Self-moving device control method, self-moving device and computer-readable medium

Abstract

The embodiments of the present application disclose a control method for a self-moving device, a self-moving device, and a computer-readable medium. The above method includes: detecting whether a stop movement instruction is received; obtaining the communication status of the first control board, the communication status of the second control board, and the operating status of the driving wheel in the self-moving device; when the communication status of the first control board is normal, the communication status of the second control board is normal, and the operating status of the driving wheel is normal, and when the stop movement instruction is received, the driving of the driving wheel is stopped and the driving wheel is locked; when only the communication status of the first control board is abnormal or only the operating status of the driving wheel is abnormal, the self-moving device is powered off for protection; when only the communication status of the second control board is abnormal, the self-moving device is controlled to stop the driving of the driving wheel after returning to the target area. The embodiments of the present application can ensure that the self-moving device can be controlled when the stop movement instruction is received in different situations.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a control method for a self-moving device, a self-moving device, and a computer-readable medium. Background Art

[0002] With the increasing number of applications of self-moving devices, the control requirements for self-moving devices are also getting higher and higher. In addition to the control of different working modes and the control of the action route during operation, the self-moving device is also required to have an emergency stop function, which can quickly and sensitively implement the emergency stop function to avoid damage to the working parts of the self-moving device or harm to the user under special circumstances. Self-moving devices in related technologies usually implement the emergency stop function through mechanical buttons or through simple control of a single detection. The operator's reaction time for operating the mechanical buttons is limited, and the emergency stop operation may not be completed quickly, posing a safety hazard. In addition, if an internal fault occurs in the self-moving device, if the internal fault is not detected in time, the emergency stop function cannot be executed. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a control method for a self-moving device, a control device, a self-moving device and a computer-readable medium.

[0004] According to one aspect of an embodiment of the present application, a control method for a self-moving device is provided, the method comprising: detecting whether a stop movement instruction is received; the stop movement instruction is used to instruct the self-moving device to stop moving; obtaining the communication status of a first control board, a communication status of a second control board and an operating status of a driving wheel in the self-moving device; wherein the first control board is used to drive the driving wheel; the first control board, the second control board and the driving wheel communicate through a CAN bus; the communication end of the driving wheel is connected to the CAN bus of the second control board; when the communication status of the first control board is normal, the communication status of the second control board is normal and the operating status of the driving wheel is normal, and when the stop movement instruction is received, the driving of the driving wheel is stopped and the driving wheel is locked; when only the communication status of the first control board is abnormal or only the operating status of the driving wheel is abnormal, the self-moving device is powered off for protection; when only the communication status of the second control board is abnormal, the driving of the driving wheel is stopped after the self-moving device returns to the target area.

[0005] In one embodiment of the present application, the control method of the self-moving device also includes: obtaining the remaining power of the power supply of the self-moving device; when the remaining power of the power supply is less than a preset threshold and the communication status of the first control board is normal, the communication status of the second control board is normal, and the operating status of the drive wheel is normal, controlling the self-moving device to return to the target area and stop driving the drive wheel.

[0006] In one embodiment of the present application, when the communication status of the first control board is normal, the communication status of the second control board is normal, and the operating status of the driving wheel is normal, the control method of the self-moving device also includes: when receiving the stop movement instruction, stopping the driving of the working part and locking the working part.

[0007] In one embodiment of the present application, the detecting whether a stop movement instruction is received comprises: obtaining an output signal of an emergency stop switch of the self-moving device; if the output signal is a preset level signal, determining that the stop movement instruction is received.

[0008] In one embodiment of the present application, the detecting whether a stop movement instruction is received includes: obtaining the current motion state of the self-moving device; if the self-moving device is in a preset motion state, determining that the stop movement instruction is received; the preset motion state includes tipping over, tilting or lifting.

[0009] In one embodiment of the present application, the detecting whether a stop movement instruction is received includes: acquiring a battery status of the self-moving device; and if it is detected that the battery status of the self-moving device is a charging state, determining that the stop movement instruction is received.

[0010] In one embodiment of the present application, the detecting the battery status of the mobile device includes:

[0011] Detect whether there is a charging current in the battery of the self-moving device, and if so, determine that the battery status of the self-moving device is a charging status; or, detect the positional relationship between the self-moving device and the charging base, and if the self-moving device is located at a preset position on the charging base, determine that the battery status of the self-moving device is a charging status; or, detect the docking status and communication status between the self-moving device and the charging base, and if the self-moving device and the charging base are successfully docked and communicating, determine that the battery status of the self-moving device is a charging status.

[0012] In one embodiment of the present application, the detecting whether a stop movement instruction is received includes: detecting whether a preset locking instruction is received; if the preset locking instruction is received, determining that the stop movement instruction is obtained.

[0013] According to one aspect of an embodiment of the present application, a control device for a self-moving device is provided, the device comprising: a detection module configured to receive a stop movement instruction; the stop movement instruction is used to control the self-moving device to stop moving; an acquisition module configured to acquire the communication status of a first control board, the communication status of a second control board and the running status of a driving wheel in the self-moving device; wherein the first control board is used to drive the driving wheel, the first control board, the second control board and the driving wheel communicate through a CAN bus, and the communication end of the driving wheel is connected to the CAN bus of the second control board; the first control module is configured to stop driving the driving wheel and lock the driving wheel when the stop movement instruction is acquired when the communication status of the first control board is normal, the communication status of the second control board is normal and the running status of the driving wheel is normal; the second control module is configured to perform power-off protection on the self-moving device when only the communication status of the first control board is abnormal or only the running status of the driving wheel is abnormal; the third control module is configured to control the self-moving device to stop driving the driving wheel after returning to the target area when only the communication status of the second control board is abnormal.

[0014] According to one aspect of an embodiment of the present application, a self-moving device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the self-moving device implements the control method of the self-moving device as described above.

[0015] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the control method of the self-moving device as described above.

[0016] In the technical solution provided in the embodiments of the present application, when a stop movement instruction for instructing the self-moving device to stop moving is detected, the communication status of the first control board, the communication status of the second control board and the operating status of the driving wheel in the self-moving device are also obtained, and the control mode of the self-moving device is determined according to the communication status of the first control board, the communication status of the second control board and the operating status of the driving wheel. For example, when a stop movement instruction is received, if the communication status of the first control board is normal, the communication status of the second control board is normal and the operating status of the driving wheel is normal, the driving of the driving wheel is stopped and the driving wheel is locked; when a stop movement instruction is received, if only the communication status of the first control board is abnormal or only the operating status of the driving wheel is abnormal, the self-moving device is powered off for protection; when a stop movement instruction is received, if only the communication status of the second control board is abnormal, the self-moving device is controlled to stop driving the driving wheel after returning to the target area. The embodiments of the present application can ensure that the self-moving device can be controlled when a stop movement instruction is received under different circumstances by detecting the communication status or operating status of each module in the self-moving device, thereby realizing the emergency stop function of the self-moving device, avoiding the inability to execute the emergency stop function due to internal failure of the self-moving device, making the emergency stop function invalid, causing damage to the self-moving device or causing injury to the user.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 A schematic diagram of the structure of a self-equipping equipment system provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a functional module structure inside a mobile device provided in an embodiment of the present application;

[0021] Figure 3 is a flow chart of a method for controlling a self-moving device shown in an exemplary embodiment of the present application;

[0022] Figure 4 is a flow chart of a method for controlling a self-moving device shown in another exemplary embodiment of the present application;

[0023] Figure 5 is a block diagram of a control device for a mobile device shown in another exemplary embodiment of the present application;

[0024] Figure 6 It is a schematic diagram of the structure of a computer system of a mobile device suitable for implementing an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0027] The solution provided in the embodiment of the present application relates to the intelligent control technology of self-moving equipment. It is understandable that with the increasing number of applications of self-moving equipment, the control requirements for self-moving equipment are also getting higher and higher. In addition to the control of different working modes and the control of action routes during operation, the self-moving equipment is also required to have an emergency stop function, and the emergency stop function can be realized at any time to avoid damage to the working parts of the self-moving equipment or harm to the user under special circumstances. The emergency stop function in the related art is usually implemented by mechanical buttons, or simply controlled by a single detection. The operator's reaction time for operating the mechanical buttons is limited, and the emergency stop operation may not be completed quickly, which poses a safety hazard. In addition, if an internal fault occurs in the self-moving equipment, if the internal fault is not detected in time, the emergency stop function cannot be executed.

[0028] Therefore, this application proposes a control system for a self-moving device, please refer to Figure 1 , Figure 1 A schematic diagram of the structure of a self-equipped device system provided in an embodiment of the present application.

[0029] like Figure 1 As shown, the self-moving device at least includes wheels, a driving motor and a working part 103.

[0030] Exemplarily, the self-moving device in the embodiments of the present application may be a lawn mower device, a self-moving cleaning device, a trolley or other device with intelligent movement and intelligent control functions, and the embodiments of the present application are not limited to this.

[0031] In the embodiment of the present application, the wheels of the self-propelled device may include multiple driving wheels 102, for example, all four wheels are driving wheels 102. The wheels of the self-propelled device also include a combination of multiple driving wheels 102 and multiple driven wheels 101, for example, Figure 1 As shown, it includes two driving wheels 102 and two driven wheels 101. The embodiment of the present application is not limited to this.

[0032] The working component 103 in the embodiment of the present application is a specific component used to perform work for the self-moving device. The working component 103 of the self-moving device can be determined according to the actual scenario, and the embodiment of the present application does not limit this. For example, if the self-moving device is a lawn mower device, the working component 103 can be a cutter disc.

[0033] The self-moving device in the embodiment of the present application also includes charging contacts. When the self-moving device needs to be charged, it needs to return to the charging base station and communicate with the charging pile contacts of the charging base station through the charging contacts of the self-moving device. The charging contacts of the self-moving device can be set at the head, tail or other positions of the self-moving device. The specific position of the charging contacts in the self-moving device can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0034] The self-moving device 10 in the embodiment of the present application further includes a control panel for controlling the self-moving device 10 .

[0035] The control board in the embodiment of the present application at least includes a main control board, a first control board, and a second control board, wherein the first control board is used to drive the driving wheel of the self-moving device; Figure 2 , the main control board is used to communicate with the first control board and the second control board, and the first control board, the second control board and the drive wheel communicate through the controller area network (CAN) bus; the communication end of the drive wheel is connected to the CAN bus of the second control board; the second control board is connected to the emergency stop switch and the restart switch on the self-moving device, and is used to receive the output signals of the emergency stop switch and the restart switch; the battery is used to power each module. Exemplarily, a communication board can also be connected to the main control board, and the communication board is used to communicate with an external server or a terminal control device. In other embodiments, a communication module can be directly integrated on the main control board for communicating with an external server or a terminal control device, for example, a 4G module or a WiFi module. In this case, there is no need to set up a communication board.

[0036] The self-moving device in the embodiment of the present application may also be provided with different functional modules inside, and the various functional modules cooperate with each other to realize the control of the self-moving device.

[0037] See also Figure 3 , Figure 3is a flowchart of a control method of a self-moving device shown in an exemplary embodiment of the present application. The method can be applied to a device including Figure 1 The implementation environment of the control system of the self-moving device is shown, and is executed by the main control board in the control system of the self-moving device, and can also be executed by any other control board. It should be understood that the method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0038] In an exemplary embodiment, the control method of the mobile device at least includes steps S310 to S330. Steps S310 to S330 are described in detail below.

[0039] Step S310, detecting whether a stop movement instruction is received; the stop movement instruction is used to instruct the mobile device to stop moving.

[0040] The stop movement instruction in the embodiment of the present application is a trigger condition for controlling the self-moving device to perform an emergency stop operation. When the stop movement instruction is received, the self-moving device is instructed to stop moving according to the stop movement instruction.

[0041] The stop movement instruction in the embodiment of the present application may be generated by manual control, or may be automatically generated after the internal control board of the mobile device determines that the preset generation conditions of the stop movement instruction are met, and the embodiment of the present application is not limited to this.

[0042] In an exemplary embodiment, the self-moving device can be controlled by a terminal control device or a server, and the operator inputs a control instruction on the server or terminal device to realize the emergency stop control of the self-moving device.

[0043] Step S320, obtaining the communication status of the first control board, the communication status of the second control board and the operating status of the driving wheel in the mobile device; wherein the first control board is used to drive the driving wheel; the first control board, the second control board and the driving wheel communicate through the CAN bus; the communication end of the driving wheel is connected to the CAN bus of the second control board.

[0044] It should be noted that the process of monitoring the communication status or operating status of each module in step S320 and the process of detecting the stop movement instruction in step S310 can be performed synchronously, that is, the process of monitoring the communication status or operating status of each module in the self-moving device in step S320 is continuously performed, and the process of detecting the stop movement instruction in step S310 is also continuously performed, therefore, step S310 and step S320 may be performed in no particular order. In addition, the process of monitoring the communication status or operating status of each module in step S320 can also be an execution process after detecting that a stop movement instruction has been received, which is used to determine the control method of the self-moving device according to the conditions of the first control board, the second control board and the driving wheel in the self-moving device. The embodiments of the present application are not limited to this.

[0045] In an embodiment of the present application, the process of obtaining the communication status of the first control board in the mobile device in step S320 can be implemented through a heartbeat packet, and specifically includes the following steps: detecting whether the heartbeat packet data of the first control board is obtained within a first preset time; if the heartbeat packet data of the first control board is not obtained within the first preset time, determining that the communication status of the first control board is abnormal; if the heartbeat packet data of the first control board is obtained within the first preset time, determining that the communication status of the first control board is normal.

[0046] It should be noted that the control board is generally a control board based on a microcontroller unit (MCU), and the heartbeat packet of the control board generally includes the MCU type, the MCU on-chip module, and relevant communication data or status data of the control board.

[0047] Exemplarily, if the first control board is a motor drive board, it is used to drive the drive wheel of the self-moving device. For the motor drive board, the heartbeat packet of the motor drive board includes the MCU type, the speed of the left and right drive wheels, the current, the temperature and the communication online status. The main control board can generally receive several frames of heartbeat packet data of the motor drive board within the first preset time, such as 50ms-1000ms. If a frame of heartbeat packet data of the motor drive board has not been received within a certain time, such as 1.2s, the main control board can determine that the motor drive board is offline, that is, the communication status of the motor drive board is abnormal.

[0048] In an embodiment of the present application, the process of obtaining the communication status of the second control board in step S320 can be implemented through a heartbeat packet, and specifically includes the following steps: detecting whether the heartbeat packet data of the second control board is obtained within a second preset time; if the heartbeat packet data of the second control board is not obtained within the second preset time, determining that the communication status of the second control board is abnormal; if the heartbeat packet data of the second control board is obtained within the second preset time, determining that the communication status of the second control board is normal.

[0049] In an embodiment of the present application, the process of obtaining the operating status of the driving wheel in step S320 can be implemented through a heartbeat packet, and specifically includes the following steps: detecting whether the heartbeat packet data of the driving wheel is obtained within a third preset time; if the heartbeat packet data of the driving wheel is not obtained within the third preset time, determining that the operating status of the driving wheel is abnormal; if the heartbeat packet data of the driving wheel is obtained within the third preset time, determining that the operating status of the driving wheel is normal.

[0050] Step S330, when the communication status of the first control board is normal, the communication status of the second control board is normal, and the running status of the driving wheel is normal, and a stop movement instruction is received, the driving of the driving wheel is stopped and the driving wheel is locked.

[0051] It should be noted that in the embodiment of the present application, when the communication status of the first control board, the communication status of the second control board and the operating status of the driving wheel are all normal, the driving of the driving wheel is stopped and the driving wheel is locked when the stop movement instruction is received, which is referred to as controlling the self-moving device to be locked in place.

[0052] It should be noted that after the mobile device is controlled to be locked in place, the motor inside the mobile device stops driving and maintains the current state information of the mobile device, prohibiting response to any driving command until a recovery command is received.

[0053] It should be noted that the recovery instruction in the embodiment of the present application is used to instruct the mobile device to release the locked state in place and move again. When the mobile device receives the recovery instruction, the recovery operation is triggered and the mobile device can release the locked state in place.

[0054] In an exemplary embodiment, after the self-moving device is locked in place, the operator can send a recovery instruction by pressing a restart switch or a restart button, or send a recovery instruction through a server or a terminal device to instruct the self-moving device to move; for example, the recovery instruction can be sent through a remote control or an APP on the terminal device. If the self-moving device receives the recovery instruction, the drive of the drive wheel is restarted to release the locked state of the drive wheel.

[0055] In an exemplary embodiment, if the self-moving device is locked in place due to the self-moving device being in a preset motion state, that is, the locking in place is triggered by tipping over, tilting or lifting, after the self-moving device is locked in place, if it is detected that the self-moving device has resumed a normal motion state within a preset time, a recovery instruction is automatically sent to automatically trigger the recovery operation. This can avoid the emergency stop function being accidentally triggered due to the self-moving device's brief tipping over, tilting or lifting, and the inability to automatically recover after the above motion state is quickly touched.

[0056] Exemplarily, the driving wheel may be controlled by a driving motor, and the driving of the driving wheel may be stopped and locked by controlling a driving signal of the driving motor.

[0057] Step S340: When only the communication status of the first control board is abnormal or only the operation status of the driving wheel is abnormal, the self-moving device is powered off for protection.

[0058] It should be noted that the first control board in the embodiment of the present application is used to drive the driving wheel. If the communication status of other control boards is normal, but the communication status of the first control board is abnormal, it means that the first control board may not be able to drive the driving wheel, resulting in a possible failure in the movement of the self-moving device. At this time, even if a stop movement instruction is received, since the first control board may not be able to drive the driving wheel, the stop movement instruction may not be correctly executed, and the self-moving device may not be able to lock in place.

[0059] It should be noted that if the communication status of the control board is normal, but only the operating status of the drive wheel is abnormal, it also means that there is a fault in the movement of the self-moving device. At this time, even if the stop movement command is received, the self-moving device may not be able to lock in place due to the abnormal operating status of the drive wheel.

[0060] Therefore, when only the communication state of the first control board is abnormal or only the running state of the driving wheel is abnormal, the self-moving device is powered off for protection, at which time the driving wheel and the working parts all stop rotating, and the self-moving device does not respond to any driving command. The power-off protection can ensure that the self-moving device stops moving and working in response to the stop movement command or in response to a fault state.

[0061] In an exemplary embodiment, if only the communication status of the first control board is abnormal or only the operating status of the drive wheel is abnormal, in addition to powering off the mobile device for protection, an alarm can be issued to prompt the operator and the fault data can be uploaded to the server.

[0062] Step S350, when only the communication status of the second control board is abnormal, the driving of the driving wheel is stopped after the mobile device returns to the target area.

[0063] It should be noted that the second control panel in the embodiment of the present application is used to receive the output signal of the emergency stop switch or the emergency stop button. After the user presses the emergency stop switch or the emergency stop button on the self-mobile device, the second control panel can obtain the output signal of the emergency stop switch. If the communication status of the main control panel and the first control panel is normal, and the communication status of the second control panel is abnormal, it means that some modules inside the self-mobile device cannot communicate with the second control panel. At this time, any key operation of the user on the self-mobile device cannot be detected, and the self-mobile device has a fault. At this time, if the drive of the self-mobile device drive wheel is stopped and the drive wheel is locked when the stop movement instruction is received, that is, the in-situ locking operation is performed when the stop movement instruction is received, the user presses the restart switch or the restart button on the self-mobile device. Due to the abnormal communication status of the second control panel, the self-mobile device may be unable to recover and is in a fault state. Therefore, when the communication status of the second control panel is abnormal, the self-mobile device is controlled to stop the drive of the drive wheel after returning to the target area, thereby avoiding that the self-mobile device is always in a locked state in place after the stop movement instruction is executed, and cannot respond to the restart instruction normally to resume normal operation.

[0064] It should be noted that the target area in the embodiment of the present application can be the area where the charging base station of the mobile device is located. After the mobile device returns to the target area, the driving wheel is stopped, the driving wheel and the working parts all stop rotating, and do not respond to any driving operation.

[0065] In an exemplary embodiment, if the communication status of the main control board and the first control board is normal, and only the communication status of the second control board is abnormal, while controlling the process of stopping the driving of the driving wheels after the mobile device returns to the target area, an alarm can also be issued to prompt the operator and the fault data can be uploaded to the server.

[0066] As can be seen from the above, the technical solution of the embodiment of the present application detects whether a stop movement instruction for instructing the self-moving device to stop moving is received. When the stop movement instruction is received, the communication status of the first control board, the communication status of the second control board and the operating status of the driving wheel in the self-moving device are obtained, and the control mode of the self-moving device is determined according to the communication status of the first control board, the communication status of the second control board and the operating status of the driving wheel. By detecting the communication status or operating status of each module in the self-moving device, it can be ensured that the self-moving device can be controlled when the stop movement instruction is received in different situations, thereby realizing the emergency stop function of the self-moving device, avoiding the inability to execute the emergency stop function due to internal failure of the self-moving device, making the emergency stop function invalid, causing damage to the self-moving device or causing injury to the user.

[0067] In an exemplary embodiment, Figure 4As shown, the control method of the self-mobile device in the embodiment of the present application may also include steps S410 to S420, which are described in detail as follows:

[0068] Step S410, obtaining the remaining power of the power supply of the mobile device.

[0069] In an embodiment of the present application, the power supply of the mobile device may be a storage battery, which may communicate with a main control board or other control boards via a CAN bus and feedback the remaining power via a heartbeat packet.

[0070] Step S420, when the remaining power of the power supply is less than a preset threshold and the communication status of the first control board is normal, the communication status of the second control board is normal, and the operation status of the driving wheel is normal, control the self-mobile device to stop driving the driving wheel after returning to the target area.

[0071] It should be noted that during the operation of the mobile device, if the battery of the mobile device sends a feedback message that it cannot continue to discharge, the mobile device cannot continue to work at this time, and it is necessary to control the mobile device to return to the charging base station for charging. After the mobile device returns to the target area where the charging base station is located, the driving of the driving wheels is stopped, and the driving wheels and working parts all stop rotating and do not respond to any driving operations.

[0072] In an exemplary embodiment, if the remaining power of the power supply of the self-moving device is less than a preset threshold, and the communication status of the first control board is normal, the communication status of the second control board is normal, and the operating status of the drive wheel is normal, while the drive of the drive wheel is stopped after the self-moving device is controlled to return to the target area, an alarm can also be issued to remind the user that the battery of the self-moving device is abnormal, and the fault data can be uploaded to the server.

[0073] From the above, it can be seen that the technical solution of the embodiment of the present application detects the power supply of the self-moving device. If the remaining power of the power supply is insufficient to maintain the continued operation of the self-moving device, the self-moving device is controlled to return to the target area where the charging base station is located and then stop driving the driving wheels so that the self-moving device can be charged.

[0074] In an exemplary embodiment, when the communication state of the first control board is normal, the communication state of the second control board is normal, and the running state of the driving wheel is normal, the control method of the self-moving device further includes: when receiving a stop movement instruction, stopping the driving of the working component and locking the working component. The embodiment of the present application stops the driving of the working component in time, so that the working component can stop working when the self-moving device stops moving, thereby ensuring the safety of the self-moving device.

[0075] In one embodiment of the present application, the process of detecting whether a stop movement instruction is received in step S310 may include the following steps: obtaining an output signal of an emergency stop switch of a mobile device; if the output signal is a preset level signal, determining that a stop movement instruction is received.

[0076] In an exemplary embodiment, an emergency stop switch or an emergency stop button is provided on the self-moving device of the embodiment of the present application. The operator can press the emergency stop switch or the emergency stop button on the self-moving device when emergency stop control of the self-moving device is required. When the emergency stop switch or the emergency stop button is pressed, a stop movement instruction is issued. If it is detected that the emergency stop switch or the emergency stop button is pressed, it means that a stop movement instruction has been received.

[0077] Exemplarily, a Hall switch can be set on the self-moving device as an emergency stop switch or emergency stop button. When it is detected that the Hall switch is pressed, the output signal of the Hall switch will change, and it can be determined whether a stop movement instruction has been received based on the output signal of the Hall switch. For example, when the Hall switch is used as an emergency stop switch, assuming that the Hall switch outputs a low level when it is not pressed, if it is detected that the output signal of the Hall switch changes from a low level to a high level, it means that a stop movement instruction has been received. For another example, when the Hall switch is used as an emergency stop switch, assuming that the Hall switch outputs a high level when it is not pressed, if it is detected that the output signal of the dual Hall switches changes from a high level to a low level, it means that a stop movement instruction has been received.

[0078] In one embodiment of the present application, the process of detecting whether a stop movement instruction is received in step S310 may include the following steps: obtaining the current motion state of the self-moving device; if the self-moving device is in a preset motion state, determining that a stop movement instruction is received; the preset motion state includes tipping over, tilting or lifting.

[0079] In an exemplary embodiment, a lifting detection device and a sensor for detecting the movement state of the self-moving device are provided on the self-moving device of the embodiment of the present application. When the movement state of the self-moving device is in a state of tilting, overturning or lifting, the lifting detection device and the sensor will automatically issue a stop movement instruction. Therefore, if the lifting detection device or the sensor detects that the movement state of the self-moving device is in a state of tilting, overturning or lifting, it means that a stop movement instruction has been received.

[0080] In an exemplary embodiment, the tilt state and overturn state of the self-moving device can be detected by an inertial measurement unit (IMU) sensor; the lifting state of the self-moving device can be detected by a lifting detection device disposed in the driving wheel.

[0081] Exemplarily, the lifting detection device is disposed in the driving wheel and connected to the vehicle body, and is used to detect whether the driving wheel is suspended.

[0082] In an exemplary embodiment, if the self-moving device is a small car with intelligent movement and intelligent control functions, the structure of the small car includes a body, two driving wheels and two driven wheels, and the driving wheel includes an omnidirectional wheel, a fixed shell and a frame. The lifting detection device is arranged in the driving wheel, and the lifting detection device includes a box body, a connecting shaft and a detection component. Among them, the box body is at least partially accommodated in the omnidirectional wheel and is connected to the body through the connecting shaft. One end of the connecting shaft is rotatably connected to the omnidirectional wheel, and the connecting shaft is passed through the travel groove opened on the wall of the box body. The other end of the connecting shaft has a connecting block, and the first end of the connecting block is rotatably connected to the inner wall of the box body. When the driving wheel is suspended, it will drive the connecting shaft to move downward together. At this time, the connecting block will swing around the first end driven by the connecting shaft, and the detection component arranged in the box body can detect the swinging action of the connecting block, thereby issuing an abnormal posture signal, and the abnormal posture signal issued is a stop movement instruction.

[0083] Exemplarily, the detection component of the lifting detection device in the embodiment of the present application may include a Hall sensor and a trigger member, the Hall sensor is arranged on the bracket, and the trigger member is arranged in the connecting block. When the trigger member is stationary or slightly moves relative to the Hall sensor, the Hall sensor detects the magnetic field of the trigger member and is in a conductive state. When the trigger member moves out of the detection range relative to the Hall sensor, the Hall sensor cannot detect the magnetic field signal of the trigger member, and then disconnects the conduction. The circuit-breaking signal of the Hall sensor is an abnormal posture signal, and when the abnormal posture signal is detected, it is determined that a stop movement instruction has been received.

[0084] It should be noted that in the embodiments of the present application, it can also be determined based on the charging status of the self-mobile device whether a stop movement instruction has been received. For example, when it is detected that the battery of the self-mobile device has a charging current, it means that the self-mobile device is in a charging state, indicating that a stop movement instruction has been received; it can also be determined based on the position and communication status between the charging base and the self-mobile device whether a stop movement instruction has been received. For example, when it is detected that the charging base is in contact and communicating with the self-mobile device, it means that a stop movement instruction has been received, and the self-mobile device needs to stop moving for charging; or when it is detected that the self-mobile device has reached the preset position of the charging base, it also means that the self-mobile device needs to stop moving for charging, and it can also be determined that a stop movement instruction has been received.

[0085] In one embodiment of the present application, the process of detecting whether a stop movement instruction is received in step S310 may include the following steps: obtaining the battery status of the self-mobile device, and if it is detected that the battery status of the self-mobile device is in a charging state, determining that a stop movement instruction is received.

[0086] It should be noted that the process of obtaining the battery status of the mobile device in the embodiment of the present application may include the following processes: detecting whether there is a charging current in the battery of the mobile device, and if so, determining that the battery status of the mobile device is a charging state; or, detecting the positional relationship between the mobile device and the charging base, and if the mobile device is located at a preset position on the charging base, determining that the battery status of the mobile device is a charging state; or, detecting the docking status and communication status between the mobile device and the charging base, and if the mobile device and the charging base are successfully docked and communicating, determining that the battery status of the mobile device is a charging state.

[0087] It should be noted that the process of obtaining the battery status of the mobile device can be implemented by a functional module set inside the mobile device. The battery status of the mobile device is obtained according to the above charging status acquisition method. If the battery status of the mobile device is a charging state, it is determined that a stop movement instruction has been received.

[0088] In one embodiment of the present application, the process of detecting whether a stop movement instruction is received in step S310 may include the following steps: detecting whether a preset locking instruction is received, and if a preset locking instruction is received, determining that a stop movement instruction is obtained.

[0089] It should be noted that the preset locking instruction in the embodiment of the present application can be an instruction sent by an operator on a server or a terminal device, which is used to instruct the mobile device to stop moving and lock the drive wheels; for example, the sending of the preset locking instruction can be controlled by operating an APP on a remote control or a terminal device. If the preset locking instruction is received by the mobile device, it is determined that the stop moving instruction has been obtained.

[0090] As can be seen from the above, the embodiments of the present application detect the stop movement instruction by setting multiple trigger conditions in the self-moving device, such as triggering the stop movement instruction when it is detected that the emergency stop switch is pressed, triggering the stop movement instruction when it is detected that the movement state of the self-moving device is overturned, tilted or lifted, triggering the stop movement instruction when the self-moving device is in a charging state, and triggering the stop movement instruction when the user's locking instruction is received. The stop movement instruction of the self-moving device is detected from multiple angles to ensure that the stop movement instruction can be accurately and timely detected in different situations, which helps to further perform emergency stop control on the self-moving device.

[0091] Figure 5 is a block diagram of a control device for a mobile device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1The implementation environment shown is specifically configured in the main control board, and can also be configured in other control boards such as the first control board or the second control board. The device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0092] like Figure 5 As shown, the exemplary control device for the self-moving device includes a detection module 510 , an acquisition module 520 , a first control module 530 , a second control module 540 and a third control module 550 .

[0093] The detection module 510 is configured to detect whether a stop movement instruction is received; the stop movement instruction is used to control the mobile device to stop moving.

[0094] The acquisition module 520 is configured to acquire the communication status of the first control board, the communication status of the second control board and the operating status of the driving wheel in the self-mobile device; wherein the first control board is used to drive the driving wheel of the self-mobile device, the first control board, the second control board and the driving wheel communicate through the CAN bus, and the communication end of the driving wheel is connected to the CAN bus of the second control board.

[0095] The first control module 530 is configured to stop driving the drive wheel and lock the drive wheel when a stop movement instruction is obtained when the communication status of the first control board is normal, the communication status of the second control board is normal, and the operation status of the drive wheel is normal.

[0096] The second control module 540 is configured to power off the self-moving device for protection when only the communication status of the first control board is abnormal or only the operation status of the driving wheel is abnormal.

[0097] The third control module 550 is configured to control the self-mobile device to stop driving the driving wheels after returning to the target area when only the communication status of the second control board is abnormal.

[0098] In another exemplary embodiment, the control device of the mobile device may further include a power acquisition module and a return stop control module.

[0099] The power acquisition module is configured to acquire the remaining power of the power supply of the mobile device.

[0100] The return stop control module is configured to control the mobile device to stop driving the drive wheel after returning to the target area when the remaining power of the power supply is less than a preset threshold, the communication status of the first control board is normal, the communication status of the second control board is normal, and the operating status of the drive wheel is normal.

[0101] In another exemplary embodiment, the first control module 530 may also include a working part control module, which is configured to stop driving the working part and lock the working part when a stop movement instruction is received when the communication status of the first control board is normal, the communication status of the second control board is normal, and the running status of the driving wheel is normal.

[0102] In another exemplary embodiment, the detection module 510 includes a first acquisition submodule and a first determination submodule.

[0103] The first acquisition submodule is configured to acquire an output signal from an emergency stop switch of the mobile device.

[0104] The first determination submodule is configured to determine that a stop movement instruction is received if the output signal is a preset level signal.

[0105] In another exemplary embodiment, the detection module 510 includes a second acquisition submodule and a second determination submodule.

[0106] The second acquisition submodule is configured to acquire the current motion state from the mobile device.

[0107] The second determination submodule is configured to determine that a stop movement instruction has been received if the self-moving device is in a preset motion state; the preset motion state includes tipping over, tilting or lifting.

[0108] In another exemplary embodiment, the detection module 510 includes a third acquisition submodule and a third determination submodule.

[0109] The third acquisition submodule is configured to acquire the battery status from the mobile device.

[0110] The third determining submodule is configured to determine that a stop moving instruction is received if it is detected that the battery status of the mobile device is in a charging status.

[0111] In another exemplary embodiment, the third acquisition submodule includes a charging state acquisition unit.

[0112] The charging status acquisition unit is configured to detect whether there is a charging current in the battery of the mobile device. If so, it is determined that the battery status of the mobile device is a charging status; or, detect the positional relationship between the mobile device and the charging base. If the mobile device is located at a preset position on the charging base, it is determined that the battery status of the mobile device is a charging status; or, detect the docking status and communication status between the mobile device and the charging base. If the mobile device and the charging base are successfully docked and communicating, it is determined that the battery status of the mobile device is a charging status.

[0113] In another exemplary embodiment, the detection module 510 includes a first detection submodule and a fourth determination submodule.

[0114] The first detection submodule is configured to detect whether a preset locking instruction is received.

[0115] The fourth determining submodule is configured to determine that a stop movement instruction is obtained if a preset locking instruction is received.

[0116] It should be noted that the control device of the self-moving device provided in the above embodiment and the control method of the self-moving device provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual application, the control device of the self-moving device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0117] An embodiment of the present application also provides a self-mobile device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the self-mobile device implements the control method of the self-mobile device provided in the above-mentioned embodiments.

[0118] It can be understood that in each embodiment of the present application, the autonomous mobile device may be a device including an autonomous mobile assistance function, or may be a semi-autonomous mobile device or a fully autonomous mobile device.

[0119] Figure 6 The schematic diagram of the structure of the computer system of the mobile device suitable for implementing the embodiment of the present application is shown. It should be noted that: Figure 6 The computer system 600 of the mobile device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0120] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602 and RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0121] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0122] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0123] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0124] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0126] Another aspect of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the control method of the self-moving device as described above is implemented. The computer-readable storage medium can be included in the self-moving device described in the above embodiment, or it can exist independently without being assembled into the self-moving device.

[0127] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A method for controlling a self-moving device, It is characterized in that include: Detecting whether a stop movement instruction is received; the stop movement instruction is used to instruct the self-moving device to stop moving; Acquire the communication status of the first control board, the communication status of the second control board and the running status of the driving wheel in the self-mobile device; wherein the first control board is used to drive the driving wheel; The second control board is connected to the emergency stop switch and the restart switch on the self-moving device, and is used to receive output signals of the emergency stop switch and the restart switch; the first control board, the second control board and the driving wheel communicate via a CAN bus; the communication end of the driving wheel is connected to the CAN bus of the second control board; When the communication state of the first control board is normal, the communication state of the second control board is normal, and the running state of the driving wheel is normal, and the stop movement instruction is received, the driving of the driving wheel is stopped and the driving wheel is locked; When only the communication state of the first control board is abnormal or only the running state of the driving wheel is abnormal, the self-moving device is powered off for protection; When only the communication state of the second control board is abnormal, the driving of the driving wheel is stopped after the mobile device returns to the target area.

2. The method according to claim 1, It is characterized in that The control method of the self-moving device also includes: Obtaining the remaining power of the power supply of the mobile device; When the remaining power of the power supply is less than a preset threshold, the communication status of the first control board is normal, the communication status of the second control board is normal, and the operation status of the driving wheel is normal, the driving of the driving wheel is stopped after the mobile device returns to the target area.

3. The method according to claim 1, It is characterized in that When the communication state of the first control board is normal, the communication state of the second control board is normal, and the running state of the driving wheel is normal, the control method of the self-moving device further includes: When the movement stop instruction is received, the driving of the working component of the self-moving device is stopped and the working component is locked.

4. The method according to claim 1, It is characterized in that The detecting whether a stop movement instruction is received comprises: Obtaining an output signal of an emergency stop switch of the self-moving device; If the output signal is a preset level signal, it is determined that the stop movement instruction is received.

5. The method according to claim 1, It is characterized in that The detecting whether a stop movement instruction is received comprises: Obtaining the current motion state of the self-moving device; If the self-moving device is in a preset motion state, it is determined that the stop movement instruction is received; the preset motion state includes tipping over, tilting or lifting.

6. The method according to claim 1, It is characterized in that The detecting whether a stop movement instruction is received comprises: Obtaining the battery status of the mobile device; If it is detected that the battery state of the self-moving device is in the charging state, it is determined that the stop movement instruction is received.

7. The method according to claim 6, It is characterized in that The obtaining of the battery status of the mobile device includes: Detecting whether there is a charging current in the battery of the self-moving device, and if so, determining that the battery state of the self-moving device is a charging state; or, Detecting the positional relationship between the self-moving device and the charging base, and if the self-moving device is located at a preset position on the charging base, determining that the battery status of the self-moving device is a charging status; or, The docking state and communication state of the self-mobile device and the charging base are detected. If the self-mobile device and the charging base are successfully docked and communicating, it is determined that the battery state of the self-mobile device is a charging state.

8. The method according to claim 1, It is characterized in that The detecting whether a stop movement instruction is received comprises: Detect whether a preset locking instruction is received; If the preset locking instruction is received, it is determined that the stop movement instruction is obtained.

9. A self-propelled device, It is characterized in that include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the self-mobile device to implement the control method of the self-mobile device as described in any one of claims 1 to 8.

10. A computer readable medium, It is characterized in that Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the control method of the self-moving device according to any one of claims 1 to 8.

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