Self-moving device control method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application relate to a kind of self-moving equipment control method, device, electronic equipment and storage medium, the method comprises: in the case where self-moving equipment works, the distance value between the target object and the self-moving equipment is determined;In the case where the distance value is in the preset distance threshold range, the control strategy of the self-moving equipment is determined;The self-moving equipment and the target object coexist based on the control strategy control the self-moving equipment.The self-moving equipment and the target object coexist can be realized, avoid target object to the work of self-moving equipment causes influence, to avoid causing injury to target object or damage to self-moving equipment.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a self-moving device control method, apparatus, electronic device and storage medium. Background Technology

[0002] As living standards improve, the coexistence of pets and smart home appliances is becoming increasingly common. However, some pets have territorial instincts or are interested in moving objects (e.g., to stimulate hunting potential or arouse curiosity). This means that the robot vacuum cleaner may encounter the pet while moving, causing the pet to perceive its territory as being invaded and attack the vacuum cleaner. Alternatively, the pet may become interested in the vacuum cleaner and surround it or attack it, affecting the normal operation of the vacuum cleaner, causing harm to the pet, or damaging the vacuum cleaner due to the pet's attack. This raises concerns among users about potential harm to their pets or the vacuum cleaner. Summary of the Invention

[0003] In view of this, in order to solve the technical problem that the above-mentioned robot vacuum cleaner may encounter pets during its movement, which may cause the pet to feel that its territory has been invaded and attack the robot vacuum cleaner, or arouse the pet's interest in the robot vacuum cleaner and cause it to circle around or attack the robot vacuum cleaner, affecting the normal operation of the robot vacuum cleaner, causing harm to the pet or damage to the robot vacuum cleaner due to the pet's attack, and causing users to worry about the pet or robot vacuum cleaner being harmed, the embodiments of the present invention provide a self-moving device control method, device, electronic device and storage medium.

[0004] In a first aspect, embodiments of the present invention provide a self-moving device control method, the method comprising:

[0005] When the self-moving device is working, determine the distance value between the self-moving device and the target object;

[0006] If the distance value is within a preset distance threshold range, a control strategy for the self-moving device is determined.

[0007] The control strategy is used to control the coexistence of the self-moving device and the target object.

[0008] In an optional implementation, determining the control strategy for the self-moving device includes:

[0009] Obtain the historical records of the self-moving device;

[0010] Determine whether there is a target record between the self-mobile device and the target object in the historical record, wherein the target record is a record in which the distance value between the self-mobile device and the target object is within a preset distance threshold range;

[0011] If no target record exists between the self-moving device and the target object in the historical record, the control strategy for the self-moving device is determined to be the first control strategy.

[0012] In an optional implementation, determining the control strategy for the self-moving device further includes:

[0013] If a target record exists between the self-mobile device and the target object in the historical record, the first duration between the current time and the time when the target record occurred is obtained;

[0014] If the first duration exceeds a preset first duration threshold, then the control strategy for the self-moving device is determined to be the first control strategy.

[0015] In an optional implementation, determining the control strategy for the self-moving device further includes:

[0016] If the first duration is not greater than a preset first duration threshold, it is determined whether the target object continuously performs a preset action on the self-moving device within the first duration;

[0017] If the target object continuously performs a preset action on the self-mobile device within the first time period, the second time period of the preset action is counted.

[0018] If the second duration reaches a preset second duration threshold, then the control strategy for the self-moving device is determined to be the second control strategy.

[0019] In an optional implementation, when the control strategy is a first control strategy, controlling the coexistence of the self-moving device and the target object based on the control strategy includes:

[0020] Obtain environmental information about the current environment of the self-moving device and the current location information of the target object;

[0021] Based on the environmental information and the current location information, the initial movement route of the self-moving device is changed to obtain the changed target movement route;

[0022] The self-moving device is controlled to move according to the modified target movement route in order to avoid the target object, so that the self-moving device and the target object can coexist.

[0023] In an optional implementation, when the control strategy is a second control strategy, controlling the coexistence of the self-moving device and the target object based on the control strategy includes:

[0024] Determine the object information of the target object;

[0025] Identify the target odor that matches the object information;

[0026] The odor module carried by the self-moving device is controlled to release the target odor to drive away the target object, so that the self-moving device and the target object can coexist.

[0027] In an optional implementation, before performing the method, the method further includes:

[0028] Receive the command to enable object mode, and in response to the command, enable object mode.

[0029] Receive the object selection instruction and, in response to the object selection instruction, determine the selected target object;

[0030] In response to the setting command of the odor module, the odor module corresponding to the target object is determined.

[0031] In a second aspect, embodiments of the present invention provide a self-moving device control apparatus, the apparatus comprising:

[0032] The distance determination module is used to determine the distance value between the self-moving device and the target object when the self-moving device is working.

[0033] The strategy determination module is used to determine the control strategy for the self-moving device when the distance value is within a preset distance threshold range;

[0034] The device control module is used to control the coexistence of the self-moving device and the target object based on the control strategy.

[0035] Thirdly, embodiments of the present invention provide an electronic device, including: a processor and a memory, wherein the processor is configured to execute a self-moving device control program stored in the memory to implement the self-moving device control method described in any one of the first aspects.

[0036] Fourthly, embodiments of the present invention provide a storage medium storing one or more programs, which can be executed by one or more processors to implement the self-moving device control method described in any one aspect.

[0037] The technical solution provided by this invention determines the distance between the self-moving device and a target object while the self-moving device is operating. If the distance is within a preset distance threshold range, a control strategy for the self-moving device is determined, and the self-moving device and the target object are controlled to coexist based on this strategy. Thus, the distance between the self-moving device and the target object can be used to determine whether the target object is within the preset distance threshold range of the self-moving device, i.e., whether the target object will affect the operation of the self-moving device. Furthermore, if the distance is determined to be within the distance threshold range, a corresponding control strategy is determined, allowing the self-moving device to coexist with the target object based on the control strategy, preventing the target object from affecting the operation of the self-moving device, thereby avoiding damage to the target object or the self-moving device. Attached Figure Description

[0038] Figure 1 This is a schematic diagram illustrating an application scenario according to an embodiment of the present invention;

[0039] Figure 2 A flowchart illustrating an embodiment of a self-moving device control method provided by this invention;

[0040] Figure 3 A flowchart illustrating an embodiment of another self-moving device control method provided by the present invention;

[0041] Figure 4 A flowchart illustrating another embodiment of the self-moving device control method provided by the present invention;

[0042] Figure 5 A block diagram illustrating an embodiment of a self-moving device control device provided by this invention;

[0043] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] As living standards improve, the coexistence of pets and smart home appliances is becoming increasingly common. How to manage the relationship between smart home appliances and pets has become a challenge for appliance manufacturers. For example, ordinary robot vacuums use infrared detectors to determine the distance between obstacles and the vacuum. When it encounters an insurmountable obstacle (such as furniture or walls), it can replan its movement route.

[0046] When pets and robot vacuums are in the same environment, some dogs have a strong sense of territory. When the robot vacuum moves while working, especially when it comes into contact with the dog, the dog may perceive this as an invasion of its territory and attack the robot vacuum. Alternatively, some cats may be triggered by the sight of moving objects and attack a robot vacuum that is moving while it is working.

[0047] The self-moving device control method provided in this invention can greatly reduce the occurrence of this phenomenon. It intelligently avoids pets or releases irritating but harmless odors that pets dislike, such as orange for cats and mint for dogs. This allows pets and the robot vacuum to coexist, preventing pets from attacking the robot vacuum.

[0048] To facilitate understanding of the embodiments of the present invention, the application scenarios involved in the present invention will be illustrated below with reference to the accompanying drawings:

[0049] See Figure 1 This is a schematic diagram illustrating an application scenario according to an embodiment of the present invention. Figure 1 The application scenario shown includes devices 101-103, odor module 104, and target object 105.

[0050] Among them, the aforementioned devices 101 to 103 can be hardware devices or software that provide services. When the device is a hardware device, it includes, but is not limited to, electronic devices such as robot vacuum cleaners, smartphones, and tablets. When the device is software, it can be a smart home program, mini-program, system, etc. installed on hardware devices such as smartphones and tablets.

[0051] In practice, devices 101-103 can provide corresponding services according to the corresponding server-side applications. Figure 1 In this context, device 101 can be a robotic vacuum cleaner, device 102 can be a smartphone, and device 103 can be a server.

[0052] The target object 104 is in the same environment as the device 101. The target object 105 can be an object that obstructs the operation of the device 101, such as a pet cat or dog. Figure 1 In this example, we will only take target 105, which is a pet dog.

[0053] The aforementioned odor module 104 can be installed on the device 101 to release an odor to repel the target object 105 when preset conditions are met between the target object 105 and the device 101. Specific preset conditions are detailed below. Figure 2 and Figure 3 The detailed description of the process shown will not be elaborated here.

[0054] It should be noted that, Figure 1 The number of target objects and devices shown is merely illustrative, and this embodiment of the invention does not impose any limitations on this. Figure 1 The scenario shown is merely one application scenario involved in the embodiments of the present invention. In this embodiment of the present invention, taking a robot vacuum cleaner as the device 101 and a pet dog as the target object 105, the user of the device 102 can control the device 101 to perform cleaning work through the device 102. When the device 101 encounters the target object 105, or is chased or attacked by the target object 105, the device 101 can take timely evasive action, or use the scent module 104 set on the device 101 to drive away the target object 105, so as to achieve coexistence between the pet and the robot vacuum cleaner and avoid the pet chasing or attacking the robot vacuum cleaner.

[0055] It should be noted that a detection module, such as an infrared detector, can be set in device 101. When device 101 starts working, the infrared detector in device 101 can detect the environment, which can at least include detecting the environment to determine environmental information; and detecting the target object to determine the location of the target object or the preset behavior performed by the target object; the embodiments of the present invention do not limit this.

[0056] The self-moving device control method provided by the present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments. The embodiments do not constitute a limitation on the embodiments of the present invention.

[0057] See Figure 2 This is a flowchart illustrating an embodiment of a self-moving device control method provided by an embodiment of the present invention. Figure 2 As shown, the process may include the following steps:

[0058] Step 201: While the self-moving device is working, determine the distance between the self-moving device and the target object.

[0059] In practice, taking a robotic vacuum cleaner as an example of a self-moving device, the robotic vacuum cleaner will move along a preset cleaning route when performing cleaning work. During this process, it may move near a target object, or arouse the interest of the target object in the same environment, causing the target object to linger near the robotic vacuum cleaner, or chase or attack the robotic vacuum cleaner.

[0060] In this embodiment of the invention, when the self-moving device is working, the detection function can be activated to detect the target object in real time and determine the distance between the target object and the self-moving device.

[0061] Furthermore, it is determined whether the distance between the self-mobile device and the target object is within a preset distance threshold range (e.g., [0, 1 meter]) to determine whether the target object is near the self-mobile device, so that the self-mobile device can be controlled to make timely adjustments based on the determination result.

[0062] Step 202: If the distance value is within the preset distance threshold range, determine the control strategy for the self-moving device.

[0063] Step 203: Control the coexistence of the self-moving device and the target object based on the control strategy.

[0064] The following provides a unified description of steps 202 and 203:

[0065] As can be seen from the above description, in this embodiment of the invention, by determining whether the distance between the self-mobile device and the target object is within a preset distance threshold range, it is determined whether the target object appears near the self-mobile device, so as to control the self-mobile device to make timely adjustments based on the determination result.

[0066] Specifically, if the distance between the self-moving device and the target object is within a preset distance threshold range, it indicates that the target object is near the self-moving device. In this case, a control strategy for the self-moving device can be determined to control the coexistence of the self-moving device and the target object. Here, the control strategy is used to control the self-moving device to adjust its actions towards the target object, such as avoiding or driving it away, without specific limitations.

[0067] The aforementioned avoidance describes the autonomous mobile device's ability to avoid a target object. For example, if an autonomous mobile device is operating indoors along movement path A, and a target object appears on movement path A, then the autonomous mobile device can be controlled to either leave movement path A or bypass the target object's position on movement path A, thus avoiding the target object.

[0068] The aforementioned "driving away" refers to the self-moving device driving a target object that appears within a preset distance threshold range out of that range. For example, if the self-moving device is operating indoors along movement route A, and a target object appears on movement route A, then the self-moving device can be controlled to drive the target object out of movement route A.

[0069] It should be noted that the above is merely an example of achieving coexistence between the self-moving device and the target object by controlling the self-moving device to avoid or drive away the target object. For details on how the embodiments of the present invention implement the control of the self-moving device to avoid or drive away the target object, please refer to the following. Figure 3 A detailed description of the process shown.

[0070] This approach allows the target object and the self-moving device to coexist in the same environment, preventing the target object from affecting the normal operation of the self-moving device or even launching an attack on it.

[0071] This concludes the process. Figure 2 The process described is as follows.

[0072] pass Figure 2 As shown in the flowchart, in the technical solution of this invention, the distance between the self-moving device and the target object is determined while the self-moving device is operating. If the distance value is within a preset distance threshold range, a control strategy for the self-moving device is determined, and the self-moving device and the target object are controlled to coexist based on this strategy. Thus, the distance between the self-moving device and the target object can be used to determine whether the target object appears within the preset distance threshold range of the self-moving device, i.e., whether the target object will affect the operation of the self-moving device. Furthermore, if the distance value is further determined to be within the distance threshold range, a corresponding control strategy is determined, allowing the self-moving device to coexist with the target object based on the control strategy, preventing the target object from affecting the operation of the self-moving device, thereby avoiding damage to the target object or the self-moving device.

[0073] See Figure 3 This is a flowchart illustrating another embodiment of a self-moving device control method provided by the present invention. Figure 3 The process shown is in Figure 2 Based on the illustrated process, this section describes in detail how to implement self-moving device control to achieve coexistence between the self-moving device and the target object, preventing damage to the self-moving device from the target object. For example... Figure 3 As shown, the process may include the following steps:

[0074] Step 301: Receive the object mode start command and start the object mode in response to the object mode start command.

[0075] Step 302: Receive the object selection instruction and, in response to the object selection instruction, determine the selected target object.

[0076] Step 303: In response to the setting command of the odor module, determine the odor module that is set to correspond to the target object.

[0077] The following provides a unified description of steps 301 to 303:

[0078] In one embodiment, when a target object (e.g., a pet cat) exists in the working environment of the self-moving device, to achieve coexistence between the target object and the self-moving device and prevent the target object from chasing or attacking the self-moving device, the object mode of the self-moving device can be enabled in advance to detect the target object in the working environment in real time and determine the control strategy in a timely manner. The object mode is used to detect the target object in the environment of the self-moving device.

[0079] Optionally, the user can control the self-moving device through a terminal device. Specifically, when the user controls the self-moving device to start working, the user can trigger the self-moving device through the terminal device to generate an activation command for the object mode of the self-moving device, and send the activation command to the execution subject of this embodiment (e.g., a server or the self-moving device). Thus, the execution subject of this embodiment can receive the object mode activation command and, in response to the object mode activation command, activate the object mode of the self-moving device. The server mentioned above can be... Figure 1 The device 103 shown can be a self-moving device. Figure 1 The device 101 shown above, the aforementioned terminal device can be Figure 1 Device 102 shown.

[0080] Furthermore, in one embodiment, the user can independently select a target object within the working environment of the self-moving device. Specifically, when the object mode of the self-moving device is enabled, the user can select a target object from multiple objects output by the terminal device to trigger an object selection instruction, which is then sent to the execution entity of this embodiment. The execution entity of this embodiment receives the object selection instruction and, in response, determines the target object selected by the user. Thus, the user can independently select objects within the aforementioned working environment and use the selected object as the target object.

[0081] In addition, users can also input target objects through terminal devices. For example, users can input objects in the work environment through the object input interface output by the terminal device, and use the input object as the target object.

[0082] Furthermore, after identifying the target object, to prevent the target object from attacking or chasing the self-moving device, the user can equip the self-moving device with an odor module corresponding to the target object. The odor module releases a pungent odor that the target object dislikes, thus repelling the target object and allowing the self-moving device and the target object to coexist. It is understood that the released pungent odor is harmless to the target object.

[0083] Specifically, the scent module corresponding to the selected target object can be determined first. The user can trigger the setting of the scent module through a terminal device to generate a setting command for the scent module, and send the setting command to the execution subject of this embodiment. The execution subject can then receive and respond to the setting command for the scent module, setting the scent module on the self-moving device. This process confirms the scent module corresponding to the target object.

[0084] The aforementioned odor module is used to release odors that the target object dislikes, thereby driving the target object away from the self-moving device and preventing the target object from attacking or chasing the self-moving device, so that the self-moving device and the target object can coexist.

[0085] Optionally, the scent module corresponding to the target object selected by the user can be found through the pre-defined correspondence between scent modules and objects. This correspondence can be output in the form of tables, knowledge graphs, databases, etc., without specific limitations.

[0086] Optionally, users can select the scent module corresponding to the target object based on their understanding of the target object.

[0087] It should be noted that the above is merely an example of how to determine the odor module corresponding to the target object. In practice, it can also be determined by other methods (such as searching for information online), and the embodiments of the present invention do not limit this.

[0088] It is also understandable that before the user can control the self-moving device through a terminal device, they can first install an application that can control the self-moving device and establish a relationship between the self-moving device and the application (such as Bluetooth connection, online pairing, etc.). Thus, the user can perform control operations on the self-moving device through the application, such as selecting a target object and setting the corresponding scent module.

[0089] Step 304: While the self-moving device is working, determine the distance between the self-moving device and the target object.

[0090] In one embodiment, the specific implementation of determining the distance value between the self-mobile device and the target object may include: when the object mode is enabled, the target object can be detected; when the target object is detected within a preset detection range, the current position of the target object and the target position of the self-mobile device are determined; and the current position and the target position are calculated according to a preset distance algorithm to determine the distance value between the self-mobile device and the target object.

[0091] The current position of the target object can be its current coordinates in a pre-established coordinate system within its environment. Similarly, the target position of the self-moving device can be its target coordinates in a pre-established coordinate system within its environment.

[0092] For example, a coordinate system can be established with the center point of the environment as the center, south as the Y-axis, and west as the X-axis. Then, the current coordinates of the target object within this coordinate system can be determined as its current position, and the target coordinates of the self-moving device within this coordinate system can be determined as its target position.

[0093] It is understood that the above is merely an illustrative explanation of using coordinate values ​​as location and calculating the distance between the mobile device and the target object. In practice, other methods can be used to calculate the distance between the mobile device and the target object, and no specific limitations are imposed on this.

[0094] In another embodiment, an object circle is established with the target object as the center and a first preset value as the radius, and a device circle is established with the self-moving device as the center and a second preset value as the radius. The distance between the self-moving device and the target object can be determined based on the first preset value of the object circle and the second preset value of the device circle. It should be noted that the object circle and the device circle are in contact. For example, the object circle and the device circle are internally tangent, externally tangent, or intersect. Furthermore, both the first and second preset values ​​are positive numbers, and this embodiment of the invention does not impose specific limitations on the first preset value of the object circle and the second preset value of the device circle.

[0095] For example, suppose the first preset value of the object circle is 3, the second preset value of the device circle is 5, and the object circle and the device circle are externally tangent. Then, the distance between the mobile device and the target object can be determined to be the sum of the first preset value and the second preset value, which is the aforementioned distance value of 8.

[0096] Assuming the first preset value of the object circle is 3, the second preset value of the device circle is 5, and the object circle and the device circle are internally tangent, then the distance between the mobile device and the target object can be determined to be 3 - (5 - 3) = 1, which is the aforementioned distance value of 1.

[0097] It should also be noted that the above is merely an example of determining the distance between the self-moving device and the target object in the form of an object circle and a device circle. Other methods can also be used to determine the distance, and this embodiment of the invention does not impose any limitations.

[0098] Furthermore, it can also determine whether the distance between the aforementioned self-moving device and the target object is within a preset distance threshold range, so as to control the self-moving device to make timely adjustments based on the determination result.

[0099] Step 305: If the distance value is within the preset distance threshold range, obtain the historical records of the mobile device.

[0100] As can be seen from the above description, in this embodiment of the invention, by determining whether the distance between the self-moving device and the target object is within a preset distance threshold range, the self-moving device is controlled to make timely adjustments based on the determination result.

[0101] In one embodiment, if the distance value is within a preset distance threshold range, it indicates that the target object has appeared near the self-moving device. At this time, the historical records of the self-moving device can be obtained, and the historical records can be used to determine whether the target object is appearing for the first time, i.e., whether the self-moving device has detected the target object for the first time. The aforementioned historical records represent detection records where the distance value between the self-moving device and the object is within the preset distance threshold range within a preset time period (e.g., one day, one month, one year, etc.).

[0102] In this embodiment of the invention, the control strategy for the self-moving device is determined by judging whether the distance value between the target object and the self-moving device is within a preset distance threshold range for the first time based on historical records. For details, please refer to the detailed description of the steps below.

[0103] Step 306: Determine if there is a target record between the self-moving device and the target object in the history. If not, proceed to step 307; if so, proceed to step 308.

[0104] Step 307: Determine the control strategy for the self-moving device as the first control strategy, and execute step 313.

[0105] Step 308: Obtain the first duration between the current time and the time when the target record occurred.

[0106] Step 309: If the first duration is greater than the preset first duration threshold, then the control strategy for the self-moving device is determined to be the first control strategy, and step 313 is executed.

[0107] The following provides a unified description of steps 307 to 309:

[0108] In one embodiment, it can be determined whether a target record exists between the self-moving device and the target object in the historical records of the self-moving device, and a control strategy for the self-moving device can be determined. The target record is defined as a record where the distance between the self-moving device and the target object is within a preset distance threshold range.

[0109] Specifically, if no target record exists in the historical records between the self-moving device and the target object, it indicates that the self-moving device is detecting the target object for the first time. This means the target record is the first record where the distance between the target object and the self-moving device is within the distance threshold range. Therefore, the control strategy for the self-moving device can be determined as the first control strategy. Thus, the self-moving device can be controlled to coexist with the target object according to the first control strategy.

[0110] Conversely, if a target record exists between the self-moving device and the target object in the historical records, it indicates that the self-moving device has detected the target object before. The duration between the current time and the time when the aforementioned target record occurred (hereinafter referred to as the first duration) can be determined. By comparing this first duration with a preset first duration threshold, the control strategy for the self-moving device can be further determined.

[0111] The current time mentioned above refers to the moment when the distance between the self-moving device and the target object is determined to be within the preset distance threshold range during this detection process.

[0112] Specifically, if the first duration (e.g., 50 seconds) exceeds a preset first duration threshold (e.g., 40 seconds), the current detection can be redefined as the initial detection of the target object, and the control strategy for the self-moving device can be determined as the first control strategy. In this way, the self-moving device can be controlled to coexist with the target object according to the first control strategy. For a detailed description of step 313 below, please refer to the specific implementation method; it will not be elaborated here.

[0113] Step 310: If the first duration is not greater than the preset first duration threshold, determine whether the target object continuously performs a preset action on the self-moving device within the first duration. If it does, proceed to step 311.

[0114] Step 311: Calculate the second duration of the preset behavior.

[0115] Step 312: If the second duration reaches the preset second duration threshold, then the control strategy for the self-moving device is determined to be the second control strategy, and step 314 is executed.

[0116] The following provides a unified description of steps 310 to 312:

[0117] As can be seen from the above description, in this embodiment of the invention, the control strategy for the self-moving device is further determined by comparing the first duration with a preset first duration threshold.

[0118] In one embodiment, if the first duration does not exceed a preset first duration threshold, it can be determined whether the target object continuously performs preset actions on the self-moving device within the first duration, that is, whether the target object continuously chases or attacks the self-moving device within the first duration, to further determine the control strategy for the self-moving device. The preset actions represent behaviors of the target object that affect the normal operation of the self-moving device, such as chasing or attacking.

[0119] Specifically, if the target object continuously performs preset actions on the self-moving device within a first duration, the duration of these preset actions (hereinafter referred to as the second duration) can be counted, and it can be determined whether this second duration reaches a preset second duration threshold. If the second duration reaches the preset second duration threshold, the control strategy for the self-moving device is determined to be the second control strategy. For example, assuming the first duration is 50 seconds and the second duration threshold is 30 seconds, if the second duration of the pet continuously chasing the robot vacuum cleaner within 50 seconds reaches the second duration threshold, i.e., 30 seconds, the control strategy for the self-moving device can be determined to be the second control strategy.

[0120] Thus, the controllable self-moving device can coexist with the target object according to the second control strategy. For a detailed description of step 314 below, the specific implementation method will not be described in detail here.

[0121] Furthermore, if the target object does not continuously perform a preset action on the self-moving device within the first duration, or if the target object continuously performs a preset action on the self-moving device within the first duration, but the second duration does not reach the preset second duration threshold, then the control strategy for the self-moving device can be determined as the first control strategy. For example, assuming the first duration is 50 seconds and the second duration threshold is 30 seconds. If the pet does not continuously chase the robot vacuum cleaner within 50 seconds, or if the second duration of the pet not continuously chasing the robot vacuum cleaner within 50 seconds does not reach the second duration threshold, i.e., 30 seconds, then the control strategy for the self-moving device can be determined as the first control strategy. In this way, the self-moving device can be controlled to coexist with the target object according to the first control strategy.

[0122] Step 313: Control the coexistence of the self-moving device and the target object based on the first control strategy.

[0123] In one embodiment, the specific implementation of controlling the self-moving device to avoid the target object based on the first control strategy may include: acquiring environmental information of the current environment of the self-moving device and the current location information of the target object; modifying the initial movement route of the self-moving device based on the environmental information and the current location information to obtain a modified target movement route; and then controlling the self-moving device to move according to the modified target movement route to avoid the target object, thereby enabling the self-moving device and the target object to coexist.

[0124] The aforementioned environmental information characterizes the environmental features of the environment in which the mobile device is located, such as the location information of obstacles in the environment and the spatial information of movable space in the environment. This embodiment of the invention does not impose limitations on these aspects. The aforementioned current location information refers to the current location information of the target object in the environment, such as location coordinates. The aforementioned changes may involve bypassing the current location of the target object, or re-planning the movement route of the mobile device based on its current location and a preset target endpoint location, i.e., the target movement route.

[0125] Optionally, the initial and / or target movement routes of the aforementioned self-moving device can be pre-set by the user through a terminal device.

[0126] Optionally, the initial and / or target movement routes of the self-moving device can be selected from the historical movement routes of the self-moving device in the environment, and any movement route that matches the current starting and target destination locations.

[0127] Optionally, the initial and / or target movement routes of the aforementioned mobile devices may be movement routes randomly planned based on environmental information.

[0128] For example, suppose an indoor self-moving device operates from a starting position to a destination position along movement route A, and assumes the target object's current position is at the center of movement route A, and the environment is unobstructed near movement route A. Based on the environmental and current position information, the initial movement route of the self-moving device can be modified, resulting in a modified target movement route: starting from a first position, bypassing the center of movement route A, and then returning to a second position after the center of movement route A. The self-moving device can then continue operating along the movement route after the center of movement route A.

[0129] It is understood that the first position is any position outside the activity range of the target object before the center position of movement route A. The second position is any position outside the activity range of the target object after the center position of movement route A.

[0130] Step 314: Control the coexistence of the self-moving device and the target object based on the second control strategy.

[0131] In one embodiment, the specific implementation of controlling the self-moving device to avoid the target object based on the second control strategy may include: determining the object information of the target object, determining the target odor that matches the object information, and controlling the odor module carried by the self-moving device to release the target odor to drive away the target object, so that the self-moving device and the target object can coexist.

[0132] The aforementioned object information represents the object characteristic information of the target object, which may include at least the object category and the object's living habits.

[0133] For example, suppose the target object's information includes the object category "pet cat," and suppose the target scent corresponding to the pet cat is scent A, and the scent module pre-set on the self-device is the scent module corresponding to scent A. Then, the scent module carried by the self-device can be controlled to release scent A to drive away the pet cat in the environment and keep it away from the self-device.

[0134] This concludes the process. Figure 3 The process described is as follows.

[0135] By employing the above processing method, determining that the distance between the self-moving device and the target object falls within a preset distance threshold range can serve as a condition for triggering a control strategy for the self-moving device. Through multiple assessments, the control strategy for the self-moving device is further determined, allowing it to avoid or drive away the target object according to the strategy. This enables the target device and the self-moving device to coexist in the same environment, preventing the target object from affecting the operation of the self-moving device, thereby avoiding harm to the target object or damage to the self-moving device, and improving the user experience.

[0136] See Figure 4 This is a flowchart illustrating another embodiment of a self-moving device control method provided by the present invention. Figure 4 As shown, the process may include the following steps:

[0137] based on Figure 4 The illustrated embodiment of the process, in this embodiment of the invention, takes a self-moving device as a robot vacuum cleaner and a pet as the target object as an example. Firstly, on the terminal device (e.g., Figure 1 Download a control app (application) to the device 102 shown, and pair the sweeper with the control app. The control app is used to control the sweeper to perform corresponding control operations.

[0138] Furthermore, users can activate the pet mode on their robot vacuum cleaner via their terminal device and select a pet species to determine the corresponding scent box, or scent module. This scent box is then installed in the robot vacuum cleaner so that, when the control strategy for the robot vacuum cleaner is determined to be a repelling strategy, the installed scent box will repel the pet. It is understandable that if the robot vacuum cleaner already has an initial scent box installed, it is necessary to change the scent box, that is, change the currently installed initial scent box to the scent box corresponding to the pet species.

[0139] Furthermore, when the robot vacuum begins cleaning, that is, when the self-moving device starts working, during the initial cleaning, the robot vacuum scans the entire room layout. If the infrared detector in the robot vacuum detects a live pet, it can first determine whether this is the first time the pet has been detected. If so, the control strategy for the robot vacuum can be determined to be an avoidance strategy, i.e., the first control strategy. Therefore, the robot vacuum can be controlled to avoid the pet according to the first control strategy. Specifically, it can detour around the pet and replan its route. In this way, the robot vacuum and pets can coexist.

[0140] If it is determined that this is not the first time the pet has been monitored, the pet's current behavior towards the robot vacuum can be detected within a preset time period (i.e., the first time period). If the pet is detected attacking the robot vacuum, and the attack continues for a second time period, the control strategy for the robot vacuum can be determined to be a repelling strategy, i.e., the second control strategy. Therefore, the robot vacuum can be controlled to repel the pet according to the second control strategy. Specifically, the robot vacuum's scent box, which corresponds to the pet's species, can be controlled to release irritating scents to repel the pet. In this way, the robot vacuum and the pet can coexist.

[0141] Finally, once the robot vacuum has finished cleaning, it can return to its charging dock to recharge.

[0142] For specific control methods of the sweeper, please refer to the above. Figure 2 and Figure 3 The detailed description of the process shown will not be repeated here.

[0143] Corresponding to the aforementioned embodiments of the self-moving device control method, the present invention also provides an embodiment block diagram of the device.

[0144] See Figure 5 This is a block diagram illustrating an embodiment of a self-moving device control device provided by an embodiment of the present invention. Figure 5 As shown, the device includes:

[0145] The distance determination module 501 is used to determine the distance value between the self-moving device and the target object when the self-moving device is working.

[0146] The strategy determination module 502 is used to determine a control strategy for the self-moving device when the distance value is within a preset distance threshold range.

[0147] The device control module 503 is used to control the coexistence of the self-moving device and the target object based on the control strategy.

[0148] In an optional implementation, the strategy determination module 502 is specifically used for:

[0149] Obtain the historical records of the self-moving device;

[0150] Determine whether there is a target record between the self-mobile device and the target object in the historical record, wherein the target record is a record in which the distance value between the self-mobile device and the target object is within a preset distance threshold range;

[0151] If no target record exists between the self-moving device and the target object in the historical record, the control strategy for the self-moving device is determined to be the first control strategy.

[0152] In an optional implementation, the strategy determination module 502 is further configured to:

[0153] If a target record exists between the self-mobile device and the target object in the historical record, the first duration between the current time and the time when the target record occurred is obtained;

[0154] If the first duration exceeds a preset first duration threshold, then the control strategy for the self-moving device is determined to be the first control strategy.

[0155] In an optional implementation, the strategy determination module 502 is further configured to:

[0156] If the first duration is not greater than a preset first duration threshold, it is determined whether the target object continuously performs a preset action on the self-moving device within the first duration;

[0157] If the target object continuously performs a preset action on the self-mobile device within the first time period, the second time period of the preset action is counted.

[0158] If the second duration reaches a preset second duration threshold, then the control strategy for the self-moving device is determined to be the second control strategy.

[0159] In an optional implementation, when the control strategy is the first control strategy, the device control module 503 is specifically used for:

[0160] Obtain environmental information about the current environment of the self-moving device and the current location information of the target object;

[0161] Based on the environmental information and the current location information, the initial movement route of the self-moving device is changed to obtain the changed target movement route;

[0162] The self-moving device is controlled to move according to the modified target movement route in order to avoid the target object, so that the self-moving device and the target object can coexist.

[0163] In an optional implementation, when the control strategy is the second control strategy, the device control module 503 is specifically used for:

[0164] Determine the object information of the target object;

[0165] Identify the target odor that matches the object information;

[0166] The odor module carried by the self-moving device is controlled to release the target odor to drive away the target object, so that the self-moving device and the target object can coexist.

[0167] In an optional embodiment, the device further includes (not shown in the figures):

[0168] The mode activation module is used to receive an object mode activation instruction before executing the method, and to activate the object mode in response to the object mode activation instruction.

[0169] The object selection module is used to receive object selection instructions and, in response to the object selection instructions, determine the target object to be selected.

[0170] The setting module is used to determine the scent module corresponding to the target object in response to the setting command of the scent module.

[0171] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 6 The illustrated electronic device 600 includes at least one processor 601, a memory 602, at least one network interface 604, and a user interface 603. The various components in the electronic device 600 are coupled together via a bus system 605. It is understood that the bus system 605 is used to implement communication between these components. In addition to a data bus, the bus system 605 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 6 The general designated all buses as Bus System 605.

[0172] The user interface 603 may include a display, keyboard or clicking device (e.g., mouse, trackball), touchpad or touch screen.

[0173] It is understood that the memory 602 in this embodiment of the invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 602 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0174] In some implementations, memory 602 stores elements, executable units or data structures, or subsets thereof, or extended sets thereof: operating system 6021 and application program 6022.

[0175] The operating system 6021 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 6022 includes various applications, such as a media player and a browser, used to implement various application functions. The program implementing the method of this embodiment can be included in the application program 6022.

[0176] In this embodiment of the invention, by calling the program or instructions stored in memory 602, specifically the program or instructions stored in application program 6022, processor 601 executes the method steps provided in each method embodiment, including, for example:

[0177] When the self-moving device is working, determine the distance value between the self-moving device and the target object;

[0178] If the distance value is within a preset distance threshold range, a control strategy for the self-moving device is determined.

[0179] The control strategy is used to control the coexistence of the self-moving device and the target object.

[0180] The methods disclosed in the above embodiments of the present invention can be applied to processor 601, or implemented by processor 601. Processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 601 or by instructions in the form of software. The processor 601 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 602. Processor 601 reads the information in memory 602 and, in conjunction with its hardware, completes the steps of the above method.

[0181] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0182] For software implementation, the techniques described herein can be implemented by units that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0183] The electronic device provided in this embodiment may be as follows: Figure 6 The electronic device shown can perform the following: Figure 2-4 All steps of the self-moving device control method are implemented to achieve Figure 2-4 For details on the technical effects of the automatic mobile device control method, please refer to [link / reference]. Figure 2-4 The relevant descriptions are presented concisely and will not be elaborated upon here.

[0184] This invention also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; the memory may also include combinations of the above types of memory.

[0185] When one or more programs in the storage medium can be executed by one or more processors to implement the above-described self-moving device control method executed on the electronic device side.

[0186] The processor is used to execute a self-moving device control program stored in the memory to implement the following steps of a self-moving device control method executed on the electronic device side:

[0187] When the self-moving device is working, determine the distance value between the self-moving device and the target object;

[0188] If the distance value is within a preset distance threshold range, a control strategy for the self-moving device is determined.

[0189] The control strategy is used to control the coexistence of the self-moving device and the target object.

[0190] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0191] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0192] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A self-moving device control method characterized by comprising: The method comprises: In the case of working of the self-moving device, a target object is detected in real time to determine a position of the target object or a preset behavior made by the target object; A distance value between the self-moving device and the target object is determined; In the case that the distance value is within a preset distance threshold range, a control strategy for the self-moving device is determined according to whether the distance value between the target object and the self-moving device is within the preset distance threshold range for the first time according to historical records; the historical records represent detection records that the distance value between the self-moving device and the object is within the preset distance threshold range within a preset time period; a target record is a first record that the distance value between the target object and the self-moving device is within the distance threshold range; a first time length is a time length between a current time and an occurrence time of the target record; a second time length is a time length of a preset behavior made by the target object; in the case that the first time length is not greater than a preset first time length threshold, if the target object does not continuously make the preset behavior to the self-moving device within the first time length, or, in the case that the target object continuously makes the preset behavior to the self-moving device within the first time length, the second time length does not reach a preset second time length threshold, the control strategy for the self-moving device is determined as a first control strategy; in the case that the second time length reaches the second time length threshold, the control strategy for the self-moving device is determined as a second control strategy; the first control strategy is an avoidance strategy, and the second control strategy is a driving strategy; The self-moving device and the target object coexist based on the control strategy.

2. The method of claim 1, wherein, The determination of the control strategy for the self-moving device comprises: The historical records of the self-moving device are acquired; It is determined whether a target record between the self-moving device and the target object exists in the historical records; the target record is a record that the distance value between the self-moving device and the target object is within a preset distance threshold range; In the case that the target record between the self-moving device and the target object does not exist in the historical records, the control strategy for the self-moving device is determined as a first control strategy.

3. The method of claim 2, wherein, The determination of the control strategy for the self-moving device further comprises: In the case that the target record between the self-moving device and the target object exists in the historical records, a first time length between a current time and an occurrence time of the target record is acquired; In the case that the first time length is greater than a preset first time length threshold, the control strategy for the self-moving device is determined as a first control strategy.

4. The method of claim 3, wherein, The determination of the control strategy for the self-moving device further comprises: In the case that the first time length is not greater than a preset first time length threshold, it is determined whether the target object continuously makes a preset behavior to the self-moving device within the first time length; In the case that the target object continuously makes the preset behavior to the self-moving device within the first time length, a second time length of the preset behavior is counted; In a case where the second time length reaches a preset second time length threshold, a control strategy for the self-moving device is determined as a second control strategy.

5. The method according to claim 2 or 3, characterized in that, In a case where the control strategy is the first control strategy, the controlling the self-moving device to coexist with the target object based on the control strategy comprises: obtaining environment information of an environment in which the self-moving device is currently located and current position information of the target object; based on the environment information and the current position information, changing an initial moving route of the self-moving device to obtain a changed target moving route; controlling the self-moving device to move according to the changed target moving route to avoid the target object, so that the self-moving device coexists with the target object.

6. The method of claim 4, wherein, In a case where the control strategy is the second control strategy, the controlling the self-moving device to coexist with the target object based on the control strategy comprises: determining object information of the target object; determining a target smell matched with the object information; controlling a smell module carried by the self-moving device to release the target smell to drive away the target object, so that the self-moving device coexists with the target object.

7. The method of claim 1, wherein, Before the method is executed, the method further comprises: receiving an opening instruction of an object mode, and in response to the opening instruction of the object mode, opening the object mode; receiving a selection instruction of an object, and in response to the selection instruction of the object, determining a selected target object; in response to a setting instruction of a smell module, determining a set smell module corresponding to the target object.

8. A self-moving device control apparatus characterized by comprising: The device comprises: a distance determination module configured to, in a case where a self-moving device is working, detect a target object in real time to determine a position of the target object or a preset behavior made by the target object, and determine a distance value between the self-moving device and the target object. The strategy determining module is configured to determine a control strategy for the self-moving device according to historical records, in a case where the distance value is within a preset distance threshold range, and whether the distance value between the target object and the self-moving device is within the preset distance threshold range for the first time; wherein the historical records represent detection records of the distance value between the self-moving device and the object being within the preset distance threshold range within a preset time period; the target record is the first record of the distance value between the target object and the self-moving device being within the distance threshold range; the first time length is a time length between a current time and a time when the target record occurs; the second time length is a time length of a preset behavior made by the target object; in a case where the first time length is not greater than a preset first time length threshold, if the target object does not continuously make the preset behavior to the self-moving device within the first time length, or, in a case where the target object continuously makes the preset behavior to the self-moving device within the first time length, the second time length does not reach a preset second time length threshold, the control strategy for the self-moving device is determined as a first control strategy; in a case where the second time length reaches the second time length threshold, the control strategy for the self-moving device is determined as a second control strategy; the first control strategy is an evading strategy, and the second control strategy is a driving-away strategy; The device control module is configured to control the self-moving device and the target object to coexist based on the control strategy.

9. An electronic device, comprising: The processor is configured to execute a self-moving device control program stored in the memory to implement the self-moving device control method in any one of claims 1-7. The storage medium stores one or more programs, which can be executed by one or more processors to implement the self-moving device control method in any one of claims 1-7.

10. A storage medium, characterized by ​

Images