Method, device and storage medium for controlling movement of self-moving device
By identifying and controlling the target area of the self-moving device on the moving surface, the problems of the self-moving device getting stuck and missing scans in uneven areas are solved, improving the device's mobility and working efficiency, and saving resource consumption.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DREAM INNOVATION TECH (SUZHOU) CO LTD
- Filing Date
- 2022-05-12
- Publication Date
- 2026-06-09
AI Technical Summary
Self-moving devices are prone to getting stuck or having to navigate around uneven areas on moving surfaces, leading to poor work performance.
By defining a target area on the moving surface, where the target area is a region with a preset shape and a size within a preset range, the self-moving device is controlled to move according to a strategy for passing through the target area, including adjusting the direction and speed of movement to pass through uneven areas.
It avoids the problems of self-moving devices getting stuck and missing scans in uneven areas, improves mobility and work efficiency, and saves on the size of the recognition area and resource consumption.
Smart Images
Figure CN117092991B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of computer technology, and specifically relates to a mobile control method, device, and storage medium for self-moving devices. Background Technology
[0002] Self-moving devices are devices that can move automatically without human intervention, such as robot vacuum cleaners or food delivery robots.
[0003] Currently, when self-moving devices move on a moving surface, they may get stuck in uneven areas of the surface; or they may bypass uneven areas directly, resulting in poor work performance. Summary of the Invention
[0004] The technical problems to be solved by this application include the problem of self-moving devices getting stuck in uneven areas on moving surfaces, and the problem of poor working performance when navigating around uneven areas.
[0005] To address the aforementioned technical problems, this application provides a motion control method for a self-moving device, comprising:
[0006] Determine the target area on the moving surface where the self-moving device is located. The target area refers to a surface area whose outline is a preset shape and whose size is within a preset size range.
[0007] When the self-mobile device moves to the target area, control the self-mobile device to pass through the target area.
[0008] Optionally, controlling the self-moving device to pass through the target area includes:
[0009] The self-moving device is controlled to pass through the target area according to the passing strategy corresponding to the target area; the passing strategy is different from the movement strategy corresponding to the flat surface.
[0010] Optionally, controlling the self-moving device to pass through the target area according to the passage strategy corresponding to the target area includes:
[0011] The self-moving device is controlled to move in a direction toward the target area so as to pass through the target area;
[0012] And / or,
[0013] The self-moving device is controlled to move at a preset speed to pass through the target area.
[0014] Optionally, controlling the self-moving device to move at a preset speed to pass through the target area includes:
[0015] Obtain the preset speed corresponding to the preset shape; there are at least two different preset shapes with different preset speeds.
[0016] Control the self-moving device to move at a predetermined preset speed.
[0017] Optionally, determining the target area on the moving surface where the self-moving device is located includes:
[0018] Obtain the device parameters of the self-moving device;
[0019] The preset size range corresponding to the device parameters is determined, and there are at least two different preset size ranges corresponding to different device parameters;
[0020] If the outline of the current region is the preset shape and the size of the current region is within the preset size range, the current region is determined as the target region.
[0021] Optionally, determining the target area on the moving surface where the self-moving device is located includes:
[0022] When the region outline of the current region is the preset shape, obtain the preset size range corresponding to the preset shape of the current region. There are at least two different preset shapes with different preset size ranges.
[0023] If the size of the current region falls within the preset size range, the current region is determined as the target region.
[0024] Optionally, determining the target area on the moving surface where the self-moving device is located includes:
[0025] Acquire the sensor data of the current area collected by the sensor component on the self-moving device;
[0026] The region outline of the current area is determined based on the sensor data;
[0027] When the region outline matches the preset shape, the region size of the region outline is identified;
[0028] If the size of the current region falls within the preset size range, the current region is determined as the target region.
[0029] Optionally, the sensing component includes a signal transmitter and a signal receiver;
[0030] The signal transmitter is used to transmit a target signal into the current area, and the target signal is reflected by the current area to obtain a reflected signal corresponding to the target signal;
[0031] The signal receiver is used to receive the reflected signal and process the reflected signal to obtain the sensing data. The sensing data corresponding to different locations in the current area that are at different distances from the signal receiver are different.
[0032] On the other hand, this application also provides an electronic device comprising: a processor and a memory; the memory storing a program loaded and executed by the processor to implement the mobile control method for the self-moving device provided above.
[0033] In another aspect, this application also provides a computer-readable storage medium, characterized in that the storage medium stores a program that, when executed by a processor, implements the mobile control method for the self-moving device provided above.
[0034] The technical solution provided in this application has at least the following advantages: by determining the target area on the moving surface where the self-moving device is located, the target area refers to a surface area whose outline is a preset shape and whose size is within a preset size range; when the self-moving device moves to the target area, it controls the self-moving device to pass through the target area; it can solve the problem of the self-moving device getting stuck on uneven areas on the moving surface, as well as the problem of poor working effect when bypassing uneven areas; it continues to work on the target area only when the target area is identified, and can flexibly adopt different movement strategies according to different uneven areas, which can avoid the problem of missed scanning and getting stuck, thereby improving the movement flexibility and working effect of the self-moving device.
[0035] In addition, the size of the current region is only identified when the region outline matches the preset shape. This saves resources compared to identifying the size of each region outline.
[0036] In addition, by setting different preset size ranges for self-moving devices with different device parameters, it can be ensured that different self-moving devices can pass through the target area, thus guaranteeing the pass rate of each self-moving device.
[0037] In addition, by setting different preset size ranges for target areas with different preset shapes, it can be ensured that the self-moving device can pass through target areas of different shapes, thus ensuring the pass rate of the self-moving device.
[0038] In addition, by adaptively using the pass strategy corresponding to the target area to pass through the target area, the pass probability of the self-moving device can be improved.
[0039] In addition, by controlling the movement direction of the self-moving device toward the target area, it can pass directly toward the target area, thereby increasing the probability of the self-moving device passing through.
[0040] In addition, the preset speed required is adaptively determined according to the preset shape, without having to set the preset speed to the maximum speed uniformly. This can save resources consumed by the self-moving device while ensuring the pass rate. Attached Figure Description
[0041] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0042] Figure 1 This is a flowchart of a mobile device movement control method provided in one embodiment of this application;
[0043] Figure 2 This is a block diagram of a mobile control device for a self-moving device according to an embodiment of this application;
[0044] Figure 3 This is a block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation
[0045] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.
[0046] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.
[0047] In this application, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.
[0048] Indicatively, this embodiment uses the mobile control method of a self-moving device as an example for illustration. The self-moving device can be a device with cleaning and self-moving capabilities, such as a sweeping robot or a mopping robot; or the self-moving device can also be a device with transportation and self-moving capabilities, such as a food delivery robot or a logistics robot. This embodiment does not limit the type of self-moving device.
[0049] In other embodiments, the mobile control method for the self-moving device can also be used in other devices that are communicatively connected to the self-moving device, such as mobile phones, wearable devices, computers, tablets, etc. This embodiment does not limit the device type of other devices.
[0050] Figure 1 This is a flowchart of a motion control method for a self-moving device according to an embodiment of this application. The method includes at least the following steps:
[0051] Step 101: Determine the target area on the moving surface where the self-moving device is located. The target area refers to the surface area whose outline is a preset shape and whose size is within a preset size range.
[0052] An outline (including the outline of a region and the outline of a moving surface below) refers to the lines that form the edge of an object.
[0053] The outline of the target area differs from the outline of the moving surface. The moving surface refers to the surface on which the self-moving device moves; generally, the outline of the moving surface is flat. For self-moving devices with different functions, this moving surface includes, but is not limited to, the ground, desktop, wall, window, or solar cell surface, etc. This embodiment does not limit the implementation method of the moving surface.
[0054] Generally, moving surfaces may have uneven areas. If the mobile device detects an uneven area and bypasses it, even though it can actually pass through the uneven area, this will result in the uneven area being missed during scanning. If the mobile device detects an uneven area but ignores it, it may be unable to pass through the uneven area and get stuck.
[0055] In this embodiment, the non-flat area refers to the area on the moving surface that has protrusions and / or depressions.
[0056] Based on the above-mentioned technical problems, in this embodiment, by further identifying the moving surface, that is, identifying the target areas on the moving surface that have a preset shape and whose area size is within the preset size range, and only continuing to work on these target areas, different moving strategies can be flexibly adopted according to different uneven areas. This can avoid the problem of missed scanning and the problem of getting stuck, thereby improving the mobility and working efficiency of the self-moving device.
[0057] The preset shape is usually the shape of the uneven area on the moving surface that needs to be worked by the self-moving device. The preset shape is one or at least two, including but not limited to: the shape of a raised sliding door rail, a strip shape, a rod shape, and / or a groove shape. This embodiment does not limit the setting method of the preset shape.
[0058] In one example, determining the target area on the moving surface where the self-moving device is located includes: acquiring sensing data of the current area collected by the sensing components of the self-moving device; determining the area contour of the current area based on the sensing data; identifying the area size of the area contour if the area contour matches a preset shape; and determining the current area as the target area if the area size of the current area is within a preset size range.
[0059] In this example, the size of the current region is only identified when the region outline of the current region matches the preset shape. This saves resources compared to identifying the size of each region outline.
[0060] The current area is determined based on the current location of the self-moving device and the sensing range of the sensing components. In other words, the current area changes as the current location of the self-moving device changes. The mounting position of the sensing components ensures that the sensing range includes the area on the moving surface.
[0061] Schematic, the sensing component includes a signal transmitter and a signal receiver; the signal transmitter is used to transmit a target signal to the current area, and the target signal is reflected by the current area to obtain a reflected signal corresponding to the target signal; the signal receiver is used to receive the reflected signal and process the reflected signal to obtain sensing data, and the sensing data corresponding to different locations in the current area at different distances from the signal receiver are different.
[0062] For example, the sensing component is a 3D sensor to obtain depth information of the current area; or, the sensing component is a lidar sensor to obtain three-dimensional point cloud data of the current area. This embodiment does not limit the type of sensing component.
[0063] In other embodiments, the target region on the moving surface can also be determined by identifying the region image of the current area acquired by the image sensor to determine whether the current area is the target region. The identification method can be based on a neural network. Alternatively, the target region can be specified by the user; this embodiment does not limit the method of determining the target region.
[0064] Optionally, if the target area is identified by the self-moving device, a preset size range is pre-stored in the self-moving device for the self-moving device to identify the target area.
[0065] In one example, the preset size range remains unchanged for different self-moving devices or different shaped current areas.
[0066] In another example, the preset size ranges for self-moving devices with different device parameters are different.
[0067] Since self-moving devices with different device parameters may have different obstacle-crossing capabilities, this embodiment sets different preset size ranges for self-moving devices with different device parameters to ensure that different self-moving devices can pass through the target area, thus ensuring the pass rate of each self-moving device.
[0068] At this point, determining the target area on the moving surface where the self-moving device is located includes: obtaining the device parameters of the self-moving device; determining the preset size range corresponding to the device parameters; and determining the current area as the target area if the area outline of the current area is a preset shape and the area size of the current area is within the preset size range.
[0069] There are at least two different preset size ranges corresponding to different device parameters. Among them, device parameters include attribute parameters related to the obstacle-crossing capability of the self-moving device, including but not limited to: device model, device size, device driving force, and / or device height, etc. This embodiment does not limit the content included in the device parameters.
[0070] The preset size range includes the maximum height and / or maximum width of the target area.
[0071] The correspondence between device parameters and preset size ranges is pre-stored in the self-moving device. Taking the device parameters including the device model and the preset size range including the maximum height of the target area as an example, the correspondence between device parameters and preset size ranges is shown in Table 1 below. According to Table 1, different device models of self-moving devices correspond to different preset size ranges.
[0072] Table 1:
[0073] Equipment Model Preset size range (cm) Model 1 [-2，2] Model 2 [-1.5，1] Model 3 [0，1.5]
[0074] In yet another example, target areas with different preset shapes correspond to different preset size ranges.
[0075] Since target areas with different preset shapes may affect the obstacle-crossing ability of the self-moving device, this embodiment sets different preset size ranges for target areas with different preset shapes to ensure that the self-moving device can pass through target areas of different shapes, thus ensuring the pass rate of the self-moving device.
[0076] At this time, determining the target area on the moving surface where the self-moving device is located includes: if the area outline of the current area is a preset shape, obtaining the preset size range corresponding to the preset shape of the current area; if the area size of the current area is within the preset size range, determining the current area as the target area.
[0077] There are at least two different preset shapes with different preset size ranges. The correspondence between preset shapes and preset size ranges is pre-stored in the self-moving device. For example, the correspondence between preset shapes and preset size ranges is shown in Table 2 below. According to Table 2, different preset shapes correspond to different preset size ranges.
[0078] Table 2:
[0079] Preset shape Preset size range (cm) long strip [0，1.5] Rod-shaped [0，2] Groove [-2，0]
[0080] Optionally, the self-mobile device determines the target area when constructing the regional map and marks the target area in the regional map; or, the self-mobile device determines the target area while moving according to the regional map after the regional map is constructed. This embodiment does not limit the timing of the determination of the target area.
[0081] Step 102: If the mobile device moves to the target area, control the mobile device to pass through the target area.
[0082] Optionally, if the self-moving device moves to a non-flat area that is not the target area, the self-moving device is controlled to move around the non-flat area. A non-flat area that is not the target area refers to an area whose shape is not a preset shape and / or whose size is not within a preset size range.
[0083] Optionally, if a target area is marked on the regional map, during the movement of the mobile device according to the regional map, it is determined whether the target area is included within a certain distance in the current movement direction; if it is included, it is determined that the mobile device has moved to the target area; if it is not included, it is determined that the mobile device has not moved to the target area, and the step of determining whether the target area is included within a certain distance in the current movement direction is executed again.
[0084] In one example, the self-moving device passes through the target area without changing its current movement parameters. These movement parameters include, but are not limited to, movement direction and / or movement speed.
[0085] In another example, the self-moving device is controlled to pass through the target area according to the passage strategy corresponding to the target area. This passage strategy differs from the movement strategy corresponding to the flat surface.
[0086] In this example, by adaptively using the passage strategy corresponding to the target area, the passage probability of the self-moving device can be improved.
[0087] Optionally, according to the passage strategy corresponding to the target area, the self-moving device is controlled to pass through the target area, including: controlling the self-moving device to move in the direction of movement toward the target area to pass through the target area; and / or controlling the self-moving device to move at a preset speed to pass through the target area.
[0088] Since the self-moving device may not be moving directly towards the target area, directly passing through the target area in the original direction of movement may result in getting stuck. Therefore, by controlling the self-moving device to move towards the target area, it can pass directly towards the target area, thereby increasing the probability of the self-moving device passing through.
[0089] "Directly facing" means that the moving direction of the self-moving device is perpendicular to the target surface of the target area, and the target surface refers to the side of the target area that is perpendicular to the moving surface.
[0090] Optionally, the preset speed is greater than the speed of the self-moving device when moving on a flat surface. This allows the self-moving device to cross the target area at a higher speed, increasing the probability of success. For example, the preset speed can be the maximum speed that the self-moving device can reach. In other embodiments, the preset speed may also be less than the maximum speed; this embodiment does not limit the value of the preset speed.
[0091] Optionally, there are at least two different preset shapes with different preset speeds. In this case, controlling the self-moving device to move at the preset speed includes: obtaining the preset speed corresponding to the preset shape, and controlling the self-moving device to move at the determined preset speed.
[0092] At this point, the self-moving device can adaptively determine the required preset speed according to the preset shape, without having to uniformly set the preset speed to the maximum speed. While ensuring the pass rate, it can also save the resources consumed by the self-moving device.
[0093] The correspondence between preset shapes and preset speeds is pre-stored in the self-moving device. This correspondence can be updated, for example, by the user, or by periodically downloading from other devices (such as servers). This embodiment does not limit the method of obtaining the correspondence between preset shapes and preset speeds.
[0094] In summary, the self-moving device movement control method provided in this embodiment determines a target area on the moving surface where the self-moving device is located. The target area refers to a surface area with a preset shape and a size within a preset range. When the self-moving device moves to the target area, it controls the self-moving device to pass through the target area. This solves the problem of the self-moving device getting stuck on uneven areas of the moving surface, as well as the problem of poor working effect when bypassing uneven areas. By only continuing to work on the target area when it is identified, different movement strategies can be flexibly adopted according to different uneven areas, which can avoid the problem of missed scanning and getting stuck, thereby improving the movement flexibility and working effect of the self-moving device.
[0095] In addition, the size of the current region is only identified when the region outline matches the preset shape. This saves resources compared to identifying the size of each region outline.
[0096] In addition, by setting different preset size ranges for self-moving devices with different device parameters, it can be ensured that different self-moving devices can pass through the target area, thus guaranteeing the pass rate of each self-moving device.
[0097] In addition, by setting different preset size ranges for target areas with different preset shapes, it can be ensured that the self-moving device can pass through target areas of different shapes, thus ensuring the pass rate of the self-moving device.
[0098] In addition, by adaptively using the pass strategy corresponding to the target area to pass through the target area, the pass probability of the self-moving device can be improved.
[0099] In addition, by controlling the movement direction of the self-moving device toward the target area, it can pass directly toward the target area, thereby increasing the probability of the self-moving device passing through.
[0100] In addition, the preset speed required is adaptively determined according to the preset shape, without having to set the preset speed to the maximum speed uniformly. This can save resources consumed by the self-moving device while ensuring the pass rate.
[0101] Figure 2 This is a block diagram of a mobile control device for a self-moving device according to an embodiment of this application. The device includes at least the following modules: a region determination module 210 and a mobile control module 220.
[0102] The region determination module 210 is used to determine the target region on the moving surface where the self-moving device is located. The target region refers to a surface region whose outline is a preset shape and whose size is within a preset size range.
[0103] The mobile control module 220 is used to control the self-mobile device to pass through the target area when the self-mobile device moves to the target area.
[0104] For relevant details, please refer to the above embodiments.
[0105] It should be noted that the mobile control device for the self-moving device provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the mobile control device for the self-moving device can be divided into different functional modules to complete all or part of the functions described above. In addition, the mobile control device for the self-moving device provided in the above embodiments and the mobile control method embodiments for the self-moving device belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.
[0106] Figure 3 This is a block diagram of an electronic device provided in one embodiment of this application. The device may be... Figure 1 The electronic device includes at least a processor 301 and a memory 302.
[0107] Processor 301 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 301 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.
[0108] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 302 are used to store at least one instruction, which is executed by the processor 301 to implement the mobile device control method provided in the method embodiments of this application.
[0109] In some embodiments, the external parameter calibration device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 301, memory 302, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Indicatively, peripheral devices include, but are not limited to: radio frequency circuits, touch displays, audio circuits, and power supplies.
[0110] Of course, the external parameter calibration device may include fewer or more components, and this embodiment does not limit this.
[0111] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the mobile control method of the self-moving device described in the above method embodiments.
[0112] Optionally, this application also provides a computer product including a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the mobile control method of the self-moving device described in the above method embodiments.
[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0114] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
[0115] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of this application.
Claims
1. A method for controlling the movement of a self-moving device, characterized in that, The method includes: Determine the target area on the moving surface where the self-moving device is located. The target area refers to a surface area whose outline is a preset shape and whose size is within a preset size range. When the self-mobile device moves to the target area, control the self-mobile device to pass through the target area.
2. The method according to claim 1, characterized in that, Controlling the self-moving device to pass through the target area includes: The self-moving device is controlled to pass through the target area according to the passing strategy corresponding to the target area; the passing strategy is different from the movement strategy corresponding to the flat surface.
3. The method according to claim 2, characterized in that, The step of controlling the self-moving device to pass through the target area according to the passage strategy corresponding to the target area includes: The self-moving device is controlled to move in a direction toward the target area so as to pass through the target area; And / or, The self-moving device is controlled to move at a preset speed to pass through the target area.
4. The method according to claim 3, characterized in that, Controlling the self-moving device to move at a preset speed to pass through the target area includes: Obtain the preset speed corresponding to the preset shape; there are at least two different preset shapes with different preset speeds. Control the self-moving device to move at a predetermined preset speed.
5. The method according to claim 1, characterized in that, Determining the target area on the moving surface where the self-moving device is located includes: Obtain the device parameters of the self-moving device; Determine the preset size range corresponding to the device parameters, and there are at least two different preset size ranges corresponding to different device parameters; If the outline of the current region is the preset shape and the size of the current region is within the preset size range, the current region is determined as the target region.
6. The method according to claim 1, characterized in that, Determining the target area on the moving surface where the self-moving device is located includes: When the region outline of the current region is the preset shape, obtain the preset size range corresponding to the preset shape of the current region. There are at least two different preset shapes with different preset size ranges. If the size of the current region falls within the preset size range, the current region is determined as the target region.
7. The method according to any one of claims 1 to 6, characterized in that, Determining the target area on the moving surface where the self-moving device is located includes: Acquire the sensor data of the current area collected by the sensor component of the self-moving device; The region outline of the current area is determined based on the sensor data; When the region outline matches the preset shape, the region size of the region outline is identified; If the size of the current region falls within the preset size range, the current region is determined as the target region.
8. The method according to claim 7, characterized in that, The sensing component includes a signal transmitter and a signal receiver; The signal transmitter is used to transmit a target signal into the current area, and the target signal is reflected by the current area to obtain a reflected signal corresponding to the target signal; The signal receiver is used to receive the reflected signal and process the reflected signal to obtain the sensing data. The sensing data corresponding to different locations in the current area that are at different distances from the signal receiver are different.
9. An electronic device, characterized in that, The electronic device includes a processor and a memory connected to the processor, the memory storing a program, which the processor executes to implement the mobile control method of the self-moving device as described in any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, is used to implement the mobile control method for the self-moving device as described in any one of claims 1 to 8.