixed stake according to the previously saved position of the fixed stake in the map.
- the self-mobile device detects that it is within the coverage of the fixed pile return signal (that is, when the return signal is detected), it indicates that it is already in the area where the fixed pile is located. At this time, it can determine its position relative to the center of the fixed pile through the return signal According to the offset, control itself to move to the center position of the fixed pile (ie move to the front of the fixed pile), and measure the distance between itself and the fixed pile through the distance measuring device.
- the self-moving device since this application reduces the linear velocity or angular velocity of the self-moving device based on the distance from the fixed pile, thereby dynamically adjusting the linear velocity or angular velocity and controlling the swing range of the self-moving device, the self-moving device will continue to count the current The distance information between the position and the fixed pile position, so as to determine the moving speed of the equipment according to the statistical distance information.
- the distance information may be the straight-line distance between the current position and the position of the fixed pile, so as to prevent the obstacle between the self-moving device and the fixed pile from interfering with the control of the speed of the self-moving device.
- the calculated moving speed of the device is a speed adapted to the distance information, and the moving speed of the device decreases as the distance information decreases. That is, the closer the distance between the self-moving device and the fixed pile, the lower the moving speed of the self-moving device, thereby ensuring the accuracy of the self-moving device on the pile.
- the moving speed of the equipment may include the linear velocity or angular velocity of the self-moving equipment.
- the swing amplitude of the self-moving equipment can be controlled, and the closer the distance between the self-moving equipment and the fixed pile, The smaller the swing range, avoid the mobile device from swinging out of the limit slot or losing the signal.
- the method provided in the embodiment of the present application calculates the linear velocity or angular velocity matching the distance information as the moving speed of the device according to the distance information between the current position and the fixed pile position, and moves to the fixed pile position according to the moving speed of the device.
- the distance of the pile reduces the linear velocity or angular velocity of the self-moving device, and the swing range of the self-moving device is controlled by dynamically adjusting the linear velocity or angular velocity, so that the self-moving device can accurately align the pile, improve the efficiency of pile loading and the success rate of pile loading, and return The pile is more stable.
- the embodiment of the present application provides another control method for self-mobile equipment, as shown in FIG. 2 , the Methods include:
- the self-mobile device returns to the fixed pile to perform charging, backwashing and other stake operations as an example.
- the self-mobile device needs to collect at least one fixed stake signal within the preset collection range during the process of returning to the stake. Therefore, it is subsequently determined according to the strength of the fixed stake signal which position the current fixed stake is placed, and then moves to this position.
- at least one fixed stake signal is a signal broadcast by the fixed stake, which may specifically be a back stake signal or the like.
- the range of the peg-back signal emitted by the fixed stake is limited, when the peg-back signal is collected from the mobile device, it means that it has entered the area where the fixed stake is located, so that it can move according to the instructions of the fixed stake signal.
- the mobile device when moving from the mobile device to the coverage area of the fixed stake signal, the fixed stake signal will be continuously received, and the closer to the fixed stake, the stronger the strength of the fixed stake signal, and the farther away from the fixed stake The weaker the strength of the stake signal. Therefore, after collecting at least one fixed stake signal, according to the signal strength of at least one fixed stake signal, the mobile device can determine the signal source of at least one fixed stake signal, and use the position indicated by the signal source as the fixed stake position. The location is the current position of the anchor, and the movement from the mobile device to the anchor.
- the self-mobile device since the application mainly regulates the moving speed of the device based on the distance between the self-mobile device and the fixed pile, the self-mobile device will obtain the signal of the designated fixed pile collected at the current location, and identify the designated fixed pile.
- the specified signal strength of the stub signal The specified signal strength will indicate the distance between the current location of the mobile device and the fixed pile.
- step 204 Acquire a distance threshold, compare the distance information with the distance threshold, and repeat step 203 when the distance information is greater than the distance threshold; and perform step 205 below when the distance information is less than or equal to the distance threshold.
- a distance threshold can be set to control when the self-mobile device starts to adjust the speed according to the distance from the fixed pile based on the distance threshold, that is, to obtain the distance threshold and compare the distance information with the distance threshold.
- the distance information is greater than the distance threshold, it means that the distance between the self-mobile device and the fixed pile is relatively long, and the speed regulation may not be performed temporarily.
- Step 205 it is necessary to continuously collect real-time distance information, and combine the real-time statistical distance information with the distance threshold For comparison, therefore, repeat the above step 203; and when the distance information is less than or equal to the distance threshold, it means that the self-mobile device is already located near the fixed pile, and it is necessary to start to achieve accurate pile alignment by controlling the speed of the self-mobile device. Therefore, execute Step 205 below.
- the distance threshold can be 20 cm, 30 cm, etc.
- the distance threshold can be appropriately increased. This application does not limit the specific value of the distance threshold.
- the distance information is less than or equal to the distance threshold, calculate the moving speed of the equipment that matches the distance information, and move to the fixed pile position according to the moving speed of the equipment.
- the moving speed of the device can be calculated in any of the following three ways:
- the first way is to obtain the current device speed from the mobile device, determine the preset speed calculation parameters, calculate the distance information and the current device speed according to the preset speed calculation parameters, and use the obtained calculation results as the device movement that matches the distance information speed.
- the preset speed calculation parameter indicates the strategy of reducing and regulating the current device speed according to the distance information, that is, the preset speed calculation parameter can determine how much the angular velocity or linear velocity should be adjusted by the mobile device under the current distance information. The reduction can ensure accurate pile loading.
- algorithms such as linear function and exponential function can be set, so as to refer to the set algorithm and calculate the distance information and current device speed according to the preset speed calculation parameters to obtain the device moving speed.
- the second method is to determine the preset speed control formula, input the current device speed and distance information into the preset speed control formula for calculation, and use the obtained calculation result as the device moving speed matching the distance information.
- the preset speed control formula indicates the linear or nonlinear control relationship between the distance information and the current device speed.
- the preset speed control formula can also be non-linear such as exponential function and logarithmic function, and can control the current device speed to decrease as the distance information decreases.
- this application does not limit the specific content of the preset speed regulation formula.
- the preset association relationship includes multiple sample distance intervals and the sample device speed corresponding to each sample distance interval in the multiple sample distance intervals.
- the preset association relationship can be obtained through self-moving The process of staking equipment is generated through multiple experiments.
- the target sample distance interval hit by the distance information can be queried among multiple sample distance intervals, the target sample device speed corresponding to the target sample distance interval in the preset association relationship can be determined, and the target sample device speed can be used as The device's movement speed matched with the distance information.
- the optimal equipment moving speed corresponding to each distance can be determined by using the sample experiment method, and the movement from the mobile equipment to the fixed pile can be directly controlled according to the established optimal equipment moving speed, without real-time speed calculation, reducing Computational burden from mobile devices.
- the stability of the self-mobile device is ensured by dynamically adjusting the backing speed, and the success rate of the backing is ensured.
- the above steps 201 to 205 describe a process of dynamically adjusting the moving speed of the device, but in the actual application process, the self-mobile device will continue in real time or periodically (for example, the speed is adjusted every 2 seconds) ) to count the distance information between the current position and the fixed pile position, and continuously calculate the moving speed of the equipment that matches the distance information, and move to the fixed pile position according to the moving speed of the equipment, so that the tail of the mobile device enters the limit of the fixed pile until the end of the mobile device triggers the in-position switch or receives a power-on signal, and starts charging or cleaning.
- the method provided in the embodiment of the present application by using the distance information from the fixed pile in the process of returning to the pile, calculate the linear velocity or angular velocity that matches the distance information as the moving speed of the equipment, and move to the position of the fixed pile according to the moving speed of the equipment.
- the distance of the fixed pile reduces the linear velocity or angular velocity of the self-moving equipment, and the swing range of the self-moving equipment is controlled by dynamically adjusting the linear velocity or angular velocity, so that the self-moving equipment can accurately align the piles and improve the efficiency and success rate of pile loading. Back pile stability is better.
- an embodiment of the present application provides a control device for self-mobile equipment.
- the device includes: a mobile module 301, a statistics module 302, and a calculation module 303 .
- the moving module 301 is used to determine the position of the fixed pile during the pile returning process, and move to the fixed pile position;
- the statistical module 302 is used to count the distance information between the current position and the position of the fixed pile;
- the calculation module 303 is used to calculate the moving speed of the device matched with the distance information
- the moving module 301 is further configured to move to the position of the fixed pile according to the moving speed of the equipment, and the moving speed of the equipment is the linear velocity or the angular velocity of the self-moving equipment.
- the mobile module 301 is configured to collect at least one fixed stake signal; determine the signal source of the at least one fixed stake signal according to the signal strength of the at least one fixed stake signal; The indicated position is used as the fixed pile position, and moves toward the fixed pile position.
- the statistics module 302 is used to obtain the designated fixed pile signal collected at the current location, identify the designated signal strength of the designated fixed pile signal; query the transmission distance corresponding to the designated signal strength , using the transmission distance as distance information between the current location and the fixed pile location.
- the device further includes: an acquisition module 401 .
- the acquiring module 401 is configured to acquire a distance threshold, and compare the distance information with the distance threshold;
- the statistical module 302 is further configured to continuously count distance information in real time when the distance information is greater than the distance threshold, and compare the real-time counted distance information with the distance threshold;
- the calculation module 303 is further configured to calculate the moving speed of the equipment matching the distance information when the distance information is less than or equal to the distance threshold, and move to the fixed pile position according to the moving speed of the equipment.
- the calculation module 303 is configured to obtain the current device speed of the self-mobile device, determine a preset speed calculation parameter, and compare the distance information and the current device according to the preset speed calculation parameter. The speed is calculated, and the obtained calculation result is used as the moving speed of the equipment matched with the distance information.
- the current equipment speed is the current angular velocity or linear velocity of the self-moving equipment
- the preset speed calculation parameters indicate The strategy of reducing and regulating the current device speed by the distance information; or, determining a preset speed regulation formula, inputting the current device speed and the distance information into the preset speed regulation formula for calculation, and calculating the obtained
- the moving speed of the device matched with the distance information the preset speed control formula indicates a linear or nonlinear control relationship between the distance information and the current device speed.
- the calculation module 303 is configured to obtain a preset association relationship, the preset association relationship includes a plurality of sample distance intervals and a sample device corresponding to each sample distance interval in the plurality of sample distance intervals Speed; query the target sample distance interval hit by the distance information in the plurality of sample distance intervals, and determine the target sample device speed corresponding to the target sample distance interval in the preset association relationship; The device speed is used as a device moving speed matched with the distance information.
- the statistical module 302 is also used to continuously count the distance information between the current position and the fixed pile position in real time or periodically, and continuously calculate the moving speed of the equipment that matches the distance information, according to The device moves at a moving speed and moves toward the fixed pile until the in-position switch is triggered or a power-on signal is received.
- the device provided in the embodiment of the present application uses the distance information from the fixed pile in the process of returning to the pile, calculates the linear velocity or angular velocity that matches the distance information as the moving speed of the equipment, and moves to the position of the fixed pile according to the moving speed of the equipment.
- the distance of the fixed pile reduces the linear velocity or angular velocity of the self-moving equipment, and the swing range of the self-moving equipment is controlled by dynamically adjusting the linear velocity or angular velocity, so that the self-moving equipment can accurately align the piles and improve the efficiency and success rate of pile loading. Back pile stability is better.
- an electronic device which includes a bus, a processor, a memory, and a communication interface, and may also include an input/output interface and a display device, wherein, between each functional unit The communication between them can be completed through the bus.
- the memory stores computer programs, and the processor is used to execute the programs stored in the memory and execute the control method of the self-mobile device in the above-mentioned embodiments.
- a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method for self-mobile equipment are realized.
- the present application can be realized by hardware, or by software plus a necessary general hardware platform.
- the technical solution of the present application can be embodied in the form of software products, which can be stored in a non-volatile storage medium (which can be CD-ROM, U disk, mobile hard disk, etc.), including several The instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute the methods described in various implementation scenarios of the present application.
- modules in the devices in the implementation scenario can be distributed among the devices in the implementation scenario according to the description of the implementation scenario, or can be located in one or more devices different from the implementation scenario according to corresponding changes.
- the modules of the above implementation scenarios can be combined into one module, or can be further split into multiple sub-modules.
- the determining the position of the fixed pile in the process of returning to the pile, and moving to the position of the fixed pile includes:
- the counting the distance information between the current position and the position of the fixed pile includes:
- the self-moving device moves into the range of the return signal sent by the fixed pile, it measures the distance between itself and the fixed pile through the distance measuring device.
- the counting the distance information between the current position and the position of the fixed pile includes:
- the method further includes:
- the distance information When the distance information is greater than the distance threshold, continue to count the distance information in real time, and compare the real-time counted distance information with the distance threshold;
- the calculating the moving speed of the device matched with the distance information includes:
- the current device speed of the self-mobile device determines a preset speed calculation parameter, calculate the distance information and the current device speed according to the preset speed calculation parameter, and use the obtained calculation result as the distance
- the moving speed of the equipment matched with the information, the current equipment speed is the current angular velocity or linear velocity of the self-mobile equipment, and the preset speed calculation parameter indicates a strategy for reducing and regulating the current equipment speed according to the distance information ;or,
- the speed regulation formula indicates the linear or non-linear regulation relationship between the distance information and the current device speed.
- the calculating the moving speed of the device matched with the distance information includes:
- the preset association relationship including a plurality of sample distance intervals and a sample device speed corresponding to each sample distance interval in the plurality of sample distance intervals;
- the target sample device speed is used as a device moving speed matched with the distance information.
- the method also includes:
- the mobile module is configured to collect at least one fixed stake signal; determine the signal source of the at least one fixed stake signal according to the signal strength of the at least one fixed stake signal; The position indicated by the source serves as the peg position, and moves towards the peg position.
- the statistical module is configured to obtain the designated fixed pile signal collected at the current location, identify the designated signal strength of the designated fixed pile signal; query the transmission corresponding to the designated signal strength distance, using the transmission distance as distance information between the current location and the fixed pile location.
- the device also includes:
- An acquisition module configured to acquire a distance threshold, and compare the distance information with the distance threshold
- the statistical module is further configured to continuously count distance information in real time when the distance information is greater than the distance threshold, and compare the real-time counted distance information with the distance threshold;
- the calculation module is further configured to calculate a moving speed of equipment matching the distance information when the distance information is less than or equal to the distance threshold, and move to the fixed pile position according to the moving speed of the equipment.
- the calculation module is configured to obtain the current device speed of the self-mobile device, determine a preset speed calculation parameter, and compare the distance information and the current speed according to the preset speed calculation parameter.
- the device speed is calculated, and the obtained calculation result is used as the device moving speed matched with the distance information
- the current device speed is the current angular velocity or linear velocity of the self-mobile device
- the preset speed calculation parameters indicate according to A strategy for reducing and regulating the current device speed by the distance information; or, determining a preset speed regulation formula, inputting the current device speed and the distance information into the preset speed regulation formula for calculation, and obtaining the
- the calculation result is used as the moving speed of the device matched with the distance information, and the preset speed control formula indicates a linear or non-linear control relationship between the distance information and the current device speed.
- the calculation module is configured to obtain a preset association relationship, the preset association relationship includes a plurality of sample distance intervals and samples corresponding to each sample distance interval in the plurality of sample distance intervals Device speed; query the target sample distance interval hit by the distance information in the plurality of sample distance intervals, and determine the target sample device speed corresponding to the target sample distance interval in the preset association relationship; set the target The sample device speed is used as a device moving speed matched with the distance information.
- the statistical module is further configured to continuously count the distance information between the current position and the fixed pile position in real time or periodically, and continuously calculate the moving speed of the equipment matching the distance information, According to the moving speed of the equipment, move to the fixed pile position until the in-position switch is triggered or a power-on signal is received.
- the application provides a control method, device, electronic equipment and readable storage medium for self-moving equipment.
- the self-moving equipment is controlled by dynamically adjusting the linear velocity or angular velocity.
- the swing range enables the self-moving equipment to accurately align piles, improving the efficiency and success rate of pile loading, and the stability of pile returning is better.
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Abstract
一种自移动设备的控制方法、装置、电子设备及可读存储介质，涉及设备控制技术领域，在向固定桩移动时，通过动态调整线速度或角速度控制自移动设备的摆动幅度，使自移动设备能够准确对桩，提升上桩效率和上桩成功率，回桩稳定性较好。其中的方法包括：在回桩过程中确定固定桩位置，向固定桩位置移动(101)；当检测到回桩信号时，统计当前位置与固定桩位置之间的距离信息(102)；计算与距离信息匹配的设备移动速度，按照设备移动速度，向固定桩位置移动(103)；其中，设备移动速度包括自移动设备的线速度或角速度。
Description
相关申请的交叉引用
本申请要求于2022年1月4日递交的中国专利申请202210004272.3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。
本申请涉及设备控制技术领域，特别是涉及一种自移动设备的控制方法、装置、电子设备及可读存储介质。
自移动设备是一种能够在程序的控制下自动移动的设备，比如扫地自行走设备、拖地自行走设备、擦窗自行走设备等。自移动设备能够接收用户发出的控制指令，响应于控制指令进行工作。在工作完成后，或者在接收到用户的回桩指令后，或者在电量不足时，自移动设备会自动返回到充电桩进行充电或维护(比如集尘、清洗拖布等)。
相关技术中，自移动设备在回桩过程中，为保证一次上桩成功率需要在距离桩一定位置后，对准到桩正中心的位置以前向或者后向的方向入桩充电。当桩上的到位开关被触发后，即表示自移动设备已回桩成功，开始充电或者进行其他功能。因此，如何准确、稳定的触发到位开关成为了一个亟待解决的问题。
发明内容
依据本申请第一方面，提供了一种自移动设备的控制方法，该方法包括：
在回桩过程中确定固定桩位置，向所述固定桩位置移动；
统计当前位置与所述固定桩位置之间的距离信息；
计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动，所述设备移动速度包括自移动设备的线速度或角速度。
依据本申请第二方面，提供了一种自移动设备的控制装置，该装置包括：
移动模块，用于在回桩过程中确定固定桩位置，向所述固定桩位置移动；
统计模块，用于统计当前位置与所述固定桩位置之间的距离信息；
计算模块，用于计算与所述距离信息匹配的设备移动速度；
所述移动模块，还用于按照所述设备移动速度，向所述固定桩位置移动，所述设备移动速度包括自移动设备的线速度或角速度。
依据本申请第三方面，提供了一种电子设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现上述第一方面中任一项所述方法的 步骤。
依据本申请第四方面，提供了一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述第一方面中任一项所述的方法的步骤。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1示出了本申请实施例提供的一种自移动设备的控制方法流程示意图；
图2示出了本申请实施例提供的一种自移动设备的控制方法流程示意图；
图3示出了本申请实施例提供的一种自移动设备的控制装置的结构示意图；
图4示出了本申请实施例提供的一种自移动设备的控制装置的结构示意图；
图5示出了本申请实施例提供的一种电子设备的装置结构示意图。
下面将参照附图更详细地描述本申请的示例性实施例。虽然附图中显示了本申请的示例性实施例，然而应当理解，可以以各种形式实现本申请而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本申请，并且能够将本申请的范围完整的传达给本领域的技术人员。
本申请提供一种自移动设备的控制方法、装置、电子设备及可读存储介质，能够解决目前自移动设备的回桩稳定性较差，上桩成功率不高的问题。
在自移动设备后向回桩过程中，由于依赖后到位开关的触发，所以为了稳定回桩，很多清洁桩、充电桩上等固定桩上设置有限位槽，基于限位槽固定自移动设备的尾部。
由于限位槽的存在，扫地机器人、擦地机器人等自移动设备的软件需要进行相应的适配，也即在靠近限位槽时，自移动设备的机尾依据逐渐收窄的信号进行摆动跟踪(即左右摆动进行回桩动作)。如果自移动设备行驶的线速度或角速度偏大，自移动设备的机尾容易错过限位槽导致回桩失败，从而需要重新下桩后再次执行回桩操作；反之如果偏小，自移动设备需要消耗大量的时间寻找限位槽的位置，上桩效率比较低。因此，为了自移动设备的机尾高效且准确的进入限位槽触发到位开关，在本实施例中提出了一种自移动设备的控制方法，在执行回桩动作时，确定固定桩位置，向固定桩位置移动，统计当前位置与固定桩位置之间的距离信息，并计算与距离信息匹配的线速度或角速度作为设备移动速度，按照上述设备移动速度向固定桩位置移动，依据与固定桩的距离对自移动设备的线速度或 角速度进行缩减，通过动态调整线速度或角速度相应的控制自移动设备的移动速度和摆动幅度，使自移动设备能够准确对桩，提升上桩效率和上桩成功率，回桩稳定性较好。
本申请实施例提供了一种自移动设备的控制方法，如图1所示，该方法包括：
101、在回桩过程中确定固定桩位置，向固定桩位置移动。
其中，自移动设备与用户所持终端之间存在数据链接，用户通过在终端上操作能够向自移动设备下达诸如开始清扫、回桩充电等移动控制指令，从而解放用户的双手。因此，自移动设备在正常的工作过程中会接收到用户基于终端发出的用于控制自移动设备回到固定桩执行充电、回洗等上桩操作的移动控制指令，这样，响应于移动控制指令，自移动设备会确定固定桩位置，向固定桩位置移动。需要说明的是，自移动设备也会在完成相应的工作后自动回到固定桩进行充电、集尘、回洗等操作，此时亦需要在确定固定桩位置后向固定桩位置移动。因此，自移动设备的回桩操作可以是主动行为也可以是被动行为，本申请对此不进行具体限定。
固定桩位置也即固定桩当前所处位置，固定桩可以是为自移动设备进行充电的充电桩；也可以是供自移动设备清洗维护的清洁桩，以便向自移动设备提供清水、集尘、清洁自移动设备上的清洁部件、容纳自移动设备的污水中的任意一种功能或任意功能的组合；还可以是兼具充电和清洗维护功能的桩。本申请对固定桩具体提供的功能不进行限定。
102、当检测到回桩信号时，统计当前位置与固定桩位置之间的距离信息。
在本实施例中，自移动设备在确定需要启动回桩操作时，先会根据在此之前保存的固定桩在地图中的位置向固定桩方向移动。当自移动设备检测到位于固定桩回桩信号覆盖范围内(即检测到回桩信号时)，即表明自身已位于固定桩所在区域，此时可通过回桩信号确定自身相对于固定桩中心位置的偏移量，并根据该偏移量控制自身移动至对准固定桩正中心位置(即移动到固定桩的正前方)，并通过测距装置测量自身相对于固定桩的距离。
其中，由于本申请是依据与固定桩的距离对自移动设备的线速度或角速度进行缩减，从而动态调整线速度或角速度，控制自移动设备的摆动幅度的，因此，自移动设备会持续统计当前位置与固定桩位置之间的距离信息，以便按照统计到的距离信息确定设备移动速度。距离信息可以是当前位置与固定桩位置之间的直线距离，避免自移动设备与固定桩之间的障碍物对自移动设备速度的调控造成干扰。
103、计算与距离信息匹配的设备移动速度，按照该设备移动速度，向固定桩位置移动。
其中，确定了距离信息后，需要计算与距离信息匹配的设备移动速度，按照设备移动速度，向固定桩位置移动。具体地，计算的设备移动速度是与距离信息相适应的速度，设备移动速度随着距离信息的减小而缩减。也即自移动设备与固定桩之间的距离越近，自移动设备的设备移动速度越低，从而保证自移动设备对桩的准确性。
进一步地，设备移动速度可以包括自移动设备的线速度或角速度，这样，通过动态调整线速度或角速度，使得能够控制自移动设备的摆动幅度，自移动设备与固定桩之间的距 离越近，摆动幅度越小，避免自移动设备摆动到限位槽外面或丢失信号。
本申请实施例提供的方法，根据当前位置与固定桩位置之间的距离信息，并计算与距离信息匹配的线速度或角速度作为设备移动速度，按照设备移动速度向固定桩位置移动，依据与固定桩的距离对自移动设备的线速度或角速度进行缩减，通过动态调整线速度或角速度控制自移动设备的摆动幅度，使自移动设备能够准确对桩，提升上桩效率和上桩成功率，回桩稳定性较好。
进一步的，作为上述实施例具体实施方式的细化和扩展，为了完整说明本实施例的具体实施过程，本申请实施例提供了另一种自移动设备的控制方法，如图2所示，该方法包括：
201、在回桩过程中，采集至少一个固定桩信号。
本申请实施例以自移动设备回到固定桩执行充电、回洗等上桩操作为例进行说明，这样，自移动设备在回桩过程中需要采集预设采集范围内的至少一个固定桩信号，从而在后续根据固定桩信号的强度确定当前固定桩摆放在哪个位置，进而向该位置进行移动。其中，至少一个固定桩信号是固定桩向外广播的信号，具体可以为回桩信号等等。由于固定桩发射的回桩信号范围有限，因此，当自移动设备采集到回桩信号后，即表示已进入到固定桩所在区域，从而可以按照固定桩信号的指示进行移动。
202、按照至少一个固定桩信号的信号强度，确定至少一个固定桩信号的信号来源，将信号来源指示的位置作为固定桩位置，以及向固定桩位置移动。
在本申请实施例中，当自移动设备移动至固定桩信号覆盖范围内时，会不断的接收到固定桩信号，且距离固定桩越近的固定桩信号的强度越强，距离固定桩越远的固定桩信号的强度越弱。因此，采集到至少一个固定桩信号后，按照至少一个固定桩信号的信号强度，自移动设备便可以确定至少一个固定桩信号的信号来源，将信号来源指示的位置作为固定桩位置，该固定桩位置也即固定桩当前所处位置，以及自移动设备向固定桩位置移动。
203、获取在当前位置采集到的指定固定桩信号，识别指定固定桩信号的指定信号强度，查询指定信号强度对应的传输距离，将传输距离作为当前位置与固定桩位置之间的距离信息。
在本申请实施例中，由于本申请主要依据自移动设备与固定桩之间的距离进行设备移动速度的调控，因此，自移动设备会获取在当前位置采集到的指定固定桩信号，识别指定固定桩信号的指定信号强度。指定信号强度会指示自移动设备当前所处位置与固定桩之间的距离有多远，信号强度与距离之间是具有关联性的，因此，自移动设备查询指定信号强度对应的传输距离，将传输距离作为当前位置与固定桩位置之间的距离信息，并在后续按照该距离信息进行速度的调控，提升上桩效率。
204、获取距离阈值，将距离信息与距离阈值进行比对，当距离信息大于距离阈值时，重复执行上述步骤203；当距离信息小于等于距离阈值时，执行下述步骤205。
在本申请实施例中，考虑到自移动设备距离固定桩较远时进行速度调控的意义不大，自移动设备与固定桩距离较近时的速度才能够真正决定自移动设备能否准确上桩。因此，可以设置距离阈值，基于距离阈值控制自移动设备何时开始根据与固定桩之间的距离进行速度的调控，也即获取距离阈值，将距离信息与距离阈值进行比对。相应地，当距离信息大于距离阈值时，表示自移动设备与固定桩之间的距离较远，暂时可以不进行速度的调控，需要持续实时统计距离信息，以及将实时统计的距离信息与距离阈值进行比对，因此，重复执行上述步骤203；而当距离信息小于等于距离阈值时，表示自移动设备已经位于固定桩附近，需要开始通过对自移动设备进行速度调控实现准确对桩，因此，执行下述步骤205。
在实际应用的过程中，距离阈值可以为20厘米、30厘米等，为了提升自移动设备上桩的准确率可以适当增大距离阈值，本申请对距离阈值的具体取值不进行限定。
205、当距离信息小于等于距离阈值时，计算与距离信息匹配的设备移动速度，按照设备移动速度，向固定桩位置移动。
在本申请实施例中，当距离信息小于等于距离阈值时，表示自移动设备已经位于固定桩附近，需要开始通过对自移动设备进行速度调控实现准确对桩，因此，需要计算与距离信息匹配的设备移动速度，按照设备移动速度，向固定桩位置移动。在一个可选地实施方案中，设备移动速度可以采用下述三种方式中任意方式计算得出：
第一种方式，获取自移动设备的当前设备速度，确定预设速度计算参数，按照预设速度计算参数对距离信息和当前设备速度进行计算，将得到的计算结果作为与距离信息匹配的设备移动速度。其中，预设速度计算参数指示了按照距离信息对当前设备速度进行缩减调控的策略，也即通过预设速度计算参数可以确定在当前的距离信息下，自移动设备应当将角速度或线速度进行多少的缩减才能够保证精准上桩。在实际应用的过程中，可以设置诸如线性函数、指数函数等算法，从而参考设置的算法，按照预设速度计算参数对距离信息和当前设备速度进行计算得到设备移动速度。
第二种方式，确定预设速度调控公式，将当前设备速度和距离信息输入预设速度调控公式进行计算，将得到的计算结果作为与距离信息匹配的设备移动速度。其中，预设速度调控公式指示了距离信息与当前设备速度之间线性或非线性的调控关系，具体预设速度调控公式可以是诸如Z＝X-0.5Y的线性公式，Z表示设备移动速度，X表示当前设备速度，Y表示距离信息，这样将X和Y的取值输入到该公式中便可以得到Z的取值，按照Z的取值向固定桩移动。需要说明的是，上面的公式只是一种举例，实际应用的过程中预设速度调控公式还可以是诸如指数函数、对数函数等非线性且能够控制当前设备速度随着距离信息缩减而缩减的公式，本申请对预设速度调控公式的具体内容不进行限定。
第三种方式，首先，获取预设关联关系，预设关联关系包括多个样本距离区间以及多个样本距离区间中每个样本距离区间对应的样本设备速度，预设关联关系可以通过对自移动设备上桩过程进行多次实验生成。也即事先设置多个样本距离区间，多次执行自移动设备的上桩过程，并在每个上桩过程中分别确定多个样本距离区间中每个样本距离区间对应 的合适的角速度或线速度取值进行记录；最后，对于每个样本距离区间在多次上桩过程中获取到的合适的角速度或线速度，计算该样本距离区间对应的角速度或线速度的平均值，将该平均值作为该样本距离区间对应的样本设备速度。这样，实际应用的过程中，可以在多个样本距离区间中查询距离信息命中的目标样本距离区间，确定目标样本距离区间在预设关联关系中对应的目标样本设备速度，将目标样本设备速度作为与距离信息匹配的设备移动速度。通过第三种方式，可以利用样本实验的方法确定每个距离对应的最优设备移动速度，直接按照既定的最优设备移动速度控制自移动设备向固定桩进行移动，无需实时进行速度计算，减轻自移动设备的计算负担。
这样，通过执行上述步骤201至步骤205中的过程，便通过动态调整回桩速度保证自移动设备的回桩稳定性，保证了上桩成功率。需要说明的是，上面步骤201至步骤205中描述的是一次动态调控设备移动速度的过程，而在实际应用的过程中，自移动设备会持续实时或周期(比如每隔2秒进行一次速度调控)的统计当前位置与固定桩位置之间的距离信息，并持续计算与距离信息匹配的设备移动速度，按照设备移动速度，向固定桩位置移动，使得自移动设备的尾部进入固定桩的限位槽，直至自移动设备的尾部触发到位开关或接收到通电信号，开始进行充电或者清洗。
本申请实施例提供的方法，通过在回桩过程中利用与固定桩的距离信息，计算与距离信息匹配的线速度或角速度作为设备移动速度，按照设备移动速度，向固定桩位置移动，依据与固定桩的距离对自移动设备的线速度或角速度进行缩减，通过动态调整线速度或角速度控制自移动设备的摆动幅度，使自移动设备能够准确对桩，提升上桩效率和上桩成功率，回桩稳定性较好。
进一步地，作为图1所述方法的具体实现，本申请实施例提供了一种自移动设备的控制装置，如图3所示，所述装置包括：移动模块301，统计模块302，计算模块303。
该移动模块301，用于在回桩过程中确定固定桩位置，向所述固定桩位置移动；
该统计模块302，用于统计当前位置与所述固定桩位置之间的距离信息；
该计算模块303，用于计算与所述距离信息匹配的设备移动速度；
该移动模块301，还用于按照所述设备移动速度，向所述固定桩位置移动，所述设备移动速度为自移动设备的线速度或角速度。
在具体的应用场景中，该移动模块301，用于采集至少一个固定桩信号；按照所述至少一个固定桩信号的信号强度，确定所述至少一个固定桩信号的信号来源；将所述信号来源指示的位置作为所述固定桩位置，以及向所述固定桩位置移动。
在具体的应用场景中，该统计模块302，用于获取在所述当前位置采集到的指定固定桩信号，识别所述指定固定桩信号的指定信号强度；查询所述指定信号强度对应的传输距离，将所述传输距离作为所述当前位置与所述固定桩位置之间的距离信息。
在具体的应用场景中，如图4所示，该装置还包括：获取模块401。
该获取模块401，用于获取距离阈值，将所述距离信息与所述距离阈值进行比对；
该统计模块302，还用于当所述距离信息大于所述距离阈值时，持续实时统计距离信息，以及将实时统计的距离信息与所述距离阈值进行比对；
该计算模块303，还用于当所述距离信息小于等于所述距离阈值时，计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动。
在具体的应用场景中，该计算模块303，用于获取所述自移动设备的当前设备速度，确定预设速度计算参数，按照所述预设速度计算参数对所述距离信息和所述当前设备速度进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述当前设备速度为所述自移动设备当前的角速度或线速度，所述预设速度计算参数指示了按照所述距离信息对所述当前设备速度进行缩减调控的策略；或，确定预设速度调控公式，将所述当前设备速度和所述距离信息输入所述预设速度调控公式进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述预设速度调控公式指示了距离信息与当前设备速度之间线性或非线性的调控关系。
在具体的应用场景中，该计算模块303，用于获取预设关联关系，所述预设关联关系包括多个样本距离区间以及所述多个样本距离区间中每个样本距离区间对应的样本设备速度；在所述多个样本距离区间中查询所述距离信息命中的目标样本距离区间，确定所述目标样本距离区间在所述预设关联关系中对应的目标样本设备速度；将所述目标样本设备速度作为与所述距离信息匹配的设备移动速度。
在具体的应用场景中，该统计模块302，还用于持续实时或周期的统计当前位置与所述固定桩位置之间的距离信息，并持续计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动，直至触发到位开关或接收到通电信号。
本申请实施例提供的装置，通过在回桩过程中利用与固定桩的距离信息，计算与距离信息匹配的线速度或角速度作为设备移动速度，按照设备移动速度，向固定桩位置移动，依据与固定桩的距离对自移动设备的线速度或角速度进行缩减，通过动态调整线速度或角速度控制自移动设备的摆动幅度，使自移动设备能够准确对桩，提升上桩效率和上桩成功率，回桩稳定性较好。
需要说明的是，本申请实施例提供的一种自移动设备的控制装置所涉及各功能单元的其他相应描述，可以参考图1和图2中的对应描述，在此不再赘述。
在示例性实施例中，参见图5，还提供了一种电子设备，该电子设备包括总线、处理器、存储器和通信接口，还可以包括输入输出接口和显示设备，其中，各个功能单元之间可以通过总线完成相互间的通信。该存储器存储有计算机程序，处理器，用于执行存储器上所存放的程序，执行上述实施例中的自移动设备的控制方法。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现所述的自移动设备的控制方法的步骤。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到本申请可以通过硬件实现，也可以借助软件加必要的通用硬件平台的方式来实现。基于这样的理解，本申请的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD-ROM，U盘，移动硬盘等)中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施场景所述的方法。
本领域技术人员可以理解附图只是一个优选实施场景的示意图，附图中的模块或流程并不一定是实施本申请所必须的。
本领域技术人员可以理解实施场景中的装置中的模块可以按照实施场景描述进行分布于实施场景的装置中，也可以进行相应变化位于不同于本实施场景的一个或多个装置中。上述实施场景的模块可以合并为一个模块，也可以进一步拆分成多个子模块。
上述本申请序号仅仅为了描述，不代表实施场景的优劣。
根据本申请的一些实施例，所述在回桩过程中确定固定桩位置，向所述固定桩位置移动，包括：
采集至少一个固定桩信号；
按照所述至少一个固定桩信号的信号强度，确定所述至少一个固定桩信号的信号来源；
将所述信号来源指示的位置作为所述固定桩位置，以及向所述固定桩位置移动。
根据本申请的一些实施例，所述统计当前位置与所述固定桩位置之间的距离信息，包括：
所述自移动设备在移动到所述固定桩发出的回桩信号范围内时，通过测距装置测量自身相对于固定桩的距离。
根据本申请的一些实施例，所述统计当前位置与所述固定桩位置之间的距离信息，包括：
获取在所述当前位置采集到的指定固定桩信号，识别所述指定固定桩信号的指定信号强度；
查询所述指定信号强度对应的传输距离，将所述传输距离作为所述当前位置与所述固定桩位置之间的距离信息。
根据本申请的一些实施例，所述统计当前位置与所述固定桩位置之间的距离信息之后，所述方法还包括：
获取距离阈值，将所述距离信息与所述距离阈值进行比对；
当所述距离信息大于所述距离阈值时，持续实时统计距离信息，以及将实时统计的距离信息与所述距离阈值进行比对；
当所述距离信息小于等于所述距离阈值时，计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动。
根据本申请的一些实施例，所述计算与所述距离信息匹配的设备移动速度，包括：
获取所述自移动设备的当前设备速度，确定预设速度计算参数，按照所述预设速度计算参数对所述距离信息和所述当前设备速度进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述当前设备速度为所述自移动设备当前的角速度或线速度，所述预设速度计算参数指示了按照所述距离信息对所述当前设备速度进行缩减调控的策略；或，
确定预设速度调控公式，将所述当前设备速度和所述距离信息输入所述预设速度调控公式进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述预设速度调控公式指示了距离信息与当前设备速度之间线性或非线性的调控关系。
根据本申请的一些实施例，所述计算与所述距离信息匹配的设备移动速度，包括：
获取预设关联关系，所述预设关联关系包括多个样本距离区间以及所述多个样本距离区间中每个样本距离区间对应的样本设备速度；
在所述多个样本距离区间中查询所述距离信息命中的目标样本距离区间，确定所述目标样本距离区间在所述预设关联关系中对应的目标样本设备速度；
将所述目标样本设备速度作为与所述距离信息匹配的设备移动速度。
根据本申请的一些实施例，所述方法还包括：
持续实时或周期的统计当前位置与所述固定桩位置之间的距离信息，并持续计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动，直至触发到位开关或接收到通电信号。
根据本申请的一些实施例，所述移动模块，用于采集至少一个固定桩信号；按照所述至少一个固定桩信号的信号强度，确定所述至少一个固定桩信号的信号来源；将所述信号来源指示的位置作为所述固定桩位置，以及向所述固定桩位置移动。
根据本申请的一些实施例，所述统计模块，用于获取在所述当前位置采集到的指定固定桩信号，识别所述指定固定桩信号的指定信号强度；查询所述指定信号强度对应的传输距离，将所述传输距离作为所述当前位置与所述固定桩位置之间的距离信息。
根据本申请的一些实施例，所述装置还包括：
获取模块，用于获取距离阈值，将所述距离信息与所述距离阈值进行比对；
所述统计模块，还用于当所述距离信息大于所述距离阈值时，持续实时统计距离信息，以及将实时统计的距离信息与所述距离阈值进行比对；
所述计算模块，还用于当所述距离信息小于等于所述距离阈值时，计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动。
根据本申请的一些实施例，所述计算模块，用于获取所述自移动设备的当前设备速度，确定预设速度计算参数，按照所述预设速度计算参数对所述距离信息和所述当前设备速度进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述当前设备速度为所述自移动设备当前的角速度或线速度，所述预设速度计算参数指示了按照所述距离信息对所述当前设备速度进行缩减调控的策略；或，确定预设速度调控公式，将所述当前 设备速度和所述距离信息输入所述预设速度调控公式进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述预设速度调控公式指示了距离信息与当前设备速度之间线性或非线性的调控关系。
根据本申请的一些实施例，所述计算模块，用于获取预设关联关系，所述预设关联关系包括多个样本距离区间以及所述多个样本距离区间中每个样本距离区间对应的样本设备速度；在所述多个样本距离区间中查询所述距离信息命中的目标样本距离区间，确定所述目标样本距离区间在所述预设关联关系中对应的目标样本设备速度；将所述目标样本设备速度作为与所述距离信息匹配的设备移动速度。
根据本申请的一些实施例，所述统计模块，还用于持续实时或周期的统计当前位置与所述固定桩位置之间的距离信息，并持续计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动，直至触发到位开关或接收到通电信号。
借由上述技术方案，本申请提供的一种自移动设备的控制方法、装置、电子设备及可读存储介质，本申请在向固定桩移动时，通过动态调整线速度或角速度控制自移动设备的摆动幅度，使自移动设备能够准确对桩，提升上桩效率和上桩成功率，回桩稳定性较好。
以上公开的仅为本申请的几个具体实施场景，但是，本申请并非局限于此，任何本领域的技术人员能思之的变化都应落入本申请的保护范围。
Claims (17)
- 一种自移动设备的控制方法，包括：在回桩过程中确定固定桩位置，向所述固定桩位置移动；统计当前位置与所述固定桩位置之间的距离信息；计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动，所述设备移动速度包括自移动设备的线速度或角速度。
- 根据权利要求1所述的方法，其中，所述在回桩过程中确定固定桩位置，向所述固定桩位置移动，包括：采集至少一个固定桩信号；按照所述至少一个固定桩信号的信号强度，确定所述至少一个固定桩信号的信号来源；将所述信号来源指示的位置作为所述固定桩位置，以及向所述固定桩位置移动。
- 根据权利要求1或2所述的方法，其中，所述统计当前位置与所述固定桩位置之间的距离信息，包括：所述自移动设备在移动到所述固定桩发出的回桩信号范围内时，通过测距装置测量自身相对于固定桩的距离。
- 根据权利要求1或2所述的方法，其中，所述统计当前位置与所述固定桩位置之间的距离信息，包括：获取在所述当前位置采集到的指定固定桩信号，识别所述指定固定桩信号的指定信号强度；查询所述指定信号强度对应的传输距离，将所述传输距离作为所述当前位置与所述固定桩位置之间的距离信息。
- 根据权利要求1或2所述的方法，其中，所述统计当前位置与所述固定桩位置之间的距离信息之后，所述方法还包括：获取距离阈值，将所述距离信息与所述距离阈值进行比对；当所述距离信息大于所述距离阈值时，持续实时统计距离信息，以及将实时统计的距离信息与所述距离阈值进行比对；当所述距离信息小于等于所述距离阈值时，计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动。
- 根据权利要求1至5中任一项所述的方法，其中，所述计算与所述距离信息匹配的设备移动速度，包括：获取所述自移动设备的当前设备速度，确定预设速度计算参数，按照所述预设速度计算参数对所述距离信息和所述当前设备速度进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述当前设备速度为所述自移动设备当前的角速度或线速度，所述预设速度计算参数指示了按照所述距离信息对所述当前设备速度进行缩减调控的策略；或，确定预设速度调控公式，将所述当前设备速度和所述距离信息输入所述预设速度调控公式进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述预设速度调控公式指示了距离信息与当前设备速度之间线性或非线性的调控关系。
- 根据权利要求1至5中任一项所述的方法，其中，所述计算与所述距离信息匹配的设备移动速度，包括：获取预设关联关系，所述预设关联关系包括多个样本距离区间以及所述多个样本距离区间中每个样本距离区间对应的样本设备速度；在所述多个样本距离区间中查询所述距离信息命中的目标样本距离区间，确定所述目标样本距离区间在所述预设关联关系中对应的目标样本设备速度；将所述目标样本设备速度作为与所述距离信息匹配的设备移动速度。
- 根据权利要求1至7中任一项所述的方法，其中，所述方法还包括：持续实时或周期的统计当前位置与所述固定桩位置之间的距离信息，并持续计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动，直至触发到位开关或接收到通电信号。
- 一种自移动设备的控制装置，其中，包括：移动模块，用于在回桩过程中确定固定桩位置，向所述固定桩位置移动；统计模块，用于统计当前位置与所述固定桩位置之间的距离信息；计算模块，用于计算与所述距离信息匹配的设备移动速度；所述移动模块，还用于按照所述设备移动速度，向所述固定桩位置移动，所述设备移动速度包括自移动设备的线速度或角速度。
- 根据权利要求9所述的装置，其中，所述移动模块，用于采集至少一个固定桩信号；按照所述至少一个固定桩信号的信号强度，确定所述至少一个固定桩信号的信号来源；将所述信号来源指示的位置作为所述固定桩位置，以及向所述固定桩位置移动。
- 根据权利要求9或10所述的装置，其中，所述统计模块，用于获取在所述当前位置采集到的指定固定桩信号，识别所述指定固定桩信号的指定信号强度；查询所述指定信号强度对应的传输距离，将所述传输距离作为所述当前位置与所述固定桩位置之间的距离信息。
- 根据权利要求9或10所述的装置，其中，所述装置还包括：获取模块，用于获取距离阈值，将所述距离信息与所述距离阈值进行比对；所述统计模块，还用于当所述距离信息大于所述距离阈值时，持续实时统计距离信息，以及将实时统计的距离信息与所述距离阈值进行比对；所述计算模块，还用于当所述距离信息小于等于所述距离阈值时，计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动。
- 根据权利要求9至12中任一项所述的装置，其中，所述计算模块，用于获取所述自移动设备的当前设备速度，确定预设速度计算参数，按照所述预设速度计算参数对所述距离信息和所述当前设备速度进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述当前设备速度为所述自移动设备当前的角速度或线速度，所述预设速度计算参数指示了按照所述距离信息对所述当前设备速度进行缩减调控的策略；或，确定预设速度调控公式，将所述当前设备速度和所述距离信息输入所述预设速度调控公式进行计算，将得到的计算结果作为与所述距离信息匹配的设备移动速度，所述预设速度调控公式指示了距离信息与当前设备速度之间线性或非线性的调控关系。
- 根据权利要求9至12中任一项所述的装置，其中，所述计算模块，用于获取预设关联关系，所述预设关联关系包括多个样本距离区间以及所述多个样本距离区间中每个样本距离区间对应的样本设备速度；在所述多个样本距离区间中查询所述距离信息命中的目标样本距离区间，确定所述目标样本距离区间在所述预设关联关系中对应的目标样本设备速度；将所述目标样本设备速度作为与所述距离信息匹配的设备移动速度。
- 根据权利要求9至14中任一项所述的装置，其中，所述统计模块，还用于持续实时或周期的统计当前位置与所述固定桩位置之间的距离信息，并持续计算与所述距离信息匹配的设备移动速度，按照所述设备移动速度，向所述固定桩位置移动，直至触发到位开关或接收到通电信号。
- 一种电子设备，包括存储器和处理器，所述存储器存储有计算机程序，其中，所述处理器执行所述计算机程序时实现权利要求1至8中任一项所述方法的步骤。
- 一种可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现权利要求1至8中任一项所述的方法的步骤。
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