WO2023160368A1

WO2023160368A1 - Self-moving device control method, device, and storage medium

Info

Publication number: WO2023160368A1
Application number: PCT/CN2023/074694
Authority: WO
Inventors: 顾一休; 杨咚浩; 吴杰群
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2022-02-25
Filing date: 2023-02-07
Publication date: 2023-08-31
Also published as: CN116700237A

Abstract

A self-moving device control method, a device, and a storage medium, wherein the method comprises: controlling a self-moving device to travel in a target passage, the target passage referring to a passage having a passage spacing greater than a minimum distance and less than a maximum distance (201); and when it is determined that the self-moving device is unable to pass through the target passage, controlling the self-moving device to reverse so as to exit the target passage (202). The problem that the self-moving device may not be able to achieve direction reversal in a narrow passage, resulting in that the self-moving device cannot leave the narrow passage can be solved; and after determining that the self-moving device cannot reverse the direction of travel in the target passage, the self-moving device is controlled to reverse to exit the target passage, so that even if the self-moving device is non-circular, the self-moving device is prevented from being trapped in the target passage due to the inability to turn around, thereby ensuring the escape effect of the self-moving device.

Description

Control method, device and storage medium of mobile device

This application claims the priority of the following patent application: a Chinese patent application filed with the China Patent Office on February 25, 2022, with the application number 202210190809.X and the title of the invention "Control method, device and storage medium for self-moving devices", The entire contents of the aforementioned patent applications are incorporated by reference in this application.

technical field

The present application belongs to the field of automatic control, and in particular relates to a control method, device and storage medium of a self-moving device.

Background technique

Currently, self-mobile devices can enter narrow passages through collisions and move within narrow passages. In the event that the mobile device cannot pass through the narrow passage, it is necessary to leave the narrow passage.

The traditional method for leaving the narrow passage from the mobile device includes: controlling the mobile device to turn around so as to leave the narrow passage.

However, the self-mobile device may not be able to achieve direction reversal in the narrow passage, which may cause the problem that the self-mobile device cannot leave the narrow passage.

Contents of the invention

The present application provides a control method, device and storage medium of a self-moving device, which can solve the problem that the self-moving device may not be able to achieve direction reversal in a narrow passage, which may cause the self-moving device to be unable to leave the narrow passage. This application provides the following technical solutions:

In a first aspect, a method for controlling a self-moving device is provided, wherein the minimum distance between non-adjacent edge parts of the self-moving device is not equal to the maximum distance between non-adjacent edge parts; the method includes:

controlling the self-moving device to travel in a target channel, where the target channel refers to a channel whose channel spacing is greater than the minimum distance and smaller than the maximum distance;

When it is determined that the self-moving device cannot pass through the target channel, controlling the self-mobile device to reverse to exit the target channel.

Optionally, the self-moving device includes a wheel body and a driving member connected to the wheel body; During the traveling process of the self-moving device, the driving member runs in a first direction to drive the wheel body to move;

The controls for reversing from the mobile device include:

The driving member is controlled to run in a second direction to drive the wheel body to drive the self-moving device backward, and the second direction is opposite to the first direction.

Optionally, the controlling the self-mobile device to reverse includes:

Obtain the middle position of the target channel;

Controlling the self-mobile device to reverse according to the intermediate position.

Optionally, after the controlling the self-mobile device to reverse according to the intermediate position, further includes:

In the event that the self-mobile device collides, adjusting a reverse direction based on the collision location;

Controlling the self-mobile device to reverse according to the adjusted reverse direction.

Optionally, the controlling the self-mobile device to reverse according to the adjusted reverse direction includes;

Adjusting the reverse direction to a direction away from the collision position by a preset angle to obtain the adjusted reverse direction.

Optionally, before adjusting the reverse direction based on the collision position, it also includes:

Recording the number of times that the self-mobile device collides during the backward process;

When the number of times reaches the number threshold, an alarm prompt is output or a preset escape action is executed.

Optionally, the preset escape action includes:

Regulate the driving power of reverse to the maximum power; reverse according to the maximum power;

or,

After controlling the self-moving device to advance a certain distance, adjust the reverse drive power to the maximum power; reverse according to the maximum power.

Optionally, the controlling the mobile device to reverse according to the intermediate position includes:

Obtain the reverse direction from the mobile device;

determining whether the included angle between the reverse direction and a preset direction is greater than an angle threshold; the preset direction is parallel to the middle line of the target channel;

If the included angle is greater than an angle threshold, the reverse direction is corrected so that the included angle between the reverse direction and the preset direction is smaller than or equal to the angle threshold.

Optionally, after the controlling the self-mobile device to travel in the target channel, it further includes:

determining whether the self-moving device can pass through the target channel based on the number of times the self-moving device collides during travel;

or,

Based on the device state of the self-moving device, it is determined whether the self-moving device can pass through the target channel.

Optionally, before controlling the self-moving device to travel in the target channel, it also includes

Acquiring environmental information of the self-mobile device in the direction of travel;

determining whether the passage exists in the traveling direction based on the environmental information;

If the channel exists, acquire the channel spacing of the channel based on the environmental information;

In the case that the channel distance is greater than the minimum distance and smaller than the maximum distance, the self-moving device is controlled to travel in the target channel.

The second aspect provides an electronic device, the device includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to realize the mobile device described in the first aspect control method.

In a third aspect, a computer-readable storage medium is provided, where a program is stored in the storage medium, and when the program is executed by a processor, the program is used to implement the method for controlling the mobile device provided in the first aspect.

The beneficial effects of the present application are: by controlling the self-mobile device to travel in the target channel, the target channel refers to a channel whose channel distance is greater than the minimum distance and smaller than the maximum distance; The mobile device backs up to exit the target channel. It can solve the problem that the self-mobile device may not be able to achieve direction reversal in the narrow passage, which will cause the self-mobile device to be unable to leave the narrow passage. Controlling the self-mobile device to back up to exit the target passage by determining that the self-mobile device cannot reverse its direction of travel within the target passage. At this time, even if the self-moving device is non-circular, it will not be trapped in the target channel due to the inability to turn around, so that it can To ensure the effect of getting out of trouble from the mobile device.

In addition, since the self-mobile device may have multiple collisions in the direction of travel in the target channel, at this time, determining whether the self-mobile device can continue to travel in the target channel based on the number of collisions can avoid infinite times of self-mobile devices in the target channel. Collision, a problem that causes mobile devices to get stuck in the target lane.

In addition, by determining that the self-moving device cannot pass through the target passage when the remaining power is low, it is possible to prevent the self-moving device from being unable to leave the target passage due to insufficient power, thereby causing the self-moving device to fail to complete the cleaning work.

In addition, by determining that the self-moving device cannot pass through the target channel when the cleaning mechanism is highly dirty, it is possible to prevent the problem that the self-moving device cannot achieve the expected cleaning effect in the target channel due to the high degree of dirt of the cleaning mechanism, thereby ensuring Improved cleaning efficiency from mobile equipment.

In addition, during the process of reversing, the position of the self-mobile device itself may deviate greatly, thus colliding with both sides of the target channel. The mobile device has a large offset, reducing the collision with the target channel twice.

In addition, since the self-mobile device may encounter movable obstacles in the process of reversing, at this time, an alarm prompt can be output to inform the user of the existence of the obstacle, so that the user can remove the obstacle in time, or move the self-mobile device back. to avoid being trapped from your mobile device.

In addition, the obstacle encountered by the self-mobile device at a certain position during the reverse process may be an obstacle moved to the position after the self-mobile device passes through the position. At this time, the probability of the obstacle being movable is high. At this time, by increasing the power, the probability of knocking over the obstacle is higher, which can avoid the problem that the self-mobile device is trapped during the backward process.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are some implementations of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without creative work.

FIG. 1 is a schematic structural diagram of a mobile device provided by an embodiment of the present application;

FIG. 2 is a flow chart of a control method of a self-mobile device provided by an embodiment of the present application;

Fig. 3 is a block diagram of an apparatus for controlling mobile devices provided by an embodiment of the present application;

Fig. 4 is a block diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

The technical solutions of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present application, not all of them. Hereinafter, the present application will be described in detail with reference to the drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

In this application, unless stated to the contrary, the used orientation words such as "upper, lower, top, bottom" are generally used for the directions shown in the drawings, or for the parts themselves in the vertical, In terms of vertical or gravitational direction; similarly, for the convenience of understanding and description, "inside and outside" refer to inside and outside relative to the outline of each component itself, but the above orientation words are not used to limit the present application.

FIG. 1 is a schematic structural diagram of a self-moving device provided by an embodiment of the present application. The self-moving device refers to an electronic device that can move automatically without being driven by a user. Optionally, in addition to the self-moving function, the self-moving device may also include other functions, such as: it may also include a cleaning function, and the self-moving device may be a sweeper, a vacuum cleaner, a mopping machine, or a washing machine, etc. This embodiment does not limit the implementation manner of the self-mobile device.

In this embodiment, the minimum distance between non-adjacent edge portions and the maximum distance between non-adjacent edge portions of the self-mobile device are different. That is, the self-moving device has a non-circular shape as a whole, for example, the self-moving device has a D-shape as a whole.

It can be seen from FIG. 1 that the mobile device at least includes: a driving member 110 , a wheel body 120 and a controller 130 .

The driving member 110 is connected with the wheel body 120 and is used to drive the wheel body 120 to move so as to drive the mobile device to move.

The driving member 110 is connected with the controller 130 and used for driving the wheel body 120 to move in response to an instruction issued by the controller 130 .

Optionally, the driving member 110 may be implemented as a DC motor, a servo motor, a stepping motor, etc., and the implementation manner of the driving member 110 is not limited in this embodiment.

The controller 130 is used to control the mobile device. Optionally, the controller 130 may be implemented as a single-chip microcomputer or a processor, and this embodiment does not limit the implementation manner of the controller 130 .

In this embodiment, the controller 130 is used to: control the self-mobile device to travel in the target channel, and the target channel refers to a channel whose distance between channels is greater than the minimum distance and smaller than the maximum distance; when it is determined that the self-mobile device cannot pass through the target channel , the control rewinds from the mobile device to exit the target channel.

Wherein, reversing refers to a movement mode in which the driving part of the self-moving device is reversed to reverse the driving direction, so that the traveling direction of the self-moving device is reversed. Going backwards is not the same as turning around. Specifically, U-turn refers to a movement mode in which the driving direction of the driving member is not changed, so that the traveling direction of the self-moving device is reversed. During the U-turn process, the self-moving device often needs a larger width space to realize the U-turn, while the reverse does not require a larger width space.

Optionally, in order to determine whether there is a target channel in the traveling direction of the self-mobile device, the self-mobile device is provided with a first sensor 140 .

The first sensor 140 is used to collect environmental information from the mobile device in the traveling direction. Optionally, the first sensor 140 may be a camera equipped with a color system (Red Green Blue, RGB) detection function, an infrared sensor, a laser radar sensor, etc., and the type of the first sensor 140 is not limited in this embodiment.

Optionally, the first sensor 140 may be installed on the housing of the self-mobile device, and used to collect the environment in the direction of travel of the self-mobile device. The collection range of the first sensor 140 includes, but is not limited to: the area directly in front of, obliquely above, and/or obliquely below the direction of travel of the mobile device; and/or the area on the left side of the direction of travel of the self-mobile device; The area on the right side of the traveling direction of the device; and/or the rear side area of the traveling direction of the self-mobile device, etc., this embodiment limits the collection range of the first sensor 140 .

Optionally, the number of the first sensor 140 can be one or at least two. When the number of sensors 140 is at least two, the types of different first sensors 140 are the same or different, and this embodiment does not limit the number and implementation of the first sensors 140 .

The first sensor 140 is connected with the controller 130 to send the collected environmental information to the controller 130 .

Correspondingly, after acquiring the environmental information in the direction of travel, the controller 130 determines whether there is a channel in the direction of travel based on the environmental information; if there is a channel, obtains the channel spacing of the channel based on the environmental information; , and is less than the maximum distance, control the self-mobile device to travel in the target channel.

Optionally, the mobile device is also provided with a second sensor 150 connected to the controller 130 and configured to send sensing data to the controller 130 . Correspondingly, after receiving the sensing data, the controller 130 determines whether the self-mobile device can pass through the target passage based on the sensing data; if it can continue to pass the target passage, it controls the self-mobile device to continue moving; Control is then reversed from the mobile device to exit the target channel.

Schematically, the second sensor 150 may be a collision sensor, which is used to collect collision results from the mobile device. Optionally, the collision sensors are installed on both sides of the traveling direction of the mobile device. During the traveling process, the controller 130 records the number of collisions between the collision sensor and the target channel based on the collision result; when the number of collisions reaches a threshold, the controller 130 controls the self-mobile device to reverse.

For example, the threshold of the number of collisions is set to 16, when the value of the collision sensor reaches 16, that is, the number of collisions between the self-mobile device and the two sides of the passage reaches 16 times, at this time, the controller 130 controls the self-mobile device to reverse.

It should be added that, in actual implementation, the self-moving device may also include other components, such as a power supply component, a shock absorption component, etc., which will not be listed here in this embodiment.

In the traditional self-moving device control method, if the self-moving device is trapped in a narrow passage, it needs to turn its direction of travel to leave the narrow passage. Problem with devices not being able to leave narrow aisles. However, in this embodiment, after determining that the self-mobile device cannot reverse its traveling direction in the target passage, the self-mobile device is controlled to reverse to exit the target passage. At this time, even if the mobile device is non-circular, it will not be due to The reason why it is impossible to turn around is trapped in the target channel, so that the escape effect of self-moving equipment can be guaranteed.

The method for controlling the self-mobile device will be introduced below. The following embodiments are described by taking the self-mobile device shown in FIG. 1 as an example for executing the method.

Fig. 2 is a flow chart of a method for controlling a self-mobile device provided by an embodiment of the present application, and the method includes at least the following steps:

Step 201, control the self-mobile device to travel in a target channel, where the target channel refers to a channel whose distance between channels is greater than the minimum distance and smaller than the maximum distance.

In an example, before the self-mobile device is controlled to travel in the target channel, it includes: acquiring environment information from the mobile device in the direction of travel; determining whether there is a channel in the direction of travel based on the environment information; The channel spacing of the information acquisition channel; when the channel spacing is greater than the minimum distance and smaller than the maximum distance, control the self-mobile device to travel in the target channel.

When the channel distance is smaller than the minimum distance, it is determined that there is no target channel in the traveling direction, and the mobile device is controlled to reverse the traveling direction so as to travel in a direction away from the channel.

When the passage distance is greater than the maximum distance, determine that there is no target passage in the direction of travel, control the self-mobile device to enter the passage, travel in the passage, and turn around to exit the passage if it cannot pass through the passage.

The mobile device is provided with a first sensor, the first sensor is used to collect environmental information of the mobile device in a traveling direction, and the mobile device obtains the environmental information collected by the first sensor.

Schematically, the environmental information includes point cloud data or environmental images; correspondingly, determining whether there is a channel in the direction of travel based on the environmental information includes: performing target recognition on the environmental information to obtain a target recognition result, which is used to indicate the environment Whether the channel exists in the message.

Wherein, the target recognition algorithm for environmental information includes but not limited to: neural network recognition, feature recognition, image segmentation recognition, etc., and this embodiment does not limit the target recognition algorithm.

If there is a channel, acquiring the channel spacing of the channel based on the environmental information includes: determining the positions on both sides of the channel based on the environmental information, and determining the channel spacing based on the positions on both sides of the channel.

In other implementations, the target recognition result may also include channel spacing, which is not included in this embodiment Limit the way to obtain the channel spacing.

In another example, before controlling the self-mobile device to travel in the target channel, includes: controlling the self-mobile device to travel in the target channel in response to a control instruction. At this time, the cleaning device is connected in communication with the control device, and the control device is used to control the movement of the mobile device. The control device may be a remote controller, a mobile phone, a tablet computer, a wearable device, etc., and this embodiment does not limit the type of the control device.

Optionally, when the self-mobile device travels in the target passage, the whole travels along the middle position of the target passage. Wherein, the intermediate position is determined from the mobile device based on the channel spacing of the target channel. Specifically, the middle position is 1/2 of the channel pitch.

Because there may be obstacles in the target channel that hinder the movement of the self-mobile device. Based on this, in order to prevent the self-mobile device from being trapped in the target channel, it is necessary to determine whether the self-mobile device can continue to pass through the target channel during the process of traveling in the target channel. Among them, determining whether the mobile device can continue to pass through the target channel includes but is not limited to the following two methods:

The first one is to determine whether the self-mobile device can pass through the target channel based on the number of times the self-mobile device collides during the traveling process.

Correspondingly, a collision sensor is provided on the self-mobile device to collect whether the self-mobile device collides during travel. Wherein, determining whether the self-mobile device can pass through the target channel based on the number of times the self-mobile device collides during the traveling process includes: determining that the self-mobile device cannot pass the target channel when the number of collisions occurs reaches a preset threshold; When the number of collisions is less than the preset number of thresholds, if the self-mobile device collides with the left side of the channel, the mobile device will be controlled to shift to the right by a preset angle and continue to move forward. When a collision occurs on the right side, the automatic equipment is controlled to shift to the left by a preset angle and continue to move forward.

Wherein, the preset angle is pre-stored in the self-mobile device, and the preset angle may be 5°, 10°, etc., and this embodiment does not limit the value of the preset angle.

In other implementation manners, the preset angle of offset to the right and the preset angle of offset to the left may also be different, and this embodiment does not limit the way of offsetting the angle from the mobile device.

Since the self-mobile device may have multiple collisions in the direction of travel in the target channel, at this time, determining whether the self-mobile device can continue to travel in the target channel based on the number of collisions can avoid self-moving problems. Mobile device collides infinitely in the target channel, causing self-mobile device to be stuck in the target channel.

The second type is to determine whether the self-mobile device can pass through the target channel based on the device state of the self-mobile device.

In one example, the device status includes remaining battery power from the mobile device. Correspondingly, based on the device status of the self-mobile device, determining whether the self-mobile device can pass through the target channel includes: determining that the self-mobile device cannot pass through the target channel when the remaining power of the self-mobile device is less than or equal to a preset power threshold; In the case that the remaining power of the mobile device is greater than the preset power threshold, the remaining power of the mobile device is acquired again, so as to compare the remaining power with the preset power threshold.

In this example, by determining that the self-mobile device cannot pass through the target channel when the remaining power is low, the problem that the self-mobile device cannot leave the target channel due to insufficient power can be prevented, resulting in the self-mobile device being unable to complete the cleaning work.

In another example, taking the self-moving device as a cleaning device as an example, the cleaning device is provided with a dirt sensor, which is used to obtain the degree of dirt of the cleaning mechanism, and the state of the device includes the degree of dirt of the cleaning mechanism of the self-moving device . Correspondingly, based on the device state of the self-moving device, determining whether the self-moving device can pass through the target channel includes: determining that the self-moving device cannot pass through when the degree of dirtiness of the cleaning mechanism of the self-moving device is greater than a preset dirtiness threshold Target channel; when the degree of dirtiness from the cleaning mechanism of the mobile device is less than or equal to the preset threshold value of the degree of dirtiness, obtain the degree of dirtiness from the cleaning mechanism of the mobile device again, so as to compare the degree of dirtiness with the preset threshold value of the degree of dirtiness Compare.

In this example, by determining that the self-moving device cannot pass through the target channel when the cleaning mechanism is highly dirty, it is possible to prevent the problem that the self-moving device cannot achieve the expected cleaning effect in the target channel due to the high degree of dirt of the cleaning mechanism. Thereby ensuring the cleaning efficiency of self-moving equipment.

Step 202, if it is determined that the mobile device cannot pass through the target channel, control the mobile device backwards to exit the target channel.

Optionally, in the traveling direction of the self-moving device, the driving member runs in the first direction to drive the wheel body to run in the target channel. Correspondingly, if it is impossible to continue in the target channel In this case, controlling the self-moving device to reverse includes: the controller controls the driving member to run in a second direction, and the driving wheel body drives the self-mobile device to reverse, and the second direction is opposite to the first direction.

Based on the above driving principle, it can be known that the reverse in this embodiment refers to: the controller controls the driving member to run in the opposite direction to the forward direction, so as to realize the reverse of the self-moving device. At this time, even if the self-moving device is non-circular, it can It will not be trapped in the target channel due to the inability to turn around, so that the escape effect of self-moving equipment can be guaranteed.

Optionally, controlling the self-mobile device to reverse includes: acquiring an intermediate position of the target channel; controlling the self-mobile device to reverse according to the intermediate position.

Since the middle position of the target channel has been recorded during the traveling process, the middle position of the target channel can be obtained by reading the historical records of the traveling process.

Alternatively, in the process of moving backwards from the mobile device, the first sensor may collect environmental information of the target channel, determine the channel distance of the target channel based on the environmental information, and determine the intermediate position based on the channel distance.

Wherein, controlling the self-mobile device to reverse according to the middle position includes: acquiring the self-mobile device's reverse direction; determining whether the included angle between the reversed direction and the preset direction is greater than the angle threshold; The direction is corrected so that the angle between the reverse direction and the preset direction is less than or equal to the angle threshold.

Wherein, the preset direction is parallel to the middle line of the target channel.

Since the body position of the self-moving device itself may deviate greatly during the reverse process, thus colliding with both sides of the target channel, at this time, by correcting the position of the body and correcting the reverse direction, the self-moving device can be avoided. A large offset occurs to reduce collisions with the sides of the target channel.

In other embodiments, the self-mobile device may also go backwards according to the travel route, and at this time, the self-mobile device stores the travel route.

Optionally, after the mobile device is controlled to reverse according to the middle position, the following steps S1 and S2 are also included:

Step S1, in the case of a collision with the self-mobile device, adjust the reverse direction based on the location of the collision.

Optionally, the reverse direction is adjusted to a preset angle away from the collision position to obtain an adjusted backward direction.

Schematically, the self-mobile device is provided with a collision sensor, and when a collision is detected, the reverse direction is adjusted to a preset angle away from the direction where the collision occurs to obtain the adjusted reverse direction.

Optionally, before adjusting the reversing direction based on the collision position, that is, before step S1, it also includes: recording the number of collisions in the reversing process from the mobile device; when the number of times reaches the number threshold, output a warning prompt or execute a preset escape action.

Optionally, the alarm prompt can be the alarm prompt voice issued by the self-mobile device itself, or the alarm prompt is sent to the mobile terminal bound with the self-mobile device. This embodiment does not limit the output mode of the alarm prompt.

Since the self-mobile device may encounter a movable obstacle in the process of reversing, at this time, an alarm prompt can be output to inform the user of the existence of the obstacle, so that the user can remove the obstacle in time, or move the self-mobile device away, Thus avoiding being trapped from mobile devices.

Optionally, the preset escape action includes: adjusting the reverse drive power to the maximum power; reverse according to the maximum power; or, after controlling the mobile device to advance a certain distance, adjust the reverse drive power to the maximum power; reverse according to the maximum power .

The obstacle encountered by the self-mobile device at a certain position during the reverse process may be an obstacle moved to the position after the self-mobile device passes through the position. At this time, the probability of the obstacle being movable is high. At this time, by increasing the power, the probability of knocking over the obstacle is higher, which can avoid the problem that the self-mobile device is trapped during the backward process.

Step S2, controlling the self-mobile device to reverse according to the adjusted reverse direction.

To sum up, the control method of the self-moving device provided in this embodiment controls the self-mobile device to travel in the target channel, and the target channel refers to a channel whose distance between channels is greater than the minimum distance and smaller than the maximum distance; In the event that the target channel cannot be passed, the control rewinds from the mobile device to exit the target channel. It can solve the problem that the self-mobile device may not be able to achieve direction reversal in the narrow passage, which will cause the self-mobile device to be unable to leave the narrow passage. Exit by controlling the self-mobile device to reverse direction of travel after determining that the self-mobile device cannot reverse the direction of travel within the target lane target channel. At this time, even if the self-moving device is non-circular, it will not be trapped in the target channel due to the inability to turn around, so that the self-moving device's escape effect can be guaranteed.

FIG. 3 is a block diagram of a self-moving device control device provided by an embodiment of the present application. This embodiment is described by taking the device applied to the self-moving device shown in FIG. 1 as an example. The device at least includes the following modules: a forward module 310 and a reverse module 320 .

The traveling module 310 is used to control the self-mobile device to travel in the target channel, and the target channel refers to Channels whose channel spacing is greater than the minimum distance and less than the maximum distance;

The reversing module 320 is configured to control the ego mobile device to regress to exit the target passage when it is determined that the ego mobile device cannot pass through the target passage.

Relevant details refer to the above-mentioned examples.

It should be noted that: when the self-mobile device control device provided in the above-mentioned embodiments performs control, the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be assigned to different functional modules according to needs. To complete means to divide the internal structure of the mobile device control device into different functional modules, so as to complete all or part of the functions described above. In addition, the apparatus for controlling self-moving equipment provided in the above-mentioned embodiments and the embodiment of the method for controlling self-moving equipment belong to the same concept, and its specific implementation process is detailed in the method embodiment, and will not be repeated here.

This embodiment provides an electronic device, as shown in FIG. 4 , the electronic device may be the self-moving device in FIG. 1 . The electronic device includes at least a processor 401 and a memory 402 .

The processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. Processor 401 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish. Processor 401 may also include a main processor and a coprocessor, and the main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state. In some embodiments, the processor 401 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor 401 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.

Memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices. In a In some embodiments, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 401 to realize the self-mobile device provided by the method embodiments in this application Control Method.

In some embodiments, the electronic device may optionally further include: a peripheral device interface and at least one peripheral device. The processor 401, the memory 402, and the peripheral device interface may be connected through a bus or a signal line. Each peripheral device can be connected with the peripheral device interface through a bus, a signal line or a circuit board. Schematically, peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.

Of course, the electronic device may also include fewer or more components, which is not limited in this embodiment.

Optionally, the present application also provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the self-mobile device control method of the foregoing method embodiment.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

A method for controlling self-moving equipment, characterized in that the minimum distance between non-adjacent edge portions of the self-moving equipment is not equal to the maximum distance between non-adjacent edge portions; the method includes:

controlling the self-moving device to travel in a target channel, where the target channel refers to a channel whose channel spacing is greater than the minimum distance and smaller than the maximum distance;

When it is determined that the self-moving device cannot pass through the target channel, controlling the self-mobile device to reverse to exit the target channel.
The method according to claim 1, wherein the self-moving device comprises a wheel body and a driving member connected to the wheel body; during the traveling process of the self-moving device, the driving member uses a first direction to drive the wheel body to move;

The controls for reversing from the mobile device include:

The driving member is controlled to run in a second direction to drive the wheel body to drive the self-moving device backward, and the second direction is opposite to the first direction.
The method according to claim 1, wherein the controlling the self-mobile device to go backwards comprises:

Obtain the middle position of the target channel;

Controlling the self-mobile device to reverse according to the intermediate position.
The method according to claim 2, wherein after the controlling the self-mobile device to reverse according to the intermediate position, further comprising:

In the event that the self-mobile device collides, adjusting a reverse direction based on the collision location;

Controlling the self-mobile device to reverse according to the adjusted reverse direction.
The method according to claim 4, wherein the controlling the self-mobile device to reverse according to the adjusted reverse direction comprises;

Adjusting the reverse direction to a direction away from the collision position by a preset angle to obtain the adjusted reverse direction.
The method according to claim 4, characterized in that before adjusting the reverse direction based on the collision position, further comprising:

Recording the number of times that the self-mobile device collides during the backward process;

When the number of times reaches the number threshold, an alarm prompt is output or a preset escape action is executed.
The method according to claim 6, wherein the preset escape action includes:

Regulate the driving power of reverse to the maximum power; reverse according to the maximum power;

or,

After controlling the self-moving device to advance a certain distance, adjust the reverse drive power to the maximum power; reverse according to the maximum power.
The method according to claim 2, wherein the controlling the self-mobile device to reverse according to the intermediate position comprises:

Obtain the reverse direction from the mobile device;

determining whether the included angle between the reverse direction and a preset direction is greater than an angle threshold; the preset direction is parallel to the middle line of the target channel;

If the included angle is greater than an angle threshold, the reverse direction is corrected so that the included angle between the reverse direction and the preset direction is smaller than or equal to the angle threshold.
The method according to claim 1, wherein after the controlling the self-mobile device to travel in the target channel, further comprising:

determining whether the self-moving device can pass through the target channel based on the number of times the self-moving device collides during travel;

or,

Based on the device state of the self-moving device, it is determined whether the self-moving device can pass through the target channel.
The method according to claim 9, wherein the determining whether the self-mobile device can pass through the target channel based on the device state of the self-mobile device comprises:

When the remaining power of the mobile device is less than or equal to the preset power threshold, it is determined that the mobile device cannot pass through the target channel.
The method according to claim 9, wherein the determining whether the self-mobile device can pass through the target channel based on the device state of the self-mobile device comprises:

In a case where the degree of dirtiness of the self-moving device cleaning mechanism is greater than a preset dirt degree threshold, it is determined that the self-moving device cannot pass through the target channel.
The method according to claim 1, wherein before the controlling the self-mobile device to travel in the target channel, further comprising:

Acquiring environmental information of the self-mobile device in the direction of travel;

determining whether the passage exists in the traveling direction based on the environmental information;

If the channel exists, acquire the channel spacing of the channel based on the environment information;

In the case that the channel distance is greater than the minimum distance and smaller than the maximum distance, the self-moving device is controlled to travel in the target channel.
An electronic device, characterized in that the device includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to realize self-moving as claimed in claims 1-12 The control method of the device.
A computer-readable storage medium, wherein a program is stored in the storage medium, and when the program is executed by a processor, the program is used to implement the control method of the mobile device according to claims 1-12.