Intelligent mobile device, control method thereof, electronic device, and storage medium

Abstract

An embodiment of the present invention discloses an intelligent mobile device and its control method, electronic device, and storage medium. When the intelligent mobile device is stuck, first ground medium attribute information of the stuck area is obtained, and the first ground medium attribute information includes ground medium attribute information of the stuck area. If the first ground medium attribute information matches the target ground medium attribute information, after the intelligent mobile device leaves the stuck area, the intelligent mobile device is controlled to re-enter the stuck area in a direction different from the direction when entering the stuck area. In this way, when there are differences in the types of ground media and the relative height difference between the two media, the risk of the intelligent mobile device being trapped again after entering the stuck area is reduced, so that the intelligent mobile device can move normally in the stuck area and complete the work task.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent mobile device and a control method thereof, an electronic device, and a storage medium. Background Art

[0002] With the improvement of living standards and the development of technology, smart mobile devices such as cleaning robots have been widely used. During their work, smart mobile devices often need to move on different surfaces (such as hard floors or carpets). However, when moving from one surface medium to another, due to the difference in surface type and relative height between the two surfaces, smart mobile devices can easily become trapped and unable to move, thus failing to complete their work tasks. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling a smart mobile device, including:

[0005] When the smart mobile device is stuck, first ground medium attribute information of the stuck area is obtained, where the first ground medium attribute information includes ground medium attribute information of the stuck area;

[0006] If the first ground medium attribute information matches the target ground medium attribute information, after the smart mobile device leaves the trapped area, the smart mobile device is controlled to re-enter the trapped area along a direction different from the direction in which it entered the trapped area.

[0007] Optionally, controlling the smart mobile device to re-enter the stuck area along a direction different from the direction from which the smart mobile device entered the stuck area includes:

[0008] Determine a target forward direction and a target forward distance of the smart mobile device; wherein the target forward direction is a direction different from the direction when entering the trapped area and pointing to the trapped area; the target forward distance is the distance between the smart mobile device and the edge of the trapped area in the target forward direction after being freed;

[0009] Based on the target forward distance, the smart mobile device is controlled to move along the target forward direction so that the smart mobile device re-enters the trapped area.

[0010] Optionally, controlling the smart mobile device to move along the target moving direction based on the target moving distance so as to cause the smart mobile device to re-enter the stuck area includes:

[0011] Taking the position where the smart mobile device successfully escapes as a starting point, controlling the smart mobile device to move along the target direction;

[0012] Acquire a first real-time distance traveled by the smart mobile device in the direction of the target and second ground medium attribute information, where the second ground medium attribute information includes ground medium attribute information detected by the smart mobile device in the direction of the target;

[0013] If the first real-time distance is greater than or equal to the target forward distance, and the second ground medium attribute information matches the target ground medium attribute information, it is determined that the smart mobile device has re-entered the stuck area.

[0014] Optionally, determining the target moving direction and target moving distance of the smart mobile device includes:

[0015] Taking the position where the smart mobile device successfully escapes as the starting point, deflect the smart mobile device clockwise or counterclockwise by a preset angle to obtain the target moving direction of the smart mobile device;

[0016] Obtaining a reference distance, where the reference distance is the distance the smart mobile device moves from the trapped position to the position where it is successfully escaped;

[0017] Based on the included angle and the reference distance, a target forward distance of the smart mobile device is obtained.

[0018] Optionally, the preset angle is not less than 30°.

[0019] Optionally, the smart mobile device leaves the stuck area, specifically including:

[0020] Obtaining a preset backward direction, where the preset backward direction is a direction opposite to the direction of entering the trapped area;

[0021] The smart mobile device is controlled to leave the stuck area along the preset backward direction.

[0022] Optionally, the method further includes: confirming that the smart mobile device has left the stuck area, specifically including:

[0023] Acquire a second real-time distance traveled by the smart device along the preset backward direction;

[0024] If the second real-time distance is greater than or equal to the preset retreat distance, it is determined that the smart mobile device has left the trapped area.

[0025] Optionally, the method further includes: confirming that the smart mobile device has left the stuck area, specifically including:

[0026] When it is learned that the current ground medium attribute information does not match the target ground medium attribute information, it is determined that the smart mobile device has left the stuck area.

[0027] Optionally, after controlling the smart mobile device to re-enter the stuck area along a direction different from the direction in which the smart mobile device entered the stuck area, the method further includes:

[0028] After driving out of the trapped area, the smart mobile device is controlled to continue moving in the direction in which it entered the trapped area.

[0029] In a second aspect, an embodiment of the present invention provides a smart mobile device, including an environment monitoring sensor and a controller;

[0030] The environmental monitoring sensor is used to detect ground medium properties during the movement of the smart mobile device to obtain first ground medium property information, second ground medium property information, or current ground medium property information, wherein the first ground medium property information includes ground medium property information of the trapped area, and the second ground medium property information includes ground medium property information detected in the target forward direction, where the target forward direction is different from the direction when entering the trapped area and points to the trapped area;

[0031] The controller is configured to execute the above-mentioned control method for the smart mobile device.

[0032] In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, wherein the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the above-mentioned control method for the smart mobile device.

[0033] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer program instructions, which implement the steps of the above-mentioned control method for a smart mobile device when called and executed by a processor.

[0034] According to an embodiment of the present invention, a smart mobile device and its control method, electronic device, and storage medium are provided, thereby reducing the risk of the smart mobile device entering the trapped area and being trapped again due to differences in the types of ground media and the relative height difference between the two media, so that the smart mobile device can move normally in the trapped area and complete the work task. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The following drawings of the present invention are used as part of the embodiments of the present invention for understanding the present invention. The embodiments of the present invention are shown in the drawings and the description thereof is used to explain the principle of the present invention.

[0036] In the attached figure:

[0037] Figure 1 A schematic structural diagram of a distance measuring sensor of a cleaning robot according to an optional embodiment of the present invention;

[0038] Figure 2 is a schematic perspective view of a cleaning robot according to an optional embodiment of the present invention;

[0039] Figure 3 is a flowchart of a method for controlling a smart mobile device according to an optional embodiment of the present invention;

[0040] Figure 4 is a flowchart of step S302;

[0041] Figure 5 A schematic diagram of a travel route of a smart mobile device according to an optional embodiment of the present invention;

[0042] Figure 6 is a flowchart of step S401;

[0043] Figure 7 A schematic diagram of the calculation principle of the target heading direction according to an optional embodiment of the present invention;

[0044] Figure 8 is a flowchart of step S402;

[0045] Figure 9 This is a flowchart of controlling the smart mobile device to leave the trapped area in step S302 according to an optional embodiment of the present invention;

[0046] Figure 10 This is a flowchart of confirming that a smart mobile device has left a trapped area according to an optional embodiment of the present invention. DETAILED DESCRIPTION

[0047] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0048] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0049] Exemplary embodiments of the present invention will now be described in greater detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0050] The control method of the smart mobile device provided in this application can be applied to smart mobile devices. In order to clearly describe the control method of the smart mobile device of the present invention, the smart mobile device provided by the second aspect of the present invention is first described in detail below.

[0051] like Figure 1 and Figure 2 As shown, the smart mobile device 1 includes but is not limited to an environment monitoring sensor 2, a walking component 3 and a controller.

[0052] The travel assembly 3 is a component associated with the movement of the smart mobile device 1. The travel unit includes drive wheels 31 and universal wheels 32. The universal wheels 32 and drive wheels 31 work together to achieve steering and movement of the smart mobile device 1. A drive wheel 31 is located on each left and right side of the bottom of the smart mobile device 1, and the universal wheels 32 are positioned on the centerline of the bottom surface of the smart mobile device 1. Each drive wheel 31 is equipped with a drive wheel motor, which drives the drive wheel 31 to rotate. This rotation of the drive wheel 31 drives the smart mobile device 1. By controlling the speed difference between the left and right drive wheels 31, the steering angle of the smart mobile device 1 can be controlled.

[0053] The controller may specifically include but is not limited to a central processing unit (CPU) and a control circuit.

[0054] Environmental monitoring sensor 2 may include, but is not limited to, a visual sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a video camera, or a depth camera. This environmental monitoring sensor is used to detect the type of ground medium, distinguishing the type of ground medium and transmitting the detection results to the controller. With the direction of normal operation of the smart mobile device as the front, environmental monitoring sensor 2 is typically located at the front or bottom of the smart mobile device to promptly detect the ground medium in front or at the current location.

[0055] Furthermore, the smart mobile device is also provided with a communication unit for wired or wireless communication with an external device. It can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication unit receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication unit also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0056] The intelligent mobile device according to the exemplary embodiment of the present invention may be a cleaning robot, which exemplarily further includes a cleaning component.

[0057] The cleaning components may include but are not limited to a mopping component, a sweeping component 4 and a spraying component. The mopping component is used to mop the area to be cleaned. The number of the mopping component may be one or more. The mop cloth in the mopping component may be made of cotton cloth, fiber cloth, etc. The mopping component is arranged at the bottom of the cleaning robot body.

[0058] The cleaning element 4 may include at least a roller brush structure and a dust collection structure. The roller brush structure may include a rotating roller and brush teeth disposed on the rotating roller. The rotating roller is disposed within the main body of the cleaning robot, and a dust collection port is provided at the bottom of the main body of the cleaning robot. The brush teeth protrude from the dust collection port and contact the area to be cleaned. In practice, a drive motor is used to drive the rotating roller and its brush teeth to rotate to perform cleaning operations, sucking in trash and transporting it through a collection port into the dust collection structure. The dust collection structure may include a dust collection box, a dust collection fan, and corresponding channels. The dust collection fan has an air inlet and an air outlet. The air inlet of the dust collection fan is connected to the dust collection box through the air inlet channel, and the air outlet of the dust collection fan is connected to the exhaust channel. In practice, the fan motor in the dust collection fan drives the fan to rotate, causing an airflow mixed with trash to enter the dust collection box. The trash in the airflow is filtered by a filter within the dust collection box and remains within the dust collection box. The filtered airflow is discharged from the dust collection fan outlet through the exhaust channel to the outside of the cleaning robot.

[0059] Taking a smart mobile device as a cleaning robot as an example, when the cleaning robot moves from a hard floor to a medium-long pile carpet, the thickness of the medium-long pile carpet is comparable to the gap between the cleaning robot and the ground when it hits the floor, or even higher than the height of the collision. If the posture and movement of the cleaning robot when stepping onto the carpet are inappropriate, it is very easy for the cleaning robot to be trapped in the carpet due to the edge of the carpet being pushed up, the carpet slipping, or the resistance of the carpet increasing, making it unable to clean the carpet.

[0060] The following is a detailed introduction to a control method of a cleaning robot according to the first aspect of the present invention.

[0061] like Figure 3 As shown, a first aspect of an embodiment of the present invention provides a method for controlling a smart mobile device, including:

[0062] Step S301: When the smart mobile device is stuck, first ground medium attribute information of the stuck area is obtained, where the first ground medium attribute information includes ground medium attribute information of the stuck area.

[0063] Since the working environment of smart mobile devices is relatively complex, they may be stuck in certain areas. The following judgment conditions can be used to determine whether the smart mobile device is stuck: the driving wheel of the smart mobile device is slipping, there is overcurrent, it cannot move forward, etc.

[0064] The first ground medium property information can be obtained by detecting an environmental monitoring sensor provided on the smart mobile device. Taking the environmental monitoring sensor as a visual sensor as an example, the ground medium image of the smart mobile device in the preset forward direction is captured by the visual sensor, and the ground medium image is processed using a preset recognition algorithm and ground medium model features, thereby obtaining relevant parameters about the ground medium, i.e., the first ground medium property information. In another embodiment, taking the environmental monitoring sensor as an ultrasonic sensor as an example, the ultrasonic sensor is usually provided at the bottom of the smart mobile device and close to the walking direction of the smart mobile device, and detects the medium property information of the ground where the smart mobile device is currently located through the ultrasonic principle. Among them, the above-mentioned ground medium model features include but are not limited to the color and pattern of the ground medium.

[0065] Step S302: If the first ground medium attribute information matches the target ground medium attribute information, after the smart mobile device leaves the trapped area, the smart mobile device is controlled to re-enter the trapped area along a direction different from the direction in which it entered the trapped area.

[0066] The target ground medium attribute information may be the ground medium attribute information that is prone to being trapped among different ground medium attribute information. For example, if a carpet is partially laid on a hard floor, a smart mobile device may be easily trapped when moving from the hard base to the carpet. Therefore, the target ground medium attribute information is carpet information.

[0067] The first ground medium attribute information is matched with the target ground medium attribute information. If the first ground medium attribute information successfully matches the target ground medium attribute information, it can be determined that the first medium attribute information is the target ground medium attribute information, thereby determining that the ground medium attribute information has changed, that is, the smart mobile device is at the intersection of two different ground media, and thus it can be determined that the smart mobile device is stuck due to the change in ground medium. For example, the area where the smart mobile device is operating is a hard floor with a carpet, and the target ground medium attribute information is carpet information. If the smart mobile device is stuck and the first ground medium attribute information obtained matches the carpet information, it can be determined that the smart mobile device is stuck during its movement from the hard floor to the carpet due to factors such as the carpet edge pushing up, the upper carpet slipping, or increased resistance of the upper carpet, which hinders the smart mobile device's progress and causes it to be stuck. In this case, after the smart mobile device leaves the stuck area (either actively or with user intervention), the smart mobile device is controlled to re-enter the stuck area in a direction different from the direction in which it entered the stuck area, thereby reducing the risk of the smart mobile device being stuck again after entering the stuck area, so that the smart mobile device can move normally in the stuck area and complete the task.

[0068] like Figure 4 As shown, in a specific application, in the above embodiment, step S302 includes:

[0069] Step S401: Determine the target forward direction and target forward distance of the smart mobile device; wherein the target forward direction is a direction different from the direction when entering the trapped area and points to the trapped area; the target forward distance is the distance between the smart mobile device and the edge of the trapped area in the target forward direction after being freed.

[0070] By setting the target forward direction to be different from the direction when entering the trapped area and pointing to the direction of the target area, the smart mobile device can move along the target forward direction to a new ground medium intersection point after leaving the trapped area, that is, a position a certain distance away from the original ground medium intersection point, so as to avoid being trapped at the original ground medium intersection point again.

[0071] The target forward distance is set as the distance between the smart mobile device and the edge of the trapped area in the target forward direction, thereby reducing the distance traveled by the smart mobile device, reducing the power consumption of the smart mobile device, and shortening the travel time.

[0072] For example, Figure 5 As shown, the solid arrow is the direction when entering the trapped area, and the dotted arrow is the target forward direction. When the smart mobile device moves along the direction when entering the trapped area, it is trapped at the ground medium intersection point A, and point B is the final position of the smart mobile device after leaving the trapped area. According to the target forward direction and target forward distance, a new ground medium intersection point C is determined, thereby avoiding the possibility of walking to the ground medium intersection point A again and being trapped.

[0073] Specifically, if Figure 6 As shown, this step includes the following steps:

[0074] Step S601: Taking the position where the smart mobile device is successfully escaped as the starting point, deflect the smart mobile device clockwise or counterclockwise by a preset angle to obtain the target moving direction of the smart mobile device.

[0075] The deflection direction and preset angle can be set by the staff. Furthermore, the preset angle is set to a larger angle to prevent the new ground medium intersection point from being too close to the original ground medium intersection point, causing the device to be trapped again. Optionally, the preset angle is no less than 30°.

[0076] Step S602: Obtain a reference distance, where the reference distance is the distance the smart mobile device moves from the stuck location to the successfully escaped location.

[0077] For example, Figure 5 As shown, the reference distance is the distance between point A and point B.

[0078] Step S603: Obtaining a target forward distance of the smart mobile device based on a preset angle and a reference distance.

[0079] When the smart mobile device is a cleaning robot and the area where the smart mobile device operates is a hard floor covered with a carpet, the angle between the forward direction and the edge of the carpet is usually preset to be 90°. Figure 7 For example, given the reference distance d and the preset angle β, the target forward distance L can be calculated using trigonometric functions. That is, after being freed, the distance the smart mobile device travels along the target forward direction to the new ground medium intersection point can be obtained.

[0080] Step S402: Based on the target forward distance, the smart mobile device is controlled to move along the target forward direction, so that the smart mobile device re-enters the trapped area.

[0081] By controlling the intelligent mobile device to move forward in the target direction and the target distance, the intelligent mobile device is made to reach a new ground medium intersection point to re-enter the trapped area.

[0082] Specifically, if Figure 8 As shown, the control step specifically includes:

[0083] Step S801: Taking the position where the smart mobile device is successfully escaped as a starting point, the smart mobile device is controlled to move along the target direction.

[0084] like Figure 5 As shown, the smart mobile device moves in a straight line from its final location B, where it successfully escaped, toward the new ground-medium interface point C along its target direction. This straight-line travel reduces both the distance and time required to travel, which not only reduces the power consumption of the smart mobile device but also allows it to reach the new ground-medium interface point as quickly as possible.

[0085] Step S802: Acquire a first real-time distance and second ground medium attribute information of the smart mobile device in the target direction, where the second ground medium attribute information includes ground medium attribute information detected by the smart mobile device in the target direction.

[0086] Step S803: If the first real-time distance is greater than or equal to the target forward distance, and the second ground medium attribute information matches the target ground medium attribute information, it is determined that the smart mobile device has re-entered the stuck area along the target forward direction.

[0087] By identifying travel distance and ground medium property information, determining whether the smart mobile device has entered a stuck area along the target direction can improve the accuracy of the judgment. Continuing with the example of a cleaning robot operating on a hard floor partially covered with carpet, assuming the first real-time distance is 0.5m, the target travel distance is 0.45m, and the second ground medium property information matches the carpet information, it can be determined that the smart mobile device has re-entered the stuck area along the target direction.

[0088] The specific escape process of the mobile intelligent robot is described below. In the above embodiment, Figure 9 As shown, in step S302, the smart mobile device leaves the trapped area specifically including:

[0089] Step S901: Obtain a preset backward direction, which is opposite to the direction when entering the stuck area.

[0090] The preset backward direction is on the same straight line as when entering the trapped area. For example, when entering the trapped area, it is a direction perpendicular to the edge of the trapped area and forward, then the preset backward direction is a direction perpendicular to the edge of the trapped area and backward.

[0091] Step S902: Control the smart mobile device to leave the stuck area along a preset backward direction.

[0092] The retreat distance can be preset according to the size of the smart mobile device to ensure that after reaching the preset retreat distance, the smart mobile device can completely escape from the trapped point, thereby improving the success rate of escape; it can also determine whether it has left the trapped area based on the detection results of the environmental monitoring sensor during the retreat process.

[0093] Backing up in a straight line can reduce the distance and time of retreat, which can not only reduce the power consumption of the smart mobile device, but also enable the smart mobile device to escape from trouble as quickly as possible.

[0094] In some possible implementations, the method further includes a step of confirming that the smart mobile device has left the trapped area. There are multiple implementations for confirming that the smart mobile device has left the trapped area. Different judgment methods are described in detail below.

[0095] The first implementation method, such as Figure 10 Confirming that the smart mobile device has left the trapped area specifically includes:

[0096] Step S1001: Obtain a second real-time distance traveled by the smart device along a preset backward direction.

[0097] Step S1002: If the second real-time distance is greater than or equal to the preset back-off distance, it is determined that the smart mobile device has left the stuck area.

[0098] Whether the smart mobile device has escaped successfully is determined by comparing the real-time backward distance with the preset backward distance. The judgment method is simple, has low requirements for the controller of the smart mobile device, and is easy to implement.

[0099] For example, the preset retreat distance is 0.7 m. If the second real-time distance is 0.71 m, it can be determined that the smart mobile device has escaped successfully.

[0100] The second implementation method is to confirm that the smart mobile device has left the stuck area, specifically including:

[0101] When it is learned that the current ground medium attribute information does not match the target ground medium attribute information, it is determined that the smart mobile device has left the stuck area.

[0102] By configuring the environmental monitoring sensor on the smart mobile device, the current ground medium attribute information is identified to determine whether the smart mobile device has been successfully escaped, thereby determining whether the front end of the smart mobile device has escaped from the trapped point, thereby determining whether the smart mobile device has been escaped as a whole, and the judgment is made by matching the detected medium attribute information with the target ground medium attribute information. Compared with the first implementation method, the accuracy of the judgment is improved.

[0103] In some other possible implementations, after step S302 in the above embodiment, the following steps are further included:

[0104] Step S303: After exiting the stuck area, control the smart mobile device to move in the direction in which it entered the stuck area.

[0105] After driving out of the stuck area, the forward direction of the smart mobile device is controlled to be adjusted to the forward direction when it entered the stuck area, so that the smart mobile device moves along the normal operation direction, thereby allowing the smart mobile device to continue normal movement and operation, avoiding missing some areas.

[0106] In the second aspect, an embodiment of the present invention provides an intelligent mobile device, including an environmental monitoring sensor and a controller; the environmental monitoring sensor is used to detect the ground medium properties during the movement of the intelligent mobile device to obtain first ground medium property information, second ground medium property information or current ground medium property information, the first ground medium property information includes the ground medium property information of the trapped area, and the second ground medium property information includes the ground medium property information detected in the target forward direction, and the target forward direction is different from the direction when entering the trapped area and points to the direction of the trapped area; the controller is configured to execute the above-mentioned control method of the intelligent mobile device.

[0107] In a third aspect, an embodiment of the present invention provides an electronic device including a processor and a memory, wherein the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the above-mentioned control method for the smart mobile device.

[0108] The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in a computer device may be processors of the same type, such as one or more CPUs, or processors of different types, such as one or more CPUs and one or more ASICs.

[0109] Memory is used to store programs. The memory may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk storage.

[0110] The computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0111] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer program instructions, which implement the steps of the above-mentioned control method of the intelligent mobile device when called and executed by a processor.

[0112] The present invention has been described through the above-described embodiments. However, it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling a smart mobile device, characterized in that: include: When the smart mobile device is stuck, first ground medium attribute information of the stuck area is obtained, where the first ground medium attribute information includes medium attribute information of the ground in the stuck area; If the first ground medium attribute information matches the target ground medium attribute information, then after the smart mobile device leaves the trapped area, the smart mobile device is controlled to re-enter the trapped area along a direction different from the direction when entering the trapped area, wherein the target ground medium attribute information is the ground medium attribute information in which the trapped phenomenon occurs among the different ground medium attribute information.

2. The method according to claim 1, characterized in that The controlling the smart mobile device to re-enter the stuck area along a direction different from the direction in which the smart mobile device entered the stuck area includes: Determine a target forward direction and a target forward distance of the smart mobile device; wherein the target forward direction is a direction different from the direction when entering the trapped area and pointing to the trapped area; the target forward distance is the distance between the smart mobile device and the edge of the trapped area in the target forward direction after being freed; Based on the target forward distance, the smart mobile device is controlled to move along the target forward direction so that the smart mobile device re-enters the trapped area.

3. The method according to claim 2, characterized in that The controlling the smart mobile device to move along the target moving direction based on the target moving distance so as to make the smart mobile device re-enter the stuck area includes: Taking the position where the smart mobile device successfully escapes as a starting point, controlling the smart mobile device to move along the target direction; Acquire a first real-time distance traveled by the smart mobile device in the direction of the target and second ground medium attribute information, where the second ground medium attribute information includes ground medium attribute information detected by the smart mobile device in the direction of the target; If the first real-time distance is greater than or equal to the target forward distance, and the second ground medium attribute information matches the target ground medium attribute information, it is determined that the smart mobile device has re-entered the stuck area.

4. The method according to claim 2, characterized in that Determining the target moving direction and target moving distance of the smart mobile device includes: Taking the position where the smart mobile device successfully escapes as the starting point, deflect the smart mobile device clockwise or counterclockwise by a preset angle to obtain the target moving direction of the smart mobile device; Obtaining a reference distance, where the reference distance is the distance the smart mobile device moves from the trapped location to the successfully escaped location; Based on the preset angle and the reference distance, a target forward distance of the smart mobile device is obtained.

5. The method according to claim 4, characterized in that The preset angle is not less than 30°.

6. The method according to claim 1, characterized in that The smart mobile device leaves the trapped area, comprising: Obtaining a preset backward direction, where the preset backward direction is a direction opposite to the direction of entering the trapped area; The smart mobile device is controlled to leave the stuck area along the preset backward direction.

7. The method according to claim 6, characterized in that Also includes: Confirming that the smart mobile device has left the stuck area specifically includes: Acquire a second real-time distance traveled by the smart device along the preset backward direction; If the second real-time distance is greater than or equal to the preset retreat distance, it is determined that the smart mobile device has left the trapped area.

8. The method according to claim 6, characterized in that Also includes: Confirming that the smart mobile device has left the stuck area specifically includes: When it is learned that the medium attribute information of the current ground does not match the medium attribute information of the target ground, it is determined that the smart mobile device has left the stuck area.

9. The method according to claim 1, characterized in that After controlling the smart mobile device to re-enter the stuck area along a direction different from the direction in which it entered the stuck area, the method further includes: After driving out of the trapped area, the smart mobile device is controlled to continue moving in the direction in which it entered the trapped area.

10. A smart mobile device, characterized in that: Includes environmental monitoring sensors and controllers; The environmental monitoring sensor is used to detect ground medium properties during the movement of the smart mobile device to obtain first ground medium property information, second ground medium property information, or current ground medium property information, wherein the first ground medium property information includes ground medium property information of the trapped area, and the second ground medium property information includes ground medium property information detected in the target forward direction, where the target forward direction is different from the direction when entering the trapped area and points to the trapped area; The controller is configured to execute the control method of the smart mobile device according to any one of claims 1 to 9.

11. An electronic device, characterized in that: The device comprises a processor and a memory, wherein the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the control method of the smart mobile device according to any one of claims 1 to 9.

12. A storage medium, characterized in that: Computer program instructions are stored, and when the computer program instructions are called and executed by a processor, the steps of the control method of the intelligent mobile device according to any one of claims 1 to 9 are implemented.

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