A control method, an autonomous mobile device, and a storage medium

Abstract

Embodiments of the present application provide a control method, an autonomous mobile device and a storage medium. In the embodiments of the present application, at least one interaction area is demarcated on the surface of the shell of the autonomous mobile device, each interaction area corresponds to a control instruction, and the autonomous mobile device is further provided with a laser sensor. Based on this, the laser sensor can be used to scan the at least one interaction area to perceive whether an occlusion is occluded on a certain interaction area. Moreover, whether the occlusion effectively triggers the interaction area can be judged according to the change state of the pose information of the occlusion, so that the autonomous mobile device can be controlled according to the control instruction corresponding to the interaction area in the case that the certain interaction area is effectively triggered. Accordingly, in the embodiments of the present application, the interaction area is innovatively used to replace the traditional physical button, which can effectively save the material cost of the autonomous mobile device and prolong the service life of the autonomous mobile device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, in particular to a control method, an autonomous mobile device and a storage medium. BACKGROUND

[0002] With the development of autonomous mobile technology, more and more autonomous mobile devices enter people's life and provide convenience for people's life.

[0003] At present, although most autonomous mobile devices have supported networking interaction control using mobile phones and other external control terminals, in order to avoid excessive dependence of autonomous mobile devices on external control terminals, physical buttons are still retained on autonomous mobile devices. This leads to an increase in the material cost of autonomous mobile devices, and the service life of physical buttons is limited, which may affect the service life of autonomous mobile devices. SUMMARY

[0004] Aspects of the present application provide a control method, an autonomous mobile device and a storage medium to reduce the material cost of autonomous mobile devices and / or improve the service life of autonomous mobile devices.

[0005] Embodiments of the present application provide a control method applicable to an autonomous mobile device, a shell surface of the autonomous mobile device being divided into at least one interaction area, each interaction area corresponding to a control instruction, the shell of the autonomous mobile device being provided with a laser sensor, a scanning line of the laser sensor being capable of scanning the at least one interaction area through an opening on the shell surface, and the method comprising:

[0006] controlling the laser sensor to scan the at least one interaction area;

[0007] when a target interaction area with an occlusion is scanned, obtaining pose information of the occlusion on the target interaction area;

[0008] if a change state of the pose information meets a set interaction triggering condition, controlling the autonomous mobile device according to the control instruction corresponding to the target interaction area.

[0009] Embodiments of the present application also provide an autonomous mobile device comprising a shell, a shell surface of the autonomous mobile device being divided into at least one interaction area, each interaction area corresponding to a control instruction, the shell being provided with a laser sensor, a memory and a processor, and a scanning line of the laser sensor being capable of scanning the at least one interaction area through an opening on the shell surface;

[0010] the memory is configured to store a computer program, and the processor is configured to execute the computer program, so as to:

[0011] Control the laser sensor to scan the at least one interactive area;

[0012] When a target interactive area with an obstruction is detected, the pose information of the obstruction on the target interactive area is obtained.

[0013] If the change in the pose information meets the set interaction triggering conditions, the autonomous mobile device is controlled according to the control command corresponding to the target interaction area.

[0014] This application also provides a computer-readable storage medium for storing computer instructions, which, when executed by one or more processors, cause the one or more processors to perform the aforementioned control method.

[0015] In this embodiment, at least one interactive area is defined on the surface of the autonomous mobile device's casing. Each interactive area corresponds to a control command. The autonomous mobile device is also equipped with a laser sensor. Based on this, the laser sensor can scan at least one interactive area to detect whether an obstruction is blocking a certain interactive area. Furthermore, based on the change in the positional information of the obstruction, it can be determined whether the obstruction has effectively triggered the interactive area. Thus, when an interactive area is effectively triggered, the autonomous mobile device can be controlled according to the control command corresponding to that interactive area. Accordingly, this embodiment innovatively proposes using interactive areas to replace traditional physical buttons, which can effectively save material costs for the autonomous mobile device and extend its service life. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A schematic diagram of the structure of an autonomous mobile device provided as an exemplary embodiment of this application;

[0018] Figure 2 An exemplary external schematic diagram of an autonomous mobile device provided for an exemplary embodiment of this application;

[0019] Figure 3 A schematic diagram of the logic of a scheme for determining whether a valid triggering event has occurred on a target interaction area, provided as an exemplary embodiment of this application;

[0020] Figure 4 A flowchart illustrating a control method provided for another exemplary embodiment of this application;

[0021] Figure 5 A logic diagram of a solution in an application scenario is provided for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described below in conjunction with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0023] Before the technical solutions of the embodiments of the present application are described in detail, the self-moving device provided by the embodiments of the present application is first described. The self-moving device provided by the embodiments of the present application can be any mechanical device capable of moving autonomously in an environment in which it is located, for example, can be a robot, a purifier, a self-driving vehicle, etc. Among them, the robot can include a sweeping robot, a glass wiping robot, a home companion robot, a welcome robot, an autonomous service robot, etc., which are not limited here. These self-moving devices can rely on sensors and functional modules arranged thereon to realize detection and information transmission of the working environment.

[0024] In view of the technical problems of the existing self-moving device, such as increased material cost and shortened service life, caused by retaining physical buttons. In some embodiments of the present application: at least one interaction area can be demarcated on the surface of the shell of the self-moving device, each interaction area corresponds to a control instruction, and a laser sensor is further arranged on the self-moving device. Based on this, the laser sensor can be used to scan at least one interaction area to sense whether an occlusion is occluded on the interaction area, and further, according to the change state of the pose information of the occlusion, it can be judged whether the occlusion has effectively triggered the interaction area. Thus, the self-moving device can be controlled according to the control instruction corresponding to the interaction area in the case that the interaction area is effectively triggered. Accordingly, in the embodiments of the present application, the control scheme of using the interaction area to replace the traditional physical button is innovatively proposed, which can effectively save the material cost of the self-moving device and further prolong the service life of the self-moving device.

[0025] The technical solutions provided by the embodiments of the present application will be described in detail below in conjunction with the drawings.

[0026] Figure 1 A structural diagram of a self-moving device is provided for an exemplary embodiment of the present application. As shown in FIG. 1, the self-moving device 100 includes a shell 110, a laser sensor 120, and a control module 130. Figure 1As shown, the autonomous mobile device can include a housing, and at least one interaction area 10 can be defined on the surface of the housing, each interaction area 10 corresponding to a control instruction. The control instruction can include, but is not limited to, start, pause, return to charging, etc. Of course, this is only exemplary, and the present embodiment is not limited thereto.

[0027] In the present embodiment, the interaction area 10 is used to provide a space for human-computer interaction, but no physical hardware for supporting interaction is required to be configured in the interaction area 10. Even, physical hardware for supporting other device functions that do not conflict with the human-computer interaction in the present embodiment, such as a display screen, etc., can be deployed in the interaction area 10. This is completely different from the control mode that requires physical hardware support, such as physical keys, virtual keys, etc. In addition, the present embodiment does not limit the shape of the interaction area 10, and the interaction area 10 can be circular, rectangular, sector-shaped, triangular, or any other shape.

[0028] Reference Figure 1 The housing of the autonomous mobile device can further be provided with a laser sensor 20, a memory 40, and a processor 30. The housing surface of the autonomous mobile device can be provided with an opening for the laser sensor 20, and the scanning line of the laser sensor 20 can scan at least one interaction area 10 through the opening. In actual application, the emission end of the laser sensor 20 can protrude from the opening, and the height of the emission end of the laser sensor 20 can be flush with or higher than the opening. In addition, in the present embodiment, the scanning line of the laser sensor 20 can scan around a rotation axis to form a scanning surface of the laser sensor 20. Preferably, the rotation axis can be perpendicular to the interaction area 10, and the rotation angle of the scanning line can be 360° or other angles that can ensure that the scanning surface of the laser sensor 20 can cover all interaction areas 10. The present embodiment does not limit this. In this way, the scanning surface corresponding to the laser sensor 20 can cover at least one interaction area 10.

[0029] In the present embodiment, the laser sensor 20 already assembled in the autonomous mobile device can be reused to support the control scheme in the present embodiment. For example, the autonomous mobile device usually relies on the laser sensor 20 to realize obstacle avoidance, positioning, etc. In the present embodiment, such laser sensor 20 can be reused. Of course, if the laser sensor 20 is not assembled in the autonomous mobile device, the laser sensor 20 can be added to the autonomous mobile device to support the control scheme in the present embodiment.

[0030] In addition, the housing surface of the autonomous mobile device can be provided with a physical switch corresponding to the laser sensor 20. In an optional implementation, the physical switch can be arranged below the laser sensor, so that the user can press the laser sensor to trigger the physical switch and start the laser sensor. After pressing the laser sensor 20, the physical switch can push the laser sensor 20 back to the working height. Based on this, in the embodiment, if the autonomous mobile device enters the non-working state, the processor 30 can control the laser sensor 20 to enter the sleep state. The user can wake up the laser sensor 20 by performing a trigger operation on the physical switch corresponding to the laser sensor 20. The processor 30 can start the laser sensor 20 in response to the trigger operation on the physical switch corresponding to the laser sensor 20. Accordingly, the power consumption of the laser sensor 20 can be effectively reduced.

[0031] In actual application, preferably, the at least one interaction area 10 can be demarcated on the planar part of the housing of the autonomous mobile device, which can ensure that the at least one interaction area 10 is located in the same plane, and in this case, the scanning surface of the laser sensor 20 can be parallel to the at least one interaction area 10. Of course, the at least one interaction area 10 can also be demarcated on other shaped parts of the housing of the autonomous mobile device, for example, arc-shaped parts, staggered parts, etc. For different types of autonomous mobile devices, the shape of the housing can be selected according to actual needs. In this case, the at least one interaction area 10 can no longer be located in the same plane, but all need to be covered by the scanning surface of the laser sensor 20 to support the laser sensor 20 to scan the at least one interaction area 10.

[0032] In the embodiment, the laser sensor 20 can use a distance measuring method such as D-TOF (Direct time of flight), I-TOF (Indirect time of flight) or triangulation to perceive obstacles. Of course, this is only exemplary, and the embodiment is not limited thereto. The scanning principle of the laser sensor 20 will not be described in detail here.

[0033] Accordingly, in the embodiment, the relative position between the laser sensor 20 and the at least one interactive region 10 is not specifically limited, and the relative position between the two can support the laser sensor 20 to scan the at least one interactive region 10. In the embodiment, the relative position between the laser sensor 20 and the at least one interactive region 10 can be fixed at the factory. In actual application, the at least one interactive region 10 can be arranged opposite to the corresponding opening of the laser sensor 20. For example, the at least one interactive region 10 can be demarcated at the lower edge of the surface of the shell of the autonomous mobile device, and the corresponding opening of the laser sensor 20 can be arranged at the upper edge of the surface of the shell. Of course, this is only exemplary, and the embodiment is not limited thereto. In addition, to avoid the at least one interactive region 10 being too close to the laser sensor 20 and causing the scanning of the laser sensor 20 to be invalid, in the embodiment, the distance between the laser sensor 20 and the at least one interactive region 10 can be greater than a distance threshold, which can be determined according to the effective scanning range of the laser sensor 20.

[0034] Figure 2 An exemplary schematic diagram of an exemplary shape of an autonomous mobile device is provided for an exemplary embodiment of the present application. Referring to Figure 2 , the autonomous mobile device is a sweeping robot, and the lower edge of the upper surface of the sweeping robot can be demarcated with three interactive regions 10 (referring to the three dashed circular regions in Figure 2 ), and the upper edge can be arranged with an opening, and the emitting end of the laser sensor 20 can be extended from the opening, so that the scanning line of the laser sensor 20 can scan the three interactive regions 10, that is, the scanning surface of the laser sensor 20 can simultaneously cover the three interactive regions 10. It should be understood that Figure 2 , the shape of the autonomous mobile device in Figure 2 is only exemplary, and the arrangement positions of the laser sensor 20 and the interactive region 10 are also only exemplary, which should not limit the protection scope of the present application.

[0035] In the embodiment, a marking information 50 can also be arranged on each interactive region 10 to distinguish different interactive regions 10. In addition, the marking information arranged on each interactive region 10 can be adapted to the corresponding control instruction. Referring to Figure 2 , the three interactive regions 10 in the figure are respectively provided with marking information, and the marking information in the three interactive regions 10 is respectively adapted to the control instructions of starting, pausing and returning to charging. In the embodiment, the marking information can be an icon, pattern or text corresponding to the control instruction printed on the interactive region 10, or the marking information can be a physical label attached to the interactive region 10, and the physical label has an icon, pattern or text corresponding to the control instruction. In this way, the marking information can be used to mark the corresponding control instruction of the interactive region 10, and in addition, the marking information can also be used to guide the interactive operation position of the user.

[0036] Based on the above structure, in the embodiment, the processor 30 in the housing of the autonomous mobile device can execute the computer program stored in the memory 40 to realize the control of the autonomous mobile device.

[0037] For the processor 30, the laser sensor 20 can be controlled to scan at least one interaction area 10. For example, the laser sensor 20 can perform a scan of 5 times per second around 360°. In the embodiment, through the scan of the laser sensor 20, the processor 30 can calculate the pose information of the obstacle. Generally, the pose information can include the distance and angle of the obstacle relative to the laser sensor 20, etc.

[0038] Based on this, in the embodiment, when the target interaction area 10 with the existence of the occlusion is scanned, the processor 30 can obtain the pose information of the occlusion on the target interaction area 10. In this paper, the obstacle appearing on at least one interaction area 10 is described as an occlusion. As known from the foregoing description of the deployment structure of the laser sensor 20 and at least one interaction area 10, in the embodiment, the scanning surface of the laser sensor 20 covers at least one interaction area 10, based on which, when the occlusion appears on the interaction area 10, the scanning line of the laser sensor 20 will be blocked by the occlusion, so that the processor 30 can perceive whether the occlusion appears on at least one interaction area 10 by using the laser sensor 20, and can identify which interaction area 10 has the occlusion. In the embodiment, the scanning operation of the laser sensor 20 is a continuous operation, therefore, the processor 30 can perceive whether the occlusion appears on at least one interaction area 10 in time and accurately by using the laser sensor 20.

[0039] For the processor 30, it can also be judged according to the pose information of the occlusion existing on the target interaction area 10 whether the change state of the pose information of the occlusion meets the set interaction trigger condition, if it meets, the autonomous mobile device can be controlled according to the control instruction corresponding to the target interaction area 10. That is, if the change state of the pose information of the occlusion existing on the target interaction area 10 meets the set interaction trigger condition, it can be determined that the effective trigger event occurs on the target interaction area 10, so that the control instruction corresponding to the target interaction area 10 can be triggered. In the latter, the specific scheme of judging whether the effective trigger event occurs on the target interaction area 10 will be described.

[0040] From the perspective of user operation, when the user needs to trigger the target interaction area 10, the user can perform an interaction operation on the target interaction area 10 by using a shielding object such as a finger. For example, the user's finger can perform a click operation or a sliding operation on the mark information provided on the target interaction area 10. It should be noted that, here, the shielding object used by the user can not need to touch the target interaction area 10. For example, the shielding object can be suspended above the target interaction area 10, as long as the shielding object can be scanned by the laser sensor 20. When the interaction operation performed by the shielding object of the user meets the preset interaction triggering condition, the target interaction area 10 can be effectively triggered.

[0041] The processor 30 can also perform voice broadcast of the control instruction corresponding to the target interaction area 10 when the change state of the pose information of the shielding object present on the target interaction area 10 meets the set interaction triggering condition. The user is prompted with the control result.

[0042] Accordingly, in the embodiment, at least one interaction area can be defined on the surface of the shell of the autonomous mobile device, each interaction area corresponding to a control instruction. The laser sensor is also provided on the autonomous mobile device. Based on this, the laser sensor can be used to scan the at least one interaction area to sense whether a shielding object is present on the interaction area. In addition, the change state of the pose information of the shielding object can be used to determine whether the shielding object has effectively triggered the interaction area. Therefore, the autonomous mobile device can be controlled according to the control instruction corresponding to the interaction area when the interaction area is effectively triggered. Therefore, in the embodiment, the innovative control scheme of using an interaction area to replace a traditional physical button can effectively save the material cost of the autonomous mobile device and prolong the service life of the autonomous mobile device.

[0043] In the above or below embodiments, the processor can determine whether an effective triggering event occurs on the target interaction area at least from the following two exemplary dimensions: the effectiveness of the shielding object present on the target interaction area and the effectiveness of the change state of the pose information of the shielding object. Figure 3 A scheme logic diagram for determining whether an effective triggering event occurs on a target interaction area is provided for an exemplary embodiment of the present application.

[0044] Effectiveness of the presence of an occluder on the target interaction area

[0045] Reference Figure 3In this dimension, in one aspect, the processor can determine whether the occlusion sensed by the laser sensor is only on the target interaction region. To this end, the processor can determine the target scan lines blocked by the occlusion when the laser sensor scans the occlusion; if there is a scan line pointing to the center of the target interaction region and there is no scan line pointing to the center of other interaction regions, it is determined that the occlusion is on the target interaction region. At present, in addition to the "center", other representative points in the interaction region can also be used to determine whether the interaction region is occluded, such as a certain point on the left side of the center, etc. Accordingly, it can be determined whether the occlusion is only on the target interaction region and does not occlude other interaction regions, so as to avoid the problem of false triggering.

[0046] On the other hand, the processor can also calculate the shape of the occlusion according to the pose information of the occlusion existing on the target interaction region; if the shape of the occlusion conforms to the set triggering shape, it is determined whether the change state of the pose information conforms to the interaction triggering condition.

[0047] In an exemplary scheme, the processor can calculate the distance of the occlusion relative to the laser sensor and the angle occupied by the occlusion on the scanning surface of the laser sensor according to the pose information; according to the distance and the angle, the arc length corresponding to the occlusion is calculated to represent the shape of the occlusion. Based on this, the processor can determine that the shape of the occlusion conforms to the triggering shape when the arc length corresponding to the occlusion is greater than a set first arc length threshold and less than a set second arc length threshold, wherein the first arc length threshold is less than the second arc length threshold. In practical applications, the distance of the occlusion relative to the laser sensor can use the average or median distance of the intersection of the occlusion and the scanning line (i.e., the blocked position of the scanning line) relative to the laser sensor. The angle occupied by the occlusion on the scanning surface of the laser sensor can use the angle occupied by all the scanning lines blocked by the occlusion. In addition, the first arc length threshold and the second arc length threshold can be empirical values, for example, the first arc length threshold and the second arc length threshold can be determined according to the arc length occupied by fingers of different specifications (thick, thin) on the scanning surface of the laser sensor under normal operation, so as to support the shape of fingers of various specifications.

[0048] For example, if the arc length corresponding to the occlusion is greater than the second arc length threshold, it means that the occlusion range of the occlusion exceeds the normal triggering shape, so it can be considered that the occlusion is likely to be a foreign object that is mistakenly occluded on the target interaction region; and if the arc length corresponding to the occlusion is less than the first arc length threshold, it means that the occlusion range of the occlusion is too small, which is likely to be a foreign object such as impurities in the air. Therefore, if the shape of the occlusion does not conform to the triggering shape, the processor can determine that the occlusion is a foreign object, and return to perform the operation of controlling the laser sensor to scan at least one interaction region until it is determined that the scanned occlusion conforms to the triggering shape, and then perform the operation of determining whether the change state of the pose information conforms to the interaction triggering condition. For example, referenceFigure 3 If the processor perceives that the occlusion occludes multiple interaction regions or the shape of the occlusion does not conform to the trigger shape, the laser sensor can be controlled to delay scanning, for example, delay for 1 s, not perform scanning, wait for the next scanning to start, and so on, until it is perceived that the occlusion only occludes a single interaction region and the shape of the occlusion conforms to the trigger shape, and then the loop is exited and subsequent operations are continued.

[0049] Of course, the processor can also determine the validity of the occlusion on the target interaction region from other aspects, and the embodiments are not limited thereto.

[0050] Accordingly, in this dimension, the processor can determine the validity of the occlusion from at least two aspects, i.e., whether the occlusion occludes a single interaction region and whether the shape of the occlusion conforms to the preset trigger shape, which can effectively avoid false triggering and improve control accuracy and user operation convenience.

[0051] Effectiveness of the change state of the pose information of the occluder

[0052] In this dimension, the processor can determine whether the change state of the pose information of the occlusion conforms to the set interaction trigger condition to determine the validity of the change state of the pose information of the occlusion.

[0053] Reference Figure 3 In an exemplary scheme, the processor can identify an interaction action of the occlusion on the interaction region based on the change state of the pose information, and if the interaction action conforms to a set trigger action requirement, it is determined that the change state of the pose information conforms to the set interaction trigger condition. In this scheme, the change state of the pose information is integrated into an interaction action, and the set trigger action requirement is used as an interaction trigger condition. The trigger action requirement can include but is not limited to an action standard of a click action or a sliding action. For example, the action standard of the click action can be that at least press-down, dwell, and lift-up actions occur in sequence, and the dwell time is greater than a first dwell time and less than a second dwell time, and the first dwell time is less than the second dwell time. The action standard of the sliding action can be that at least press-down, sliding, and lift-up actions occur as needed, and the sliding length is greater than a first length and less than a second length, and the first length is less than the second length. Of course, this is only exemplary, and the embodiments are not limited thereto.

[0054] Optionally, for the processor, if it is calculated based on the pose information that the angle occupied by the occlusion on the scanning surface of the laser sensor changes from small to large, it is determined that the press-down action occurs on the target interaction region of the occlusion;

[0055] If it is calculated based on the pose information that the angle occupied by the occlusion on the scanning surface of the laser sensor changes from large to small, it is determined that the lift-up action occurs on the target interaction region of the occlusion;

[0056] If it is determined that the angle occupied by the occlusion object on the scanning surface of the laser sensor and the distance relative to the laser sensor remain unchanged based on the pose information, it is determined that the occlusion object performs a stay action on the target interaction region.

[0057] If it is determined that the angle occupied by the occlusion object on the scanning surface of the laser sensor has a translation based on the pose information, it is determined that the occlusion object performs a sliding action on the target interaction region.

[0058] It should be understood that the types of interaction actions in the embodiments are not limited thereto, and the determination basis of each interaction action is also not limited thereto. In actual applications, adjustments can be made as needed.

[0059] Accordingly, it can be determined whether the interaction action of the occlusion object on the target interaction region meets the set trigger action requirement, and if so, the autonomous mobile device can be controlled according to the control instruction corresponding to the target interaction region. Referring to Figure 3 , if not, it can be determined that the occlusion object is a foreign object, and the operation of controlling the laser sensor to scan at least one interaction region is returned to be executed, and the cycle is continued until the change state of the pose information of the scanned occlusion object meets the set interaction trigger condition, and then the cycle is exited, and the operation of controlling the autonomous mobile device according to the control instruction corresponding to the target interaction region is executed.

[0060] Of course, in this dimension, the processor can also use other schemes to determine the validity of the change state of the pose information of the occlusion object, and the embodiments are not limited thereto. For example, the processor can calculate distance change information and / or angle change information occupied on the scanning surface of the laser sensor relative to the laser sensor based on the pose information of the occlusion object; and determine whether the distance change information and / or the angle change information meets the set interaction trigger condition, for example, if the angle change information is first changed from small to large, then remains unchanged for a period of time, and then changes from large to small again, it is determined that the change state of the pose information of the occlusion object meets the set interaction trigger condition. This is similar to the above-mentioned exemplary scheme of "integrating the pose information into the interaction action".

[0061] Accordingly, in this dimension, the processor identifies the change state of the pose information of the occlusion object existing on the target interaction region in the occlusion process, so as to determine whether the occlusion object performs an effective trigger on the target interaction region through the change state of the pose information. This can effectively identify the misoperation and avoid the problem of mistriggering, and improve the control accuracy.

[0062] Through the above two exemplary dimensions, the processor can determine that an effective triggering event occurs on the target interaction region in the case that the occlusion on the target interaction region is effective and the change state of the pose information of the occlusion is also effective, so as to control the autonomous mobile device according to the control instruction corresponding to the target interaction region. This ensures that different interaction regions do not interfere with each other, avoids the problem of false triggering, and improves control accuracy and user operation convenience.

[0063] Figure 5 A scheme logic diagram in an application scenario is provided for an exemplary embodiment of the present application. The following will be described in combination with Figure 5 Taking a sweeping robot as an example, the control process of the sweeping robot is exemplarily described.

[0064] The upper surface of the sweeping robot can be divided into three interaction regions, and the corresponding control instructions are start, pause and return to charge, respectively. And the three interaction regions are respectively provided with identification information adapted to the corresponding control instructions. The emitting end of the laser sensor extends from the opening in the upper surface of the sweeping robot, and the scanning line of the laser sensor is parallel to the upper surface of the sweeping robot. The shell of the sweeping robot is also provided with a processor and a memory.

[0065] The user can turn on the switch of the laser sensor to wake up the laser sensor. The processor can control the laser sensor to perform 5 scans per second around 360°. The continuously emitted scanning lines of the laser sensor can form a scanning surface, and the scanning surface of the laser sensor covers the three interaction regions on the sweeping robot. The laser sensor can provide the collected scanning data to the processor, and the scanning data can include but is not limited to the flight time of the scanning line, the identification of the scanning line, etc. The processor can determine whether an occlusion appears on the three interaction regions based on the scanning data, and which interaction region is occluded by the occlusion, and can calculate the pose information of the occlusion based on the scanning data.

[0066] Referring to Figure 5 Based on this, if the user wants to trigger the "start instruction", the user can perform a clicking action on the interaction region A associated with the start instruction by a finger. In this way, the processor can perceive that there is an occlusion on the interaction region A through the laser sensor, and can determine whether the occlusion only occludes the interaction region A and whether the shape of the occlusion conforms to the shape of the finger.

[0067] Referring to Figure 5If the above determination results are all yes, the processor can continue to identify whether the interaction action of the occlusion on the interaction region meets the action standard of the click action. For the processor, if the angle occupied by the occlusion on the scanning surface of the laser sensor is determined to change from small to large based on the pose information of the occlusion, it can be determined that the occlusion has a pressing action. After sensing the pressing action, the processor can continue to wait for the lifting action of the occlusion. If the lifting action of the occlusion is not sensed within 2s, the occlusion is determined to be a foreign object, and the processor can return to control the laser sensor to perform a delay scan to wait for the next scan of the laser sensor. This cycle continues until a non-foreign object occlusion is sensed, and the cycle is exited and the processor continues to determine whether the dwell time of the occlusion meets the action standard of the click action. If the lifting action of the occlusion is sensed within 2s, the processor can analyze whether the dwell time of the occlusion after the pressing action is greater than 500ms. If the dwell time is less than 500ms, the occlusion is determined to be a foreign object, and the processor can return to control the laser sensor to perform a delay scan to wait for the next scan of the laser sensor. This cycle continues until a non-foreign object occlusion is sensed, and the cycle is exited and the processor executes a start instruction to control the robot to start.

[0068] Figure 4 A flowchart of a control method is provided for another exemplary embodiment of the present application. The method can be executed by a control device, which can be implemented as a combination of software and / or hardware, and can be integrated into an autonomous mobile device. Referring to Figure 4 The method can be applied to an autonomous mobile device, at least one interaction region is defined on the surface of the shell of the autonomous mobile device, each interaction region corresponds to a control instruction, a laser sensor is provided in the shell of the autonomous mobile device, and the scanning line of the laser sensor can scan the at least one interaction region through the opening on the surface of the shell. The method comprises:

[0069] Step 400, controlling the laser sensor to scan the at least one interaction region;

[0070] Step 402, when a target interaction region with an occlusion is scanned, obtaining pose information of the occlusion on the target interaction region;

[0071] Step 402, if the change state of the pose information meets the set interaction trigger condition, controlling the autonomous mobile device according to the control instruction corresponding to the target interaction region.

[0072] In an optional embodiment, the method further comprises:

[0073] According to the pose information of the occlusion existing on the target interaction region, the shape of the occlusion is calculated.

[0074] If the shape of the occlusion object matches the set trigger shape, it is determined whether the change state of the pose information matches the interaction trigger condition.

[0075] In an optional embodiment, the step of calculating the shape of the occlusion object based on the pose information of the occlusion object comprises:

[0076] According to the pose information, the distance of the occlusion object relative to the laser sensor and the angle occupied by the occlusion object on the scanning surface of the laser sensor are calculated.

[0077] According to the distance and the angle, the arc length corresponding to the occlusion object is calculated to represent the shape of the occlusion object.

[0078] In an optional embodiment, the method further comprises:

[0079] If the arc length corresponding to the occlusion object is greater than a set first arc length threshold and less than a set second arc length threshold, it is determined that the shape of the occlusion object matches the trigger shape.

[0080] The first arc length threshold is less than the second arc length threshold.

[0081] In an optional embodiment, the method further comprises:

[0082] If the shape of the occlusion object does not match the trigger shape, it is determined that the occlusion object is a foreign object, and the operation of controlling the laser sensor to scan at least one interaction region is performed until it is determined that the scanned occlusion object matches the trigger shape, and then the operation of determining whether the change state of the pose information matches the interaction trigger condition is performed.

[0083] In an optional embodiment, the method further comprises:

[0084] In the case that the laser sensor scans the occlusion object, the target scanning line blocked by the occlusion object is determined.

[0085] If there is a scanning line pointing to the center of the target interaction region and there is no scanning line pointing to the center of other interaction regions in the target scanning line, it is determined that the occlusion object is occluded on the target interaction region.

[0086] In an optional embodiment, the method further comprises:

[0087] Based on the change state of the pose information, the interaction action of the occlusion object on the target interaction region is identified.

[0088] If the interaction action matches the set trigger action requirement, it is determined that the change state of the pose information matches the set interaction trigger condition.

[0089] In an optional embodiment, the step of identifying the interaction action of the occlusion object on the target interaction region based on the change state of the pose information comprises:

[0090] If the angle occupied by the occlusion on the scanning surface of the laser sensor is calculated to change from small to large based on the pose information, it is determined that the occlusion performs a pressing action on the target interaction region.

[0091] If the angle occupied by the occlusion on the scanning surface of the laser sensor is calculated to change from large to small based on the pose information, it is determined that the occlusion performs a lifting action on the target interaction region.

[0092] If the angle occupied by the occlusion on the scanning surface of the laser sensor and the distance relative to the laser sensor remain unchanged based on the pose information, it is determined that the occlusion performs a staying action on the target interaction region.

[0093] If the angle occupied by the occlusion on the scanning surface of the laser sensor exists translation based on the pose information, it is determined that the occlusion performs a sliding action on the target interaction region.

[0094] In an optional embodiment, the set trigger action requirement includes an action standard of a clicking action or a sliding action.

[0095] In an optional embodiment, the method further includes:

[0096] If the change state of the pose information does not meet the set interaction trigger condition, it is determined that the occlusion is a foreign object, and the operation of controlling the laser sensor to scan at least one interaction region is returned to be performed until the change state of the pose information of the scanned occlusion meets the set interaction trigger condition, and then the operation of controlling the autonomous mobile device according to the control instruction corresponding to the target interaction region is performed.

[0097] In an optional embodiment, the method further includes:

[0098] If the change state of the pose information meets the set interaction trigger condition, the control instruction corresponding to the target interaction region is voice broadcasted.

[0099] In an optional embodiment, a physical switch corresponding to the laser sensor is arranged on the shell of the autonomous mobile device, and the method further includes:

[0100] If the laser sensor is in a dormant state, the laser sensor is started in response to a trigger operation on the physical switch corresponding to the laser sensor; or,

[0101] If the autonomous mobile device enters a non-working state, the laser sensor is controlled to enter a dormant state.

[0102] In an optional embodiment, the pose information includes a distance and / or an angle of the occlusion relative to the laser sensor.

[0103] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can also be executed by different devices as the execution subject. For example, the execution subject of steps 401 to 402 can be device A; for another example, the execution subject of steps 401 and 402 can be device A, and the execution subject of step 400 can be device B; and the like.

[0104] In addition, in some of the processes described in the above embodiments and the accompanying drawings, a plurality of operations appearing in a certain order are included, but it should be clearly understood that these operations can be executed in the order appearing in the present text or in parallel, and the serial numbers of the operations, such as 401, 402, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel. It should be noted that the descriptions of “first”, “second” and the like in the present text are used to distinguish different thresholds, modules, etc., and do not represent the order and do not limit that the “first” and the “second” are different types.

[0105] It should be noted that the technical details in the above embodiments of the control method can refer to the related descriptions in the foregoing autonomous mobile device embodiments, and will not be repeated here in order to save space, but this should not cause any loss of the protection scope of the present application.

[0106] Correspondingly, the embodiments of the present application also provide a computer readable storage medium storing a computer program, which can implement each step that can be executed by the processor of the autonomous mobile device when the computer program is executed.

[0107] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0108] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions described in the flowcharts and / or block diagrams. These computer program instructions can also be stored in a computer readable storage medium that can guide the computer or other programmable data processing devices to work. The computer readable storage medium can be, but is not limited to, a floppy disk, a hard disk, a CD-ROM, a solid state drive, or any other computer readable medium.Figure 1 one or more processes and / or blocks Figure 1 an apparatus with the function specified in the flow

[0109] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 one or more processes and / or blocks Figure 1 an apparatus with the function specified in the flow

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the Figure 1 one or more processes and / or blocks Figure 1 an apparatus with the function specified in the flow

[0111] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0112] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or non-volatile random access memory (NVRAM). The memory is an example of computer readable storage media.

[0113] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0114] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0115] The above description is merely illustrative of the application, and not restrictive. Various modifications and changes can be made by those skilled in the art. It is intended that the scope of the application should only be limited by the appended claims.

Claims

1. A control method suitable for an autonomous mobile device, characterized in that, The housing surface of the autonomous mobile device is defined with at least one interaction area, each interaction area corresponding to a control instruction, the housing of the autonomous mobile device is provided with a laser sensor, a scanning line of the laser sensor can scan the at least one interaction area through an opening on the housing surface, and the method comprises the following steps: controlling the laser sensor to scan the at least one interaction area; when a target interaction area with an occlusion is scanned, obtaining pose information of the occlusion on the target interaction area; if a change state of the pose information meets a set interaction trigger condition, controlling the autonomous mobile device according to the control instruction corresponding to the target interaction area; according to the pose information of the occlusion existing on the target interaction area, calculating a shape of the occlusion; if the shape of the occlusion meets a set trigger shape, determining whether the change state of the pose information meets the interaction trigger condition.

2. The method of claim 1, wherein, The calculation of the shape of the occlusion according to the pose information of the occlusion comprises the following steps: according to the pose information, calculating a distance of the occlusion relative to the laser sensor and an angle occupied by the occlusion on a scanning surface of the laser sensor; according to the distance and the angle, calculating an arc length corresponding to the occlusion to represent the shape of the occlusion.

3. The method of claim 2, wherein, Further comprising: if the arc length corresponding to the occlusion is greater than a set first arc length threshold and less than a set second arc length threshold, determining that the shape of the occlusion meets the trigger shape; wherein the first arc length threshold is less than the second arc length threshold.

4. The method of claim 1, wherein, Further comprising: if the shape of the occlusion does not meet the trigger shape, determining that the occlusion is a foreign object, and returning to perform the operation of controlling the laser sensor to scan the at least one interaction area until it is determined that the scanned occlusion meets the trigger shape, and then performing the operation of determining whether the change state of the pose information meets the interaction trigger condition.

5. The method of claim 1, wherein, Further comprising: in the case that the laser sensor scans an occlusion, determining a target scanning line blocked by the occlusion; if there is a scanning line pointing to a center of the target interaction area and no scanning line pointing to a center of another interaction area in the target scanning line, determining that the occlusion is on the target interaction area.

6. The method of claim 1, wherein, Further comprising: based on the change state of the pose information, identifying an interaction action of the occlusion on the target interaction area; if the interaction action meets a set trigger action requirement, determining that the change state of the pose information meets the set interaction trigger condition.

7. The method of claim 6, wherein, The identification of the interaction action of the occlusion on the target interaction area based on the change state of the pose information comprises the following steps: if it is calculated based on the pose information that the angle occupied by the occlusion on the scanning surface of the laser sensor changes from small to large, determining that the occlusion has a pressing action on the target interaction area; if it is calculated based on the pose information that the angle occupied by the occlusion on the scanning surface of the laser sensor changes from large to small, determining that the occlusion has a lifting action on the target interaction area. If it is determined that the angle occupied by the occlusion on the scanning surface of the laser sensor and the distance relative to the laser sensor remain unchanged based on the pose information, it is determined that the occlusion has a stay action on the target interaction region. If it is determined that the angle occupied by the occlusion on the scanning surface of the laser sensor has a translation based on the pose information, it is determined that the occlusion has a sliding action on the target interaction region.

8. The method of claim 6, wherein, The set trigger action requirement includes an action standard of a click action or a sliding action.

9. The method of claim 1, wherein, Further comprising: If the change state of the pose information does not meet the set interaction trigger condition, it is determined that the occlusion is a foreign object, and the operation of controlling the laser sensor to scan at least one interaction region is returned to be executed until the change state of the pose information of the scanned occlusion meets the set interaction trigger condition, and then the operation of controlling the autonomous mobile device according to the control instruction corresponding to the target interaction region is executed.

10. The method of claim 1, wherein, Further comprising: If the change state of the pose information meets the set interaction trigger condition, the control instruction corresponding to the target interaction region is voice broadcasted.

11. The method of claim 1, wherein, The housing of the autonomous mobile device is provided with a physical switch corresponding to the laser sensor, and the method further comprises: If the laser sensor is in a dormant state, the laser sensor is started in response to a trigger operation on the physical switch corresponding to the laser sensor; or, If the autonomous mobile device enters a non-working state, the laser sensor is controlled to enter a dormant state.

12. The method of claim 1, wherein, The pose information includes the distance and / or angle of the occlusion relative to the laser sensor.

13. An autonomous mobile device, comprising: The housing is provided with a laser sensor, a memory and a processor, and a scanning line of the laser sensor can scan the at least one interaction region through an opening on the surface of the housing. The memory is configured to store a computer program, and the processor is configured to execute the computer program to: control the laser sensor to scan the at least one interaction region; when a target interaction region with an occlusion is scanned, obtain pose information of the occlusion on the target interaction region; if the change state of the pose information meets the set interaction trigger condition, control the autonomous mobile device according to the control instruction corresponding to the target interaction region; according to the pose information of the occlusion existing on the target interaction region, calculate the shape of the occlusion; if the shape of the occlusion meets the set trigger shape, determine whether the change state of the pose information meets the interaction trigger condition.

14. The autonomous mobile device of claim 13, wherein, The housing is further provided with a physical switch corresponding to the laser sensor, and the processor is further configured to: start the laser sensor in response to a trigger operation on the physical switch corresponding to the laser sensor.

15. The autonomous mobile device of claim 13, wherein, The scanning surface of the laser sensor is parallel to the at least one interaction region.

16. The autonomous mobile device of claim 15, wherein, Each interaction region is provided with mark information adapted to the control instruction corresponding thereto. Each interaction region is provided with mark information adapted to the control instruction corresponding thereto.

17. The autonomous mobile device of claim 16, wherein, The mark information is an icon, a pattern or a text printed on the interactive region corresponding to the control instruction; or The mark information is a physical label attached to the interactive region, and the physical label has an icon, a pattern or a text corresponding to the control instruction.

18. The autonomous mobile device of claim 13, wherein, The at least one interactive region is arranged opposite to the opening.

19. A computer-readable storage medium storing computer instructions, wherein, When the computer instruction is executed by one or more processors, the one or more processors are caused to perform the control method according to any one of claims 1-12.

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