Speed control method and device of self-moving device, electronic device and storage medium

Abstract

The application is suitable for the technical field of intelligent control, and provides a speed control method and device of a self-moving device, an electronic device and a storage medium. The self-moving device is provided with a disinfecting device. The speed control method of the self-moving device comprises the following steps: when the self-moving device performs disinfecting work on a target area through the disinfecting device, the current moving speed of the self-moving device is obtained; the current disinfecting dose of the disinfecting device on the target area is determined; if the current disinfecting dose is outside a preset disinfecting dose range, the speed compensation amount required by the self-moving device is determined according to the current moving speed, the current disinfecting dose and the disinfecting dose range; and the current moving speed is updated according to the speed compensation amount, so as to control the self-moving device to move in the target area according to the target moving speed obtained after the update. The embodiments of the application can improve the disinfecting effect of the self-moving device.

Description

Technical Field

[0001] This application belongs to the field of intelligent control technology, and in particular relates to a speed control method, device, electronic device and storage medium for self-moving equipment. Background Technology

[0002] Self-moving devices with disinfection capabilities can assist humans in disinfection and sterilization work, and are currently widely used in laboratories, medical rooms, and other similar settings. In these technologies, self-moving devices typically perform disinfection based on a user-set movement speed or the device's default movement speed. However, in this mode, the disinfection quality often fails to meet user needs, resulting in poor disinfection effectiveness. Summary of the Invention

[0003] This application provides a speed control method, device, electronic device, and storage medium for self-moving equipment, which can solve the problem of poor disinfection effect in related technologies.

[0004] The first aspect of this application provides a speed control method for a self-moving device. The self-moving device is equipped with a disinfection device. The speed control method includes: when the self-moving device performs disinfection work on a target area through the disinfection device, acquiring the current moving speed of the self-moving device; determining the current disinfection dose of the disinfection device on the target area; if the current disinfection dose is outside a preset disinfection dose range, determining a speed compensation amount required by the self-moving device based on the current moving speed, the current disinfection dose, and the disinfection dose range; updating the current moving speed based on the speed compensation amount, so as to control the self-moving device to move in the target area according to the updated target moving speed.

[0005] A second aspect of this application provides a speed control device for a self-moving device. The self-moving device is equipped with a disinfection device. The speed control device includes: an acquisition unit, configured to acquire the current moving speed of the self-moving device when it performs disinfection work on a target area using the disinfection device; a disinfection dosage determination unit, configured to determine the current disinfection dosage of the disinfection device on the target area; a compensation amount determination unit, configured to determine a speed compensation amount required by the self-moving device based on the current moving speed, the current disinfection dosage, and the disinfection dosage range if the current disinfection dosage is outside a preset disinfection dosage range; and a speed control unit, configured to update the current moving speed based on the speed compensation amount, so as to control the self-moving device to move in the target area at the updated target moving speed.

[0006] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the speed control method for the self-moving device described above.

[0007] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the speed control method for the self-moving device described above.

[0008] The fifth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to execute the speed control method for the self-moving device described in the first aspect above.

[0009] In the embodiments of this application, when the self-moving device performs disinfection work on the target area using the disinfection device, the current moving speed of the self-moving device is obtained, the current disinfection dose of the disinfection device on the target area is determined, and when the current disinfection dose is outside the preset disinfection dose range, the required speed compensation amount of the self-moving device is determined based on the current moving speed, the current disinfection dose, and the disinfection dose range. The current moving speed is updated using the speed compensation amount. When the self-moving device moves in the target area according to the updated target moving speed, the actual disinfection dose of the disinfection device can fall within the disinfection dose range, thus improving the disinfection effect of the self-moving device. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram illustrating the implementation process of a speed control method for a self-moving device provided in an embodiment of this application;

[0012] Figure 2 This is a schematic diagram illustrating the specific implementation process of step S102 provided in the embodiments of this application;

[0013] Figure 3 This is a schematic diagram illustrating the specific implementation process of step S103 provided in the embodiments of this application;

[0014] Figure 4 This is a schematic diagram illustrating dynamic compensation for movement speed provided in an embodiment of this application;

[0015] Figure 5 This is a schematic diagram of the structure of a speed control device for a self-moving device provided in an embodiment of this application;

[0016] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are protected by this application.

[0018] In related technologies, self-moving devices typically perform disinfection work based on the user-set movement speed or the default movement speed of the self-moving device.

[0019] The applicant's research revealed a correlation between movement speed and disinfection quality. Typically, when the mobile device moves too fast, the actual disinfection dosage applied to the work area decreases, leading to reduced disinfection quality. Therefore, under this operating mode, the disinfection quality often fails to meet user needs, resulting in poor disinfection effectiveness.

[0020] In view of this, this application proposes a speed control method for a self-moving device, which can compensate for the movement speed of the self-moving device during the disinfection work at the current movement speed, so that the actual disinfection dose of the disinfection device on the working area falls within the required disinfection dose range.

[0021] It should be understood that the aforementioned self-moving device can be a robot, an unmanned vehicle, a drone, or other device with autonomous mobility. In some embodiments, the aforementioned self-moving device can achieve autonomous mobility through components such as drive motors, wings / wheels, etc., and this application does not impose any limitations on this.

[0022] To meet the needs of disinfection, the aforementioned self-moving equipment may be equipped with a disinfection device, which can be used to carry out disinfection and sterilization within a preset range. Specifically, the disinfection device may be an ultraviolet lamp, a spray device, etc., and this application does not impose any restrictions on this.

[0023] To illustrate the technical solution of this application, specific embodiments are described below.

[0024] Figure 1The illustration shows a schematic diagram of the implementation process of a speed control method for a self-moving device provided in an embodiment of this application. This method can be applied to electronic devices and is suitable for situations where it is necessary to improve the disinfection effect.

[0025] In embodiments of this application, the electronic device can be the aforementioned self-moving device, meaning the self-moving device is capable of autonomously adjusting its speed. The electronic device can also be a smart device such as a computer, mobile phone, or smartwatch, capable of controlling the speed of the self-moving device. For example, the electronic device can be a smartphone with application software installed for controlling the self-moving device.

[0026] Specifically, the speed control method for the aforementioned self-moving device may include the following steps S101 to S104.

[0027] Step S101: When the self-moving device is disinfecting the target area through the disinfection device, obtain the current moving speed of the self-moving device.

[0028] In the embodiments of this application, the self-moving device can perform disinfection work according to a pre-set work plan or under user operation. Disinfection work refers to the disinfection and sterilization work performed using a disinfection device. The target area is the area where the self-moving device performs disinfection work.

[0029] When the self-moving device performs disinfection work on the target area using the disinfection device, the electronic device can obtain the current moving speed of the self-moving device. The current moving speed is the real-time speed at which the self-moving device moves within the target area during disinfection work. At the start of the disinfection process, the aforementioned current moving speed can refer to a pre-set default moving speed or a user-set moving speed. Since this application can update and control the speed of the self-moving device, the aforementioned current moving speed can also refer to the moving speed after the previous update.

[0030] In some embodiments of this application, the electronic device can obtain the current moving speed collected by the speed sensor configured on the self-moving device, or it can collect information from the self-moving device through other sensors such as cameras and millimeter-wave radar to obtain the current moving speed. This application does not limit this.

[0031] Step S102: Determine the current disinfection dose of the disinfection device for the target area.

[0032] The current disinfection dose refers to the actual disinfection dose administered by the self-moving device at its current speed within the target area. It can be interpreted as the disinfection dose per unit area within the target area being disinfected by the disinfection device. For example, when the disinfection device is an ultraviolet lamp, meaning the disinfection work is achieved using ultraviolet (UVC) disinfection, the current disinfection dose can represent the energy per unit area within the disinfected area. In this case, mJ / ^2 can be used as the unit of the current disinfection dose. As another example, when the disinfection device is a spray device, the current disinfection dose can represent the volume of disinfectant sprayed per unit area within the disinfected area.

[0033] In the embodiments of this application, there is a negative correlation between the moving speed of the self-moving device and the disinfection dosage. The faster the self-moving device moves, the lower the disinfection dosage per unit area in the area being disinfected. Based on this negative correlation, the electronic device can determine the current disinfection dosage of the disinfection device on the target area when the self-moving device moves at its current speed. Of course, other methods for determining the current disinfection dosage can also be applied to this application, and this application does not limit them.

[0034] Step S103: If the current disinfection dose is outside the preset disinfection dose range, determine the speed compensation amount required for the self-moving device based on the current moving speed, the current disinfection dose, and the disinfection dose range.

[0035] The preset disinfection dosage range represents the range of disinfection dosages required for the disinfection process. Electronic devices can determine whether the current disinfection dosage meets the requirements of the disinfection work by judging whether it is outside the preset range. Specifically, this disinfection dosage range can be the range set by the user when triggering the disinfection process. When the disinfection process is used to disinfect objects, this disinfection dosage range can also represent the range of disinfection dosages required to achieve an inactivation rate threshold for the object.

[0036] In the embodiments of this application, the current disinfection dose refers to the actual disinfection dose. If the current disinfection dose is outside the preset disinfection dose range, it indicates that the current disinfection dose is too low or too high. If the current disinfection dose is low, meaning the actual disinfection dose applied to the target area by the disinfection device is low, it indicates that the current moving speed is too fast. In this case, the moving speed of the self-moving device needs to be reduced so that the actual disinfection dose falls within the disinfection dose range. If the current disinfection dose is high, meaning the actual disinfection dose applied to the target area by the disinfection device is excessive, it indicates that the current moving speed is too slow. In this case, the moving speed of the self-moving device needs to be increased so that the actual disinfection dose falls within the disinfection dose range.

[0037] Therefore, if the current disinfection dose is outside the preset disinfection dose range, the electronic device can determine the speed compensation required for the self-moving device to ensure that the actual disinfection dose applied to the target area falls within the disinfection dose range, based on the current moving speed, the current disinfection dose, and the disinfection dose range. The speed compensation is the speed difference between the current moving speed and the moving speed required to ensure the actual disinfection dose falls within the disinfection dose range. It should be understood that if the current disinfection dose is low, the speed compensation is negative and can be used to reduce the moving speed of the self-moving device. If the current disinfection dose is high, the speed compensation is positive and can be used to increase the moving speed of the self-moving device.

[0038] Step S104: Update the current moving speed according to the speed compensation amount, so as to control the self-moving device to move in the target area according to the updated target moving speed.

[0039] The target moving speed is the speed at which the actual disinfection dose falls within the disinfection dose range. In other words, when the self-propelled device moves at the target moving speed, the actual disinfection dose of the self-propelled device is within the disinfection dose range. Specifically, the target moving speed can refer to the sum of the speed compensation amount and the current moving speed.

[0040] Specifically, electronic devices can control the braking device of the self-moving device to reduce speed, or control the power device of the self-moving device to increase speed, so that the self-moving device can update the current moving speed according to the speed compensation amount, and then move according to the target moving speed.

[0041] In the embodiments of this application, when the self-moving device performs disinfection work on the target area using the disinfection device, the current moving speed of the self-moving device is obtained, the current disinfection dosage of the disinfection device on the target area is determined, and when the current disinfection dosage is outside the preset disinfection dosage range, the required speed compensation amount of the self-moving device is determined based on the current moving speed, the current disinfection dosage, and the disinfection dosage range. The current moving speed is updated using the speed compensation amount. When the self-moving device moves according to the updated target moving speed, the actual disinfection dosage of the disinfection device can fall within the disinfection dosage range. When the current disinfection dosage is too low, the disinfection effect of the self-moving device can be effectively improved. At the same time, when the current disinfection dosage is excessive, the power consumption can be reduced and the execution efficiency of the disinfection work can be improved by updating and controlling the moving speed.

[0042] Specifically, such as Figure 2 As shown, in some embodiments, step S102 may specifically include steps S201 to S203.

[0043] Step S201: Obtain an image of the target area.

[0044] It should be understood that since the image content of the above image is the target area, the content of each pixel in the above image is the content of the corresponding sub-region within the target area. That is, the target area can include sub-regions that correspond one-to-one with each pixel in the image. Preferably, the above image can be an image of the area within the target area that is being eliminated.

[0045] In some embodiments, the electronic device can acquire images captured by an image acquisition device configured on the self-moving device. In this case, the acquisition range of the image acquisition device can be the area being disinfected by the self-moving device. In other embodiments, the electronic device can also acquire images of the target area captured by a monitoring device in the target area. This application does not limit the method of image acquisition.

[0046] Step S202: Calculate the disinfection dose of the disinfection device for each sub-area based on the current moving speed.

[0047] It should be understood that the distance between each sub-region and the disinfection device is different, therefore the corresponding disinfection dosage may vary. Based on the current moving speed, the electronic device can calculate the disinfection dosage of the disinfection device for each sub-region corresponding to each pixel in the above image.

[0048] Step S203: Based on the disinfection dose of the disinfection device for each sub-area, determine the current disinfection dose of the disinfection device for the target area.

[0049] Specifically, electronic devices can use the mean, median, or other statistical values ​​of the disinfection doses in all sub-regions as the current disinfection dose for the target area. Thus, when there are differences in the disinfection doses among the sub-regions within the target area, determining the current disinfection dose for the target area by referring to the disinfection doses applied to each sub-region allows the current disinfection dose to better reflect the disinfection dose situation within the target area.

[0050] In some embodiments of this application, the electronic device can obtain the area of ​​each sub-region, the actual distance between each sub-region and the self-moving device, and the correspondence between distance and disinfection intensity, and determine the disinfection dosage of the disinfection device for each sub-region based on the current moving speed, area, actual distance and correspondence.

[0051] The area of ​​a sub-region is also its actual area. In the embodiments of this application, the area can be determined by the intrinsic and extrinsic parameters of the image acquisition device, or the actual area of ​​the sub-region corresponding to each pixel in the image acquisition device can be predetermined in the laboratory to obtain the area of ​​each sub-region. This application does not impose any restrictions on this.

[0052] The actual distance between the sub-region and the self-moving device, i.e. the distance between the sub-region and the self-moving device, can be determined by the distance sensor configured on the self-moving device or based on the above-mentioned image, and this application does not impose any restrictions on this.

[0053] The relationship between distance and disinfection intensity can be expressed as the disinfection intensity per unit distance. Taking the above-mentioned disinfection device as an ultraviolet lamp as an example, the relationship between distance and disinfection intensity can be expressed as the relationship between distance and the ultraviolet light intensity of the ultraviolet lamp, specifically referring to the ultraviolet light intensity of the ultraviolet lamp over a unit distance (e.g., 1m).

[0054] Specifically, the electronic device can determine the disinfection dosage for each sub-area using the following formula:

[0055]

[0056] Among them, E s () represents the disinfection dosage of the disinfection device for each sub-area, V represents the current moving speed of the self-moving device, S represents the area of ​​each sub-area, r represents the actual distance between each sub-area and the self-moving device, and D represents the area of ​​each sub-area. test This indicates the relationship between distance and disinfection intensity.

[0057] Furthermore, based on the disinfection dose E of the disinfection device for each sub-area... s (), can determine the current disinfection dose G(x) of the disinfection device on the target area.

[0058] Accordingly, after determining the current disinfection dose G(x), the electronic device can calculate the speed compensation required for the self-moving device.

[0059] Specifically, such as Figure 3 As shown, in some embodiments of this application, the aforementioned step S103 may specifically include the following steps S301 to S302.

[0060] Step S301: Obtain the target disinfection dose for the disinfection work.

[0061] The target disinfection dose is within a preset disinfection dose range. In some embodiments, any disinfection dose within the preset disinfection dose range can be selected as the target disinfection dose, and this application does not impose any restrictions on this. In other embodiments, the target disinfection dose can be the disinfection dose set by the user when triggering the disinfection operation, or, when the disinfection operation is used to disinfect the target object, the target disinfection dose can be the disinfection dose required to make the inactivation rate of the target object reach the inactivation rate threshold. Correspondingly, the preset disinfection dose range can be a range set according to the target disinfection dose and the allowable error, which can be set according to the needs of disinfection efficiency and disinfection quality.

[0062] For example, if the disinfection device is an ultraviolet lamp and the target of disinfection is SARS virus, the target disinfection dose can be 1445 mJ / cm^2. If the disinfection device is an ultraviolet lamp and the target of disinfection is COVID-19, the target disinfection dose can be 3000 mJ / cm^2.

[0063] Step S302: Determine the speed compensation amount based on the current moving speed, the current disinfection dose, and the target disinfection dose.

[0064] Accordingly, based on the current moving speed, the current disinfection dose, and the target disinfection dose, the speed compensation required to adjust the current disinfection dose to be close to the target disinfection dose can be determined.

[0065] Specifically, electronic devices can determine the speed compensation required for the self-moving device based on the current moving speed, the current disinfection dose, the target disinfection dose, and the transfer function.

[0066] The transfer function is expressed as:

[0067] E t (x) represents the target disinfection dose, V(x) represents the current movement speed, G(x) represents the current disinfection dose, and H(x) represents the speed compensation amount.

[0068] After calculating the speed compensation amount, the current movement speed can be updated based on the speed compensation amount, and the self-moving device can be controlled to move within the target area according to the updated target movement speed.

[0069] To ensure the quality of disinfection throughout the entire process, the electronic device can also return to the step of obtaining the current moving speed of the self-moving device, that is, re-execute the aforementioned steps S101 to S104 to recalculate the new speed compensation amount, and control the self-moving device to update its moving speed according to the new speed compensation amount until the disinfection work is completed.

[0070] Specifically, the electronic device can execute steps S101 to S104 at a preset frequency until the disinfection work is completed, so as to achieve dynamic compensation of the moving speed.

[0071] It should be noted that this application does not limit the method for determining the completion of disinfection work. In some embodiments, disinfection work can be confirmed as complete when the self-moving device finishes disinfecting the target area. In other embodiments, the self-moving device needs to move within the target area according to a pre-planned target path to ensure that the area disinfected by the self-moving device covers the entire target area. Therefore, disinfection work can be confirmed as complete when the self-moving device completes its movement along the target path.

[0072] Please refer to Figure 4 In this way, the electronic device can calculate the speed compensation amount in a loop and control the self-moving device to move at a constantly updated speed, thereby achieving dynamic compensation of the moving speed. This ensures that the actual disinfection dose of the self-moving device falls within the preset disinfection dose range, thus avoiding the problem of poor disinfection effect caused by too little actual disinfection dose, and also avoiding the problem of high power consumption and low disinfection efficiency caused by too much actual disinfection dose (too slow moving speed).

[0073] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders.

[0074] like Figure 5 The diagram shown is a structural schematic of a speed control device 500 for a self-moving device provided in an embodiment of this application. The speed control device 500 for the self-moving device is disposed on an electronic device.

[0075] Specifically, the speed control device 500 of the self-moving device may include:

[0076] The acquisition unit 501 is used to acquire the current moving speed of the self-moving device when the self-moving device performs disinfection work on the target area through the disinfection device.

[0077] The disinfection dosage determination unit 502 is used to determine the current disinfection dosage of the disinfection device on the target area;

[0078] The compensation amount determination unit 503 is used to determine the speed compensation amount required by the self-moving device based on the current moving speed, the current disinfection dose, and the disinfection dose range if the current disinfection dose is outside the preset disinfection dose range.

[0079] The speed control unit 504 is used to update the current moving speed according to the speed compensation amount, so as to control the self-moving device to move in the target area according to the updated target moving speed.

[0080] In some embodiments of this application, the disinfection dose determination unit 502 described above can be specifically used to: acquire an image of the target area, the target area including sub-regions corresponding one-to-one with each pixel in the image; calculate the disinfection dose of the disinfection device on each of the sub-regions according to the current moving speed; and determine the current disinfection dose of the disinfection device on the target area based on the disinfection dose of the disinfection device on each of the sub-regions.

[0081] In some embodiments of this application, the disinfection dosage determination unit 502 described above may be specifically used to: obtain the area of ​​each sub-region, the actual distance between each sub-region and the self-moving device, and the correspondence between distance and disinfection intensity; and determine the disinfection dosage of the disinfection device for each sub-region based on the current moving speed, the area, the actual distance, and the correspondence.

[0082] In some embodiments of this application, when the above-mentioned disinfection device is an ultraviolet lamp, the above-mentioned correspondence is the correspondence between distance and ultraviolet light intensity of the ultraviolet lamp.

[0083] In some embodiments of this application, the compensation amount determination unit 503 described above can be specifically used to: obtain the target disinfection dose for the disinfection work, wherein the target disinfection dose is within the disinfection dose range; and determine the speed compensation amount based on the current moving speed, the current disinfection dose, and the target disinfection dose.

[0084] In some embodiments of this application, the compensation amount determination unit 503 described above can be specifically used to: determine the speed compensation amount required by the self-moving device based on the current moving speed, the current disinfection dose, the target disinfection dose, and the transfer function.

[0085] The above transfer function is expressed as: Among them, E t (x) represents the target disinfection dose, V(x) represents the current movement speed, G(x) represents the current disinfection dose, and H(x) represents the speed compensation amount.

[0086] In some embodiments of this application, the speed control device 500 of the self-moving device may further include a looping unit, which returns to the step of obtaining the current moving speed of the self-moving device to recalculate a new speed compensation amount and controls the self-moving device to update its moving speed according to the new speed compensation amount until the disinfection work is completed.

[0087] It should be noted that, for the sake of convenience and brevity, the specific working process of the speed control device 500 of the aforementioned self-moving device can be found in the following reference: Figures 1 to 4 The corresponding process of the method will not be described in detail here.

[0088] like Figure 6 The diagram shown is a schematic representation of an electronic device according to an embodiment of this application. Specifically, the electronic device 6 may include: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a speed control program for a self-moving device. When the processor 60 executes the computer program 62, it implements the steps described in the various speed control method embodiments for self-moving devices, for example... Figure 1 Steps S101 to S104 are shown. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5 The acquisition unit 501, disinfection dosage determination unit 502, compensation amount determination unit 503, and speed control unit 504 are shown.

[0089] The computer program can be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0090] For example, the computer program can be divided into: an acquisition unit, a disinfection dosage determination unit, a compensation amount determination unit, and a speed control unit. The specific functions of each unit are as follows: the acquisition unit is used to acquire the current moving speed of the self-moving device when it performs disinfection work on the target area using the disinfection device; the disinfection dosage determination unit is used to determine the current disinfection dosage of the disinfection device on the target area; the compensation amount determination unit is used to determine the required speed compensation amount for the self-moving device based on the current moving speed, the current disinfection dosage, and the disinfection dosage range if the current disinfection dosage is outside a preset disinfection dosage range; the speed control unit is used to update the current moving speed based on the speed compensation amount, so as to control the self-moving device to move in the target area according to the updated target moving speed.

[0091] The electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0092] The processor 60 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0093] The memory 61 can be an internal storage unit of the electronic device, such as a hard drive or memory. The memory 61 can also be an external storage device of the electronic device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 61 can include both internal and external storage units. The memory 61 is used to store the computer program and other programs and data required by the electronic device. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0094] It should be noted that, for the sake of convenience and brevity, the structure of the above-mentioned electronic device can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0095] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0096] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0097] Those skilled in the art will 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, or a combination of computer software and electronic hardware. 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 various specific applications, but such implementations should not be considered beyond the scope of this application.

[0098] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0099] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0100] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0101] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0102] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A speed control method of a self-moving device, characterized by, The self-moving device is configured with a sterilization device, and a speed control method of the self-moving device includes: When the self-moving device performs sterilization work on a target area through the sterilization device, a current moving speed of the self-moving device is acquired; An image of the target area is acquired, the target area including sub-areas corresponding to each pixel point in the image; According to the current moving speed, a sterilization dose of the sterilization device for each sub-area is calculated; Based on the sterilization dose of the sterilization device for each sub-area, a current sterilization dose of the sterilization device for the target area is determined; If the current sterilization dose is outside a preset sterilization dose range, a speed compensation amount required by the self-moving device is determined according to the current moving speed, the current sterilization dose, and the sterilization dose range; The current moving speed is updated according to the speed compensation amount to control the self-moving device to move in the target area at a target moving speed obtained after the update.

2. The speed control method of the self-moving apparatus according to claim 1, wherein The calculation of the sterilization dose of the sterilization device for each sub-area according to the current moving speed includes: The area of each sub-area, the actual distance between each sub-area and the self-moving device, and the corresponding relationship between the distance and the sterilization intensity are acquired; According to the current moving speed, the area, the actual distance, and the corresponding relationship, the sterilization dose of the sterilization device for each sub-area is determined.

3. The speed control method of the self-moving apparatus according to claim 2, wherein When the sterilization device is a UV lamp, the corresponding relationship is the corresponding relationship between the distance and the UV intensity of the UV lamp.

4. The speed control method of a self-moving apparatus according to claim 1, wherein The determination of the speed compensation amount required by the self-moving device according to the current moving speed, the current sterilization dose, and the sterilization dose range includes: A target sterilization dose of the sterilization work is acquired, the target sterilization dose being within the sterilization dose range; According to the current moving speed, the current sterilization dose, and the target sterilization dose, the speed compensation amount is determined.

5. The speed control method of the self-moving apparatus according to claim 4, wherein The determination of the speed compensation amount according to the current moving speed, the current sterilization dose, and the target sterilization dose includes: According to the current moving speed, the current sterilization dose, the target sterilization dose, and a transfer function, the speed compensation amount required by the self-moving device is determined; The transfer function is expressed as: ; wherein, represents the target sterilization dose, represents the current moving speed, represents the current sterilization dose, represents the speed compensation amount.

6. The speed control method of the self-moving apparatus according to any one of claims 1 to 5, characterized by, After the control of the self-moving device to move in the target area at the target moving speed obtained after the update, the speed control method of the self-moving device further includes: The step of acquiring the current moving speed of the self-moving device is returned to execute to recalculate a new speed compensation amount and control the self-moving device to update the moving speed according to the new speed compensation amount until the sterilization work is completed.

7. A speed control device of a self-moving apparatus, characterized by comprising: The self-moving device is configured with a sterilization device, and a speed control device of the self-moving device includes: An acquisition unit is configured to acquire a current moving speed of the self-moving device when the self-moving device performs sterilization work on a target area through the sterilization device; The killing dose determination unit is configured to acquire an image of the target area, the target area comprising sub-areas corresponding to respective pixels in the image; calculate a killing dose of the killing device for each of the sub-areas according to the current moving speed; and determine a current killing dose of the killing device for the target area based on the killing dose of the killing device for each of the sub-areas. The compensation amount determination unit is configured to, if the current killing dose is outside a preset killing dose range, determine a speed compensation amount required by the self-moving device according to the current moving speed, the current killing dose, and the killing dose range. The speed control unit is configured to update the current moving speed according to the speed compensation amount, so as to control the self-moving device to move in the target area at a target moving speed obtained after the update.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the speed control method of the self-moving device according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by the processor to implement the steps of the speed control method of the self-moving device according to any one of claims 1 to 6.

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