Lift-up protection method for self-moving devices, terminal devices, and readable storage media

Abstract

This application relates to the field of intelligent control technology and provides a lift-off protection method, terminal device, and readable storage medium for a self-moving device. The self-moving device is equipped with an inertial measurement unit (IMU) and a lift-off detection component, the latter detecting when the front wheels of the self-moving device are lifted. The lift-off protection method includes: acquiring attitude data of the self-moving device collected by the IMU; acquiring a lift-off signal output by the lift-off detection component and determining a first total number of lifted front wheels based on the lift-off signal; if the attitude data satisfies a target attitude condition, and the first total number is greater than or equal to a target number threshold corresponding to the target attitude condition, then executing a lift-off protection strategy. Embodiments of this application can, to some extent, reduce the structural complexity caused by an excessive number of lift-off detection components.

Description

Technical Field

[0001] This application belongs to the field of intelligent robot technology, and in particular relates to a lifting protection method for self-moving devices, a terminal device, and a readable storage medium. Background Technology

[0002] Self-moving devices are intelligent devices capable of autonomous movement and task execution. They can assist or replace humans in tasks within manufacturing, construction, hazardous industries, and other sectors. Wheel lift detection is a crucial function of self-moving devices. Lift detection helps prevent dangerous driving behavior and avoids injury to users from components when the device is lifted.

[0003] Related technologies require the installation of lift detection components on each wheel to detect whether the self-moving device is lifted at a single point or completely, thereby triggering lift protection. This method requires a large number of lift detection components and places high demands on the waterproof and dustproof performance of the mechanism and its ground contact performance; otherwise, it is easy to falsely trigger lift protection. Summary of the Invention

[0004] This application provides a lift-up protection method for self-moving devices, a terminal device, and a readable storage medium, which can solve the structural complexity problem caused by the large number of lift-up detection components in related technologies while achieving lift-up protection.

[0005] A first aspect of this application provides a lift-up protection method for a self-moving device. The self-moving device is equipped with an inertial measurement unit and a lift-up detection component. The lift-up detection component is used to detect the lifting of the front wheels of the self-moving device. The lift-up protection method includes: acquiring attitude data of the self-moving device collected by the inertial measurement unit; acquiring a lift-up signal output by the lift-up detection component, and determining a first total number of lifted front wheels based on the lift-up signal; if the attitude data satisfies a target attitude condition, and the first total number is greater than or equal to a target number threshold corresponding to the target attitude condition, then executing a lift-up protection strategy.

[0006] A second aspect of this application provides a lift-off protection device for a self-moving device. The self-moving device is equipped with an inertial measurement unit and a lift-off detection component. The lift-off detection component is used to detect the lifting of the front wheels of the self-moving device. The lift-off protection device includes: an attitude data acquisition unit, used to acquire attitude data of the self-moving device collected by the inertial measurement unit; a lift-off detection unit, used to acquire a lift-off signal output by the lift-off detection component and determine a first total number of lifted front wheels based on the lift-off signal; and a lift-off protection unit, used to execute a lift-off protection strategy if the attitude data satisfies a target attitude condition and the first total number is greater than or equal to a target number threshold corresponding to the target attitude condition.

[0007] A third aspect of this application provides a terminal 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 above-described self-moving device lift-off protection method.

[0008] 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 above-described self-moving device lift-off protection method.

[0009] The fifth aspect of this application provides a computer program product that, when run on a terminal device, causes the terminal device to execute the self-moving device lift-off protection method described in the first aspect above.

[0010] It should be noted that, in order to meet the self-movement requirements of self-moving devices, self-moving devices are usually equipped with inertial measurement units. In the embodiments of this application, the attitude data of the self-moving device collected by the inertial measurement unit is acquired, and the first total number of front wheels lifted by the self-moving device is determined according to the lifting signal of the front wheels output by the lifting detection component. When the attitude data meets the target attitude conditions and the first total number is greater than or equal to the target number threshold corresponding to the target attitude conditions, the lifting protection strategy is executed. Since it is not necessary to detect whether the rear wheels are lifted, this application eliminates the lifting detection component used for the rear wheels based on the original inertial measurement unit and the lifting detection component used for the front wheels of the self-moving device. Therefore, it solves the problem of structural complexity caused by too many lifting detection components to a certain extent. Attached Figure Description

[0011] 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.

[0012] Figure 1 This is a schematic diagram illustrating the implementation process of a lift-up protection method for a self-moving device provided in an embodiment of this application;

[0013] Figure 2 This is a schematic diagram of a self-moving device provided in an embodiment of this application;

[0014] Figure 3 This is a top view schematic diagram of the self-moving device provided in the embodiments of this application;

[0015] Figure 4 This is a side view of the self-moving device provided in the embodiments of this application. Figure 1 ;

[0016] Figure 5 This is a side view of the self-moving device provided in the embodiments of this application. Figure 2 ;

[0017] Figure 6 This is a schematic front view of the self-moving device provided in an embodiment of this application;

[0018] Figure 7 This is a schematic diagram illustrating the specific implementation process of the reset strategy provided in the embodiments of this application;

[0019] Figure 8 This is a schematic diagram of the structure of a lift protection device for a self-moving device provided in an embodiment of this application;

[0020] Figure 9 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. Detailed Implementation

[0021] 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.

[0022] Related technologies require the installation of a lift detection component on each wheel to detect whether the self-moving device is lifted at a single point or completely, thereby triggering lift protection. This method requires 3 to 4 or even more lift detection components and places high demands on the mechanism's waterproof and dustproof performance, as well as its suspension ground contact performance; otherwise, it is easy to falsely trigger the lift protection.

[0023] When performing tasks such as navigation, self-moving devices need to know their own attitude data, which is often collected using an inertial measurement unit (IMU). Therefore, this application proposes a lift-up protection method for self-moving devices. This method utilizes the inertial measurement unit already installed on the self-moving device to replace some of the lift-up detection components, thereby solving to some extent the structural complexity problem caused by an excessive number of lift-up detection components.

[0024] To illustrate the technical solution of this application, specific embodiments are described below.

[0025] Figure 1 The illustration shows a schematic diagram of the implementation process of a lift protection method for a self-moving device provided in an embodiment of this application. This method can be applied to terminal devices and is suitable for situations where precise lift detection and protection are required.

[0026] In some embodiments, the terminal device can be a smart device such as a computer or smartphone, which can be used to control the self-moving device to perform lift protection; for example, it can be a control terminal for the self-moving device. In other embodiments, the terminal device can also be a self-moving device that needs to perform lift protection.

[0027] In embodiments of this application, the aforementioned self-moving device can be a car, a robot, or other device with autonomous mobility. The self-moving device may be equipped with an inertial measurement unit and a lift detection component.

[0028] The inertial measurement unit can be installed on the body of the self-moving device and can be used to collect the attitude data of the self-moving device.

[0029] A lift detection component can be disposed at the front wheel of the self-moving device and can be used to detect when the front wheel of the self-moving device is lifted. For example, the lift detection component can be a mechanical lift detection trigger switch. For instance, the detection component can be a Hall sensor. Specifically, a groove is provided between each front wheel and the frame of the device. When the front wheel of the self-moving device is placed on the ground, the supporting force of the ground lifts the wheel, causing the axle to be above the groove and close to the permanent magnet above the groove. This triggers the Hall sensor through the permanent magnet, at which point the Hall sensor will generate a detection signal indicating that the corresponding front wheel is not lifted. When the front wheel of the self-moving device is lifted, due to gravity, the axle is below the groove and away from the permanent magnet above the groove. At this time, the Hall sensor will generate a detection signal indicating that the corresponding front wheel is lifted. Lift detection components with other structures are also applicable to this application, and this application does not limit them.

[0030] Specifically, the above-mentioned self-moving device lift protection method may include the following steps S101 to S103.

[0031] Step S101: Acquire the attitude data of the self-moving device collected by the inertial measurement unit.

[0032] In the embodiments of this application, the aforementioned attitude data is data characterizing the current attitude of the self-moving device, and can be represented by attitude angles. Attitude angles may include one or more of pitch, roll, and yaw, and can be acquired by the gyroscope of the inertial measurement unit.

[0033] Specifically, the Z-axis is defined as the forward direction of the self-propelled device (i.e., the length of the device), with the head of the device being positive and the tail negative; the X-axis is defined as the direction perpendicular to the ground, with upward being positive and downward being negative; and the Y-axis is defined as the direction perpendicular to the ZX plane (i.e., the width of the device). The roll angle can be expressed as the absolute value of the angle between the Y-axis and the horizontal plane when the self-propelled device is tilted. The tilt angle can be expressed as the absolute value of the angle between the Z-axis and the horizontal plane when the self-propelled device is tilted.

[0034] In some embodiments, the inertial measurement unit described above can be used to measure the roll angle of the self-moving device. and tilt angle .

[0035] Step S102: Obtain the lift signal output by the lift detection component, and determine the first total number of front wheels lifted based on the lift signal.

[0036] Specifically, each front wheel can be detected for lifting by a corresponding lifting detection component. When a corresponding front wheel lifts, the lifting detection component outputs a lifting signal, indicating that the corresponding front wheel has lifted. Based on the acquired lifting signals, the terminal device can determine the initial total number of front wheels that have lifted.

[0037] Step S103: If the attitude data meets the target attitude conditions and the first total quantity is greater than or equal to the target quantity threshold corresponding to the target attitude conditions, then the lift protection strategy is executed.

[0038] In the embodiments of this application, attitude data characterizes the current attitude of the self-moving device and reflects the degree of tilt of the self-moving device's body. Under different degrees of tilt, the probability of the self-moving device engaging in dangerous driving behaviors such as rollover varies, and the initial total number of raised front wheels also affects the probability of such dangerous driving behaviors. By setting corresponding target number thresholds for different target attitude conditions, if the attitude data meets the target attitude conditions, it indicates that the body is at a specific degree of tilt. If the number of raised front wheels is greater than or equal to the target number threshold corresponding to the target attitude conditions, it indicates that the current self-moving device is excessively raised and prone to dangerous driving behaviors. In this case, the terminal device can execute a lift protection strategy to protect the self-moving device or the user.

[0039] Correspondingly, if the attitude data does not meet the target attitude conditions, or if the attitude data meets the target attitude conditions but the first total number is less than the target number threshold corresponding to the target attitude conditions, it means that the degree of lifting of the self-moving device is within the allowable range. At this time, the self-moving device can maintain its current movement mode / working mode.

[0040] In some embodiments of this application, the above-mentioned lifting protection operation may include one or more of the following operations: performing a braking operation, controlling the cutting component of the self-moving device to stop operating, and controlling the collecting component of the self-moving device to stop operating.

[0041] The braking mechanism prevents dangerous movements such as tipping over or colliding when the self-moving device continues to move after being excessively lifted. The cutting component, used to cut the object, can be a rotating blade driven by a motor; stopping the cutting component prevents injury to the user while restoring the self-moving device. The collecting component, used to collect the cut material, can be a suction cup or a roller brush; stopping the collecting component prevents it from being idle after the self-moving device has been excessively lifted.

[0042] To meet the self-movement requirements of self-moving devices, self-moving devices are typically equipped with inertial measurement units (IMUs). In the embodiments of this application, the attitude data of the self-moving device collected by the IMU is acquired, and the first total number of front wheels raised by the self-moving device is determined based on the front wheel raising signal output by the raise detection component. When the attitude data meets the target attitude conditions and the first total number is greater than or equal to the target number threshold corresponding to the target attitude conditions, a raise protection strategy is executed. Since it is not necessary to detect whether the rear wheels are raised, this application eliminates the rear wheel raise detection component based on the original IMU and the front wheel raise detection component used in the self-moving device. Therefore, it solves the structural complexity problem caused by too many raise detection components to a certain extent.

[0043] It should be noted that this application does not impose any restrictions on the specific structure of the aforementioned self-moving device.

[0044] In some implementations, such as Figure 2 As shown, the self-moving device may include a body 10, wheels 20, and a connector 30. The wheels 20 may include two rear wheels 21 connected to the body via the connector 30, and two front wheels 22 disposed on both sides of the body and moving integrally with the body. The two rear wheels 21 are capable of rotating around a first centerline of the body 10, following the connector 30. The first centerline is the centerline along the length of the body 10.

[0045] It is understood that the terms "front wheel" and "rear wheel" are relative; in some implementations, Figure 2 The rear wheel 21 shown can also be used as a front wheel, and the front wheel 21 can also be used as a rear wheel. This application uses... Figure 2 The following example illustrates this solution.

[0046] Specifically, the two front wheels of the self-moving device are each connected to the body via independent suspension, allowing the front wheels to move as a unit with the body. The two rear wheels of the self-moving device are connected via rigid linkages (i.e., the aforementioned connecting parts), with the center of the linkage connected to the pivot of the body, allowing the linkage to rotate around the pivot.

[0047] At this point, in order to meet the lift protection requirements of the self-moving device, a preset protection height for triggering lift protection can be set for the self-moving device. And thresholds for tilt angles in different directions .

[0048] Among them, the preset protection height This refers to the threshold value at which the lift protection is triggered when a single wheel of the self-moving device is lifted. It can be set according to the actual situation, for example, it can be set to 30cm.

[0049] Threshold of tilt angle It can characterize the degree of tilt of the self-moving device's body relative to the ground, and can include the tilt angle threshold of the self-moving device in the tilt angle direction. Roll angle threshold in the roll direction Both the tilt angle threshold and the roll angle threshold can be set according to the actual situation; for example, both can be set to 30°.

[0050] Combined with the preset protection height for triggering lift protection And thresholds for tilt angles in different directions It is possible to calculate the critical conditions when the self-moving device triggers lift protection under different postures.

[0051] Specifically, Figure 3 A top view diagram of the self-moving device is shown. Figure 4 The diagram shows a side view of the self-moving device in the tilt angle direction, that is, a side view of the self-moving device viewed from the width of its body. In this view, both rear wheels of the self-moving device are off the ground, while both front wheels are on the ground. Figure 3 The front wheel 1 is obscured by the front wheel 2, with rear wheel 1 below and rear wheel 2 above. Let θ be the angle at which the connecting piece rotates to its limit position; this angle can be a preset value determined by the design of the connecting piece. Let R be the distance between the center point of the connecting piece (center of the pivot) and the rear wheel, W be the width of the fuselage, and L be the length of the fuselage. Then, the vertical height difference between the two rear wheels... When a single wheel is raised to a preset protection height. At that time, the tilt angle of the mobile device At this point, in the direction of the tilt angle, it can be Or a preset tilt angle threshold Set it to the second tilt angle P. For example, you can... and tilt angle threshold The minimum value between them is taken as the second tilt angle P, that is, When the tilt angle of the self-moving device is greater than P, it is determined that the lift height of a single wheel of the self-moving device exceeds a critical value. Or, the tilt angle in the tilt direction exceeds the maximum allowable tilt angle in that direction.

[0052] Please refer to Figure 5 A side view of the self-moving device in the tilt angle direction. When both the front and rear wheels (rear wheel 1 and front wheel 1) on one side of the self-moving device are on the ground, and the rear wheel (rear wheel 2) on the other side rotates around the fuselage to the maximum rotation angle following the connecting member, the roll angle is... Let the tilt angle at this moment be the first tilt angle β. For example, when the self-propelled mobile device is going downhill, all three wheels of the self-propelled mobile device are on the ground and there is no tilt in the left and right directions of the vehicle body. The front of the vehicle is downward and the center height of the rear wheel is higher than that of the front wheel. When the rear wheel 2 rotates and follows the connecting part to rotate around the body to the maximum rotation angle, if the rear wheel 2 continues to lift off the ground and the tilt angle continues to increase, then the front wheel 2 will also lift off the ground. When the two wheels of the self-propelled mobile device lift off the ground, it is easy to overturn.

[0053] Similarly, in the roll angle direction, the individual wheels of the self-moving device are raised to a preset protection height. At that time, the roll angle of the mobile device At this point, in the roll angle direction, it can be Or a preset roll angle threshold Set it to the second roll angle R. For example, you can... and roll angle threshold The minimum value is taken as the second roll angle R, that is, The determination of the second roll R in this direction is similar to that of the second tilt angle P in the tilt angle direction, and will not be described in detail here.

[0054] Please refer to Figure 6 , Figure 6 The diagram shows a front view of the self-moving device in the tilt angle direction, i.e., a schematic diagram from the front to the rear of the vehicle. When both front wheels of the self-moving device are on the ground, and one rear wheel is on the ground (rear wheel 1, not shown), the other rear wheel (rear wheel 2) rotates around the body with the connecting piece to its maximum rotation angle, meaning the other rear wheel (rear wheel 1) is about to leave the ground. At this point, the tilt angle... Let the roll angle at this moment be the first roll angle α. For example, when the self-propelled mobile device moves forward, if the two front wheels are on the ground, one rear wheel is lifted up due to an obstacle, and the other rear wheel is on the ground, then all three wheels of the self-propelled mobile device are on the ground and there is no tilt in the length direction of the vehicle body, but there is a tilt in the left and right direction of the vehicle body, tilting to the left or right. When the rear wheel 2 follows the connecting part to rotate around the body to the maximum rotation angle, if the rear wheel 2 continues to lift off the ground, the roll angle continues to increase, and then the front wheel 2 will also lift off the ground. The self-propelled mobile device will have two wheels off the ground, making it easy to overturn.

[0055] In some implementations, the target attitude condition may include a first attitude condition, such as the roll angle of the self-moving device. Less than or equal to the first roll angle α, and the tilt angle of the self-moving device. If the tilt angle β is less than or equal to the first tilt angle β, the terminal device can confirm that the attitude data meets the first attitude condition.

[0056] The threshold for the number of targets corresponding to the first attitude condition is two. Specifically, this applies to the roll angle of the self-moving device. Less than or equal to the first roll angle α, and the tilt angle of the self-moving device. When the tilt angle is less than or equal to the first tilt angle β, the terrain where the self-moving device is located is relatively flat. When facing most potholes, as long as both front wheels do not lift off the ground at the same time, the lift protection will not be triggered, thus releasing sufficient off-road capability. Therefore, the terminal device can execute the lift protection strategy when both front wheels are lifted.

[0057] In other embodiments, the target attitude condition may include a second attitude condition, such as the roll angle of the self-moving device. The tilt angle of the self-moving device is greater than the first roll angle α and less than the second roll angle R. If the tilt angle is less than or equal to the second tilt angle P, the terminal device can confirm that the attitude data meets the second attitude condition.

[0058] Or, if the roll angle of the mobile device Less than or equal to the second roll angle R, and the tilt angle of the self-moving device. If the tilt angle is greater than the first tilt angle β and less than the second tilt angle P, then the terminal device can confirm that the attitude data meets the second attitude condition.

[0059] The second attitude condition corresponds to a target quantity threshold of one. Specifically, this threshold is set at the roll angle of the self-moving device. The tilt angle of the self-moving device is greater than the first roll angle α and less than the second roll angle R. When the second tilt angle P is less than or equal to the roll angle of the self-moving device. Less than or equal to the second roll angle R, and the tilt angle of the self-moving device. When the tilt angle is greater than the first tilt angle β and less than the second tilt angle P, the terrain where the self-moving device is located is relatively steep or there are obstacles or protrusions with some height protrusions. If there are pits or protrusions on the slope that are enough to lift the front wheels off the ground, lift protection is required. Therefore, the terminal device can execute the lift protection strategy when all front wheels are lifted.

[0060] In other embodiments of this application, the target attitude condition may further include a third attitude condition, such as the roll angle of the self-moving device. If the tilt angle is greater than the second roll angle R, then the attitude data is confirmed to meet the third attitude condition; and / or, if the tilt angle of the self-moving device ... If the tilt angle is greater than the second tilt angle P, then the attitude data is confirmed to meet the third attitude condition.

[0061] The target quantity threshold corresponding to the third attitude condition is arbitrary. Specifically, it refers to the roll angle of the self-moving device. In cases where the second roll angle R is greater than the tilt angle of the self-moving device, and / or, the tilt angle of the self-moving device. If the tilt angle is greater than the second tilt angle P, the self-moving device has tilted excessively or lifted too high at a single point. At this time, regardless of whether the front wheel is off the ground, the lift protection strategy needs to be executed. Therefore, the terminal device can execute the lift protection strategy when the lifted front wheel is any value.

[0062] In this way, the self-moving device can unleash its off-road capabilities to the fullest extent, whether the terrain is flat or relatively steep, which helps to ensure the reliability of the self-moving device's operation.

[0063] To avoid interference from voltage level transitions or brief periods of being off-ground affecting the operation of the lift detection component, in some embodiments of this application, the lift detection component may specifically include a first lift detection component and a second lift detection component. The first lift detection component can be used to detect the lifting of one front wheel of the self-moving device. The second lift detection component can be used to detect the lifting of the other front wheel of the self-moving device.

[0064] In determining the first total number of front wheels raised based on the raised signals, the terminal device can acquire the first raised signal output by the first raised detection component and the second raised signal output by the second raised detection component at a preset frequency. The preset frequency can be adjusted according to actual needs, for example, once every 10ms.

[0065] If the number of times the first lift signal is obtained and the number of times the second lift signal is obtained both meet the count condition within the preset time period, then the first total number can be determined to be two.

[0066] If, within a preset time period, one of the number of times the first lift signal is continuously acquired or the number of times the second lift signal is continuously acquired satisfies the count condition, then the first total number can be determined to be one.

[0067] If the number of times the first lift signal is obtained and the number of times the second lift signal is obtained within the preset time period do not meet the count condition, then the first total number can be determined to be zero.

[0068] Similarly, the number of times can be adjusted according to the actual situation, for example, set to greater than or equal to 10 times. That is to say, the first and second lift detection components need to continuously output lift signals a certain number of times before the terminal device will confirm that the corresponding front wheel is lifted. In this way, the problem of falsely triggering the lift protection can be avoided if the lift detection component outputs a lift signal due to interference from level jumps or brief periods of being off the ground.

[0069] To ensure the reliability of the lift protection, in some embodiments of this application, if the first lift detection component is in an abnormal state and the number of times the second lift signal is acquired within a preset time period meets the number condition, the lift protection strategy can be executed; or, if the second lift detection component is in an abnormal state and the number of times the first lift signal is acquired within a preset time period meets the number condition, the lift protection strategy can be executed.

[0070] In other words, if one of the first lift detection component and the second lift detection component is in an abnormal state, the other lift detection component will trigger lift protection when it detects that the corresponding front wheel has lifted.

[0071] The abnormal state of the lift detection component can be determined by a fault detection component or based on the lift signal received by the terminal device. For example, if the terminal device does not receive a lift signal output by the lift detection component, or if the confidence level of the lift signal output by the lift detection component is less than a confidence threshold, it can be confirmed that the lift detection component is in an abnormal state. As another example, if a visual inspection element detects a fault in the lift detection component, it can be confirmed that the lift detection component is in an abnormal state.

[0072] If both the first and second lift-up detection components are in an abnormal state, the lift-up protection strategy can be executed. In other words, if both lift-up detection components are in an abnormal state, lift-up protection can be triggered immediately.

[0073] Similarly, if the inertial measurement unit is in an abnormal state, the terminal device can also perform corresponding abnormal handling operations.

[0074] Specifically, the aforementioned self-moving device may also include an accelerometer.

[0075] If the inertial measurement unit (IMU) is in an abnormal state, the terminal device can acquire acceleration data collected by the accelerometer. This acceleration data may include the acceleration component of gravity in the direction of travel of the self-moving device. If the acceleration component exceeds a preset acceleration threshold, a lift-off protection strategy can be executed.

[0076] The aforementioned abnormal states can be determined through fault detection components or based on data received by the terminal device. For example, if the terminal device does not receive attitude data acquired by the inertial measurement unit (IMU), or if the confidence level of the attitude data acquired by the IMU is less than a confidence threshold, it can be confirmed that the IMU is in an abnormal state. As another example, if an abnormality is detected in the electrical signal of the IMU by a circuit detection element, it can be confirmed that the IMU is in an abnormal state.

[0077] The acceleration threshold can be set according to the actual situation. For example, when an accelerometer is used instead of an inertial measurement unit, the acceleration threshold is set when the acceleration component in the direction of travel of the self-moving device is greater than - When the self-moving device reaches its tilt limit, a lift protection strategy can be implemented.

[0078] By employing the above-mentioned anomaly handling methods, the lift protection function can be activated even if any sensor fails, thus improving the reliability of the lift protection.

[0079] After executing the lift-up protection strategy, the terminal device can also execute a reset strategy. A reset strategy is a strategy that restores the device to its operating state before the lift-up protection was triggered after the self-moving device has released the lift-up protection. This reset strategy may include, but is not limited to, restarting the cutting component, collecting component, wheels, etc.

[0080] Specifically, such as Figure 7 As shown, the above-mentioned reset strategy may include the following steps S701 to S703.

[0081] Step S701: Continue to acquire the lift signal output by the lift detection component and the attitude data collected by the inertial measurement unit.

[0082] Step S702: Determine the second total number of front wheels lifted by the self-moving device based on the lift signal.

[0083] The specific implementation methods of steps S701 and S702 can be referred to the aforementioned steps S101 and S102, and will not be elaborated upon in this application.

[0084] Step S703: If the second total quantity meets the quantity condition and the attitude data meets the attitude recovery condition, then the reset strategy is executed.

[0085] Both the quantity condition and the recovery attitude condition can be adjusted according to the actual situation. For example, the quantity condition can be 0, 1, etc., and the recovery attitude condition can be set to the roll angle. Less than the first roll angle α, and / or, the bank angle It is less than the first tilt angle β.

[0086] Specifically, after the lift protection is triggered, if at least one wheel returns to the ground within the preset protection time (which can be adjusted according to actual conditions, for example, it can be set to 10 seconds), and the tilt angle returns to a safe range (for example, less than the first tilt angle β), then a reset strategy can be executed to release the protection. In this way, the self-moving device can, to some extent, automatically resume operation after triggering the lift protection due to dangerous situations or human intervention, and continue to complete the tasks that were not completed before the lift protection was triggered.

[0087] If the second total quantity does not meet the quantity condition, or the attitude data does not meet the attitude recovery condition, the reset strategy will not be executed. More specifically, if the second total quantity still does not meet the quantity condition, or the attitude data still does not meet the attitude recovery condition, a locking operation can be triggered before the preset protection time expires.

[0088] The lock operation is used to prevent the self-moving device from automatically resuming operation. Once the lock operation is triggered, the user needs to manually disengage the protection. The method for manually disengaging the protection can be selected according to the actual situation. For example, the user can first press the power button, and then press the start button within 2 seconds to manually disengage the protection.

[0089] To prevent harm to users from the self-moving device after manual disarming, the device can control the indicator light at the front of the vehicle to display a "pre-start" light effect for a preset duration after manual disarming. This serves as a notification to the user that a reset strategy is about to be executed, and the reset strategy will only be executed after the preset duration has elapsed. The preset duration can be set according to actual needs, for example, it can be 2 seconds.

[0090] 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.

[0091] like Figure 8 The diagram shown is a structural schematic of a lift protection device 800 for a self-moving device provided in an embodiment of this application. The lift protection device 800 for the self-moving device is disposed on a terminal device.

[0092] In embodiments of this application, the aforementioned self-moving device may be configured with an inertial measurement unit and a lift detection component, which can be used to detect the lifting of the front wheel of the self-moving device.

[0093] Specifically, the lift protection device 800 for self-moving devices may include:

[0094] Attitude data acquisition unit 801 is used to acquire attitude data of the self-moving device collected by the inertial measurement unit;

[0095] The lift detection unit 802 is used to acquire the lift signal output by the lift detection component and determine the first total number of front wheels lifted based on the lift signal;

[0096] The lift protection unit 803 is used to execute the lift protection strategy if the attitude data meets the target attitude condition and the first total number is greater than or equal to the target number threshold corresponding to the target attitude condition.

[0097] In some embodiments of this application, the aforementioned self-moving device may include a body, wheels, and a connector. The wheels may include two rear wheels connected to the body via the connector and two front wheels disposed on both sides of the body and moving integrally with the body. The two rear wheels are capable of rotating around the center line of the body following the connector.

[0098] In some embodiments of this application, the attitude data may include the roll angle and tilt angle of the self-moving device; the target attitude condition may include a first attitude condition, and the target quantity threshold corresponding to the first attitude condition is two; the aforementioned lift protection device 800 of the self-moving device may further include a confirmation unit, used to: if the roll angle of the self-moving device is less than or equal to the first roll angle, and the tilt angle of the self-moving device is less than or equal to the first tilt angle, then confirm that the attitude data satisfies the first attitude condition. Wherein, the first roll angle is the roll angle of the self-moving device when both front wheels are on the ground, one rear wheel is on the ground, and the other rear wheel follows the connecting member to rotate around the body to the maximum rotation angle; the first tilt angle is the tilt angle of the self-moving device when both the front and rear wheels on one side are on the ground, and the rear wheel on the other side follows the connecting member to rotate around the body to the maximum rotation angle.

[0099] In some embodiments of this application, the attitude data may include the roll angle and tilt angle of the self-moving device; the target attitude condition may include a second attitude condition, and the target quantity threshold corresponding to the second attitude condition is one; the above-mentioned confirmation unit may also be used to: if the roll angle of the self-moving device is greater than the first roll angle and less than the second roll angle, and the tilt angle of the self-moving device is less than or equal to the second tilt angle, then confirm that the attitude data satisfies the second attitude condition; or, if the roll angle of the self-moving device is less than or equal to the second roll angle, and the tilt angle of the self-moving device is greater than the first tilt angle and less than the second tilt angle, then confirm that the attitude data satisfies the second attitude condition. Wherein, the first roll angle is the roll angle of the self-moving device when both front wheels are on the ground, one rear wheel is on the ground, and the other rear wheel follows the connector to rotate around the body to the maximum rotation angle; the second roll angle is a preset roll angle threshold, or the roll angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height; the first tilt angle is the tilt angle of the self-moving device when both the front and rear wheels on one side are on the ground, and the rear wheel on the other side follows the connector to rotate around the body to the maximum rotation angle; the second tilt angle is a preset tilt angle threshold, or the tilt angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height.

[0100] In some embodiments of this application, the attitude data may include the roll angle and tilt angle of the self-moving device; the target attitude condition may also include a third attitude condition, and the target quantity threshold corresponding to the third attitude condition is any value; the above-mentioned confirmation unit may also be used to: if the roll angle of the self-moving device is greater than the second roll angle, then confirm that the attitude data satisfies the third attitude condition; wherein, the second roll angle is a preset roll angle threshold, or, the roll angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height; and / or, if the tilt angle of the self-moving device is greater than the second tilt angle, then confirm that the attitude data satisfies the third attitude condition; wherein, the second tilt angle is a preset tilt angle threshold, or, the tilt angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height.

[0101] In some embodiments of this application, the aforementioned lifting protection unit 803 may be specifically used for: performing a braking operation, controlling the cutting component of the self-moving device to stop operating, and controlling the collecting component of the self-moving device to stop operating, or one or more of these functions.

[0102] In some embodiments of this application, the aforementioned lift detection component may include a first lift detection component and a second lift detection component. The first lift detection component may be used to detect the lifting of one front wheel of the self-moving device; the second lift detection component may be used to detect the lifting of the other front wheel of the self-moving device; the aforementioned lift detection unit 802 may be specifically used to: acquire a first lift signal output by the first lift detection component and a second lift signal output by the second lift detection component at a preset frequency; if the number of times the first lift signal is acquired and the number of times the second lift signal is acquired within a preset time period both satisfy the count condition, then the first total quantity is determined to be two; or if, within the preset time period, one of the number of times the first lift signal is acquired consecutively and the number of times the second lift signal is acquired consecutively satisfies the count condition, then the first total quantity is determined to be one; or if neither the number of times the first lift signal is acquired nor the number of times the second lift signal is acquired within the preset time period satisfies the count condition, then the first total quantity is determined to be zero.

[0103] In some embodiments of this application, the lift protection device 800 of the self-moving device may further include an abnormality handling unit, configured to: execute the lift protection strategy if the first lift detection component is in an abnormal state and the number of times the second lift signal is acquired within the preset time period meets the number condition; or execute the lift protection strategy if the second lift detection component is in an abnormal state and the number of times the first lift signal is acquired within the preset time period meets the number condition; or execute the lift protection strategy if both the first lift detection component and the second lift detection component are in an abnormal state.

[0104] In some embodiments of this application, the above-mentioned abnormality handling unit can also be used to: if the inertial measurement unit is in an abnormal state, acquire the acceleration data collected by the accelerometer, the acceleration data including the acceleration component of gravitational acceleration in the direction of travel of the self-moving device; if the acceleration component is greater than a preset acceleration threshold, execute the lift protection strategy.

[0105] It should be noted that, for the sake of convenience and brevity, the specific working process of the lift protection device 800 of the aforementioned self-moving device can be found in the following reference: Figures 1 to 7 The corresponding process of the method will not be described in detail here.

[0106] like Figure 9 The diagram shown is a schematic representation of a terminal device provided in an embodiment of this application. In some embodiments, the terminal device can be a smart device such as a computer or smartphone, and can be used to control a self-moving device to perform lift-off protection; for example, it can be a control terminal for the self-moving device. In other embodiments, the terminal device can also be a self-moving device that requires lift-off protection.

[0107] The terminal device 9 may include a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90, such as a lift-off protection program for a self-moving device. When the processor 90 executes the computer program 92, it implements the steps described in the various lift-off protection method embodiments for self-moving devices, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 90 executes the computer program 92, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 8 The shown components are attitude data acquisition unit 801, lift detection unit 802, and lift protection unit 803.

[0108] The computer program can be divided into one or more modules / units, which are stored in the memory 91 and executed by the processor 90 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the terminal device.

[0109] For example, the computer program can be divided into: an attitude data acquisition unit, a lift-up detection unit, and a lift-up protection unit. The specific functions of each unit are as follows: the attitude data acquisition unit is used to acquire the attitude data of the self-moving device collected by the inertial measurement unit; the lift-up detection unit is used to acquire the lift-up signal output by the lift-up detection component and determine a first total number of lifted front wheels based on the lift-up signal; the lift-up protection unit is used to execute a lift-up protection strategy if the attitude data meets the target attitude condition and the first total number is greater than or equal to a target number threshold corresponding to the target attitude condition.

[0110] The terminal device may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will understand that... Figure 9 This is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0111] The processor 90 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[0112] The memory 91 can be an internal storage unit of the terminal device, such as a hard drive or RAM. The memory 91 can also be an external storage device of the terminal device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 91 can include both internal and external storage units. The memory 91 is used to store the computer program and other programs and data required by the terminal device. The memory 91 can also be used to temporarily store data that has been output or will be output.

[0113] It should be noted that, for the sake of convenience and brevity, the structure of the terminal device described above can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment 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 coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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 lift protection method for an automatic mobile device, characterized in that, The self-moving device is equipped with an inertial measurement unit and a lift detection component, the lift detection component being used to detect the lifting of the front wheel of the self-moving device; The lift protection method includes: Acquire the attitude data of the self-moving device collected by the inertial measurement unit; The lift signal output by the lift detection component is obtained, and the first total number of front wheels lifted is determined based on the lift signal; If the attitude data satisfies the target attitude condition, and the first total number is greater than or equal to the target number threshold corresponding to the target attitude condition, then the lift-up protection strategy is executed. The self-moving device includes a body, wheels, and a connector. The wheels include two rear wheels connected to the body via the connector and two front wheels located on both sides of the body and moving integrally with the body. The two rear wheels can rotate around the centerline of the body following the connector. The attitude data includes the roll angle and tilt angle of the self-moving device. The target attitude condition includes a first attitude condition, and the target quantity threshold corresponding to the first attitude condition is two. The lift protection method further includes: if the roll angle of the self-moving device is less than or equal to the first roll angle, and the tilt angle of the self-moving device is less than or equal to the first tilt angle, then confirm that the attitude data meets the first attitude condition; wherein, the first roll angle is the roll angle of the self-moving device when both front wheels are on the ground, one rear wheel is on the ground, and the other rear wheel follows the connector to rotate around the body to the maximum rotation angle; the first tilt angle is the tilt angle of the self-moving device when both the front and rear wheels on one side are on the ground, and the rear wheel on the other side follows the connector to rotate around the body to the maximum rotation angle.

2. The lift protection method for self-moving devices as described in claim 1, characterized in that, The target attitude condition includes a second attitude condition, and the target quantity threshold corresponding to the second attitude condition is one; The lift protection method also includes: If the roll angle of the self-moving device is greater than the first roll angle and less than the second roll angle, and the tilt angle of the self-moving device is less than or equal to the second tilt angle, then the attitude data is confirmed to satisfy the second attitude condition. Alternatively, if the roll angle of the self-moving device is less than or equal to the second roll angle, and the tilt angle of the self-moving device is greater than the first tilt angle and less than the second tilt angle, then the attitude data is confirmed to satisfy the second attitude condition. Wherein, the first roll angle is the roll angle of the self-moving device when both front wheels are on the ground, one rear wheel is on the ground, and the other rear wheel follows the connector to rotate around the body to the maximum rotation angle; the second roll angle is a preset roll angle threshold, or the roll angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height; the first tilt angle is the tilt angle of the self-moving device when both the front and rear wheels on one side are on the ground, and the rear wheel on the other side follows the connector to rotate around the body to the maximum rotation angle; the second tilt angle is a preset tilt angle threshold, or the tilt angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height.

3. The lift protection method for self-moving devices as described in claim 1, characterized in that, The attitude data includes the roll angle and tilt angle of the self-moving device, and the target attitude condition includes a third attitude condition, with the target quantity threshold corresponding to the third attitude condition being any value. The lift protection method also includes: If the roll angle of the self-moving device is greater than the second roll angle, then the attitude data is confirmed to meet the third attitude condition; wherein, the second roll angle is a preset roll angle threshold, or, the roll angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height; and / or, If the tilt angle of the self-moving device is greater than the second tilt angle, then the attitude data is confirmed to meet the third attitude condition; wherein, the second tilt angle is a preset tilt angle threshold, or the tilt angle of the self-moving device when a single wheel of the self-moving device is raised to a preset protection height.

4. The lift protection method for a self-moving device as described in any one of claims 1 to 3, characterized in that, The lift-off protection strategy includes one or more of the following: performing a braking operation, controlling the cutting component of the self-moving device to stop operating, and controlling the collecting component of the self-moving device to stop operating.

5. The lift protection method for a self-moving device as described in any one of claims 1 to 3, characterized in that, The lift detection component includes a first lift detection component and a second lift detection component, wherein the first lift detection component is used to detect the lift of one front wheel of the self-moving device; The second lift detection component is used to detect the lifting of the other front wheel of the self-moving device; The step of acquiring the lift signal output by the lift detection component and determining the first total number of lifted front wheels based on the lift signal includes: The first lift signal output by the first lift detection component and the second lift signal output by the second lift detection component are acquired at a preset frequency. If the number of times the first lift-up signal is obtained and the number of times the second lift-up signal is obtained both meet the count condition within the preset time period, then the first total quantity is determined to be two; or If, within the preset time period, one of the number of times the first lift-up signal is continuously acquired and the number of times the second lift-up signal is continuously acquired satisfies the specified number condition, then the first total number is determined to be one; or If the number of times the first lift signal is obtained and the number of times the second lift signal is obtained within the preset time period do not meet the number condition, then the first total number is determined to be zero.

6. The lift protection method for an automatic moving device as described in claim 5, characterized in that, The lift protection method also includes: If the first lift-up detection component is in an abnormal state, and the number of times the second lift-up signal is acquired within the preset time period meets the specified number condition, the lift-up protection strategy is executed; or If the second lift-up detection component is in an abnormal state, and the number of times the first lift-up signal is acquired within the preset time period meets the specified number condition, the lift-up protection strategy is executed; or If both the first lift detection component and the second lift detection component are in an abnormal state, the lift protection strategy is executed.

7. The lift protection method for a self-moving device as described in any one of claims 1 to 3, characterized in that, The self-moving device also includes an accelerometer; The lift protection method also includes: If the inertial measurement unit is in an abnormal state, the acceleration data collected by the accelerometer is acquired, and the acceleration data includes the acceleration component of gravitational acceleration in the direction of travel of the self-moving device. If the acceleration component is greater than a preset acceleration threshold, the lift-up protection strategy is executed.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the lift-up protection method for the self-moving device as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the lift protection method for the self-moving device as described in any one of claims 1 to 7.

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