Control method and apparatus for self-moving device, storage medium, and electronic device

Abstract

The application discloses a control method and device of a self-moving device, a storage medium and an electronic device, and relates to the technical field of self-moving devices. The control method of the self-moving device comprises the following steps: in the case that the height of the chassis of the self-moving device from a target plane is adjusted from a first height to a second height, determining a target sensor corresponding to the second height from at least one sensor of the self-moving device, wherein the measurement ranges of the sensors corresponding to different heights of the chassis from the target plane are not completely the same; and obtaining a corresponding measurement result through the target sensor. By using the technical scheme, the problem that a cleaning robot cannot dynamically adjust a sensor, resulting in inaccurate measurement results and normal work being unable to be performed, in the prior art is solved.

Description

[Technical Field]

[0001] This invention relates to the field of communications, and more specifically, to a control method and apparatus for an automatic mobile device, a storage medium, and an electronic device. [Background Technology]

[0002] With the development of technology, more and more people are starting to use self-moving devices in their daily lives, such as cleaning robots. These cleaning robots can autonomously move to different areas to perform cleaning tasks.

[0003] While self-moving devices bring numerous conveniences to our lives, they also suffer from a lack of intelligence during use. For example:

[0004] When obstacle avoidance is required, the height of the self-moving device needs to be adjusted, which changes the position of the sensors relative to the external environment. Because of this change in relative position, obstacles or objects in the external environment may be outside the effective measurement range of the sensors, leading to inaccurate measurement results, misjudging or omitting abnormal situations by the self-moving device, and ultimately preventing it from completing its tasks.

[0005] Therefore, it is urgent to improve the relevant technologies in order to at least partially solve the above-mentioned technical problems. [Summary of the Invention]

[0006] This invention provides a control method and apparatus for a self-moving device, a storage medium, and an electronic device, to at least solve the problem in the prior art where the cleaning robot cannot dynamically adjust the sensor, resulting in inaccurate measurement results and malfunction.

[0007] According to one aspect of the present invention, a control method for a self-moving device is provided, comprising: when the height of the chassis of the self-moving device from a target plane is adjusted from a first height to a second height, determining a target sensor corresponding to the second height from at least one sensor of the self-moving device, wherein the measurement range of the sensor corresponding to different chassis heights from the target plane is not exactly the same; and acquiring a corresponding measurement result through the target sensor.

[0008] In an exemplary embodiment, before determining the target sensor corresponding to the second height from at least one sensor of the self-moving device when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, the method further includes: receiving an adjustment instruction for switching the position of the chassis of the self-moving device; and adjusting the height of the chassis of the self-moving device from the target plane from the first height to the second height in response to the adjustment instruction.

[0009] In an exemplary embodiment, after obtaining the corresponding measurement results, the method further includes: determining the downward viewing height of the self-moving device based on the measurement results; and determining whether to trigger an alarm event based on the downward viewing height.

[0010] In an exemplary embodiment, determining whether to trigger an alarm event based on the downward viewing height includes: determining an alarm threshold corresponding to the second height; and determining that the alarm event is triggered when the downward viewing height exceeds the corresponding alarm threshold.

[0011] In an exemplary embodiment, after determining whether an alarm event is triggered based on the downward viewing height, the method further includes: if it is determined that the alarm event is triggered, controlling the self-moving device to travel according to a target movement mode, wherein the target movement mode includes at least one of the following: prohibiting the self-moving device from traveling, controlling the self-moving device to travel backward, controlling the self-moving device to travel in the opposite direction of the current direction; if it is determined that the alarm event is not triggered, controlling the self-moving device to continue traveling according to the current travel path.

[0012] In an exemplary embodiment, each sensor includes a transmitter and a receiver. The step of determining the target sensor corresponding to the second height from at least one sensor of the self-moving device when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height includes: determining a target transmitter and a target receiver corresponding to the second height when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, wherein the target transmitter and target receiver are at least one transmitter and at least one receiver of the self-moving device that correspond to the second height; and determining the combination of the target transmitter and the target receiver as the target sensor.

[0013] In an exemplary embodiment, when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, determining the target transmitter and target receiver corresponding to the second height includes: obtaining a correspondence between height and a target set, wherein the target set includes: first identification information of the transmitter and second identification information of the receiver; determining third identification information and fourth identification information corresponding to the second height according to the correspondence, wherein the first identification information includes the third identification information and the second identification information includes the fourth identification information; determining the transmitter corresponding to the third identification information as the target transmitter, and determining the receiver corresponding to the fourth identification information as the target receiver.

[0014] In one exemplary embodiment, the transmitter's transmission angles corresponding to different chassis heights from the target plane are not entirely the same, and / or the receiver's reception angles corresponding to different chassis heights from the target plane are not entirely the same.

[0015] In one exemplary embodiment, determining the target sensor corresponding to the second height from at least one sensor of the self-moving device when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height includes: determining the sensor type that needs to be switched when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height; and determining the target sensor corresponding to the second height from all sensors corresponding to the sensor type.

[0016] According to another aspect of the present invention, a control device for a self-moving device is also provided, comprising: a determining module, configured to determine a target sensor corresponding to the second height from at least one sensor of the self-moving device when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, wherein the measurement range of the sensor corresponding to different heights of the chassis from the target plane is not exactly the same; and an acquiring module, configured to acquire corresponding measurement results through the target sensor.

[0017] According to another aspect of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, wherein the computer program is configured to execute the control method of the self-moving device described above when it is run.

[0018] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the control method of the self-moving device through the computer program.

[0019] This invention addresses the issue that, when the height of the self-moving device's chassis relative to the target plane is adjusted from a first height to a second height, a target sensor corresponding to the second height is determined from at least one sensor of the self-moving device. The measurement range of the sensor corresponding to different chassis heights relative to the target plane is not entirely the same. The target sensor is then used to obtain corresponding measurement results. By setting corresponding sensors for different chassis heights, this application allows for the adjustment of the target sensor when the chassis height of the self-moving device changes. Since the measurement ranges of sensors corresponding to different chassis heights are not entirely the same, the measurement range of the sensor in use can be adaptively changed according to the change in chassis height. This ensures that the object being measured in the external environment always falls within the measurement range of the working sensor, thereby solving the problem in related technologies where cleaning robots cannot dynamically adjust their sensors, leading to inaccurate measurement results and malfunctions. This effectively improves the working efficiency of cleaning robots.

[0020] Furthermore, this application also discloses determining the alarm threshold corresponding to the second height; when the downward viewing height exceeds the corresponding alarm threshold, an alarm event is determined to be triggered. That is, this application avoids the situation where the self-moving device cannot accurately identify the cliff after the chassis height changes due to the fixed alarm threshold, resulting in false alarms or missed alarms, by adjusting the corresponding alarm threshold for different chassis heights.

[0021] Furthermore, this application also discloses the combination of the sensor including a transmitter and a receiver. The transmission angle of the transmitter is not exactly the same for different chassis heights from the target plane, and / or the reception angle of the receiver is not exactly the same for different chassis heights from the target plane. By reasonably designing the transmission angle of the transmitter and the reception angle of the receiver under different chassis heights, the effective measurement range of the target sensor of the self-moving device can still cover the object to be measured when the chassis height is different, so that it can still accurately identify whether there is an abnormality in its own state when the chassis height changes. [Attached Image Description]

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a hardware structure block diagram of a self-moving device, which is an optional self-moving device control method according to an embodiment of the present invention.

[0024] Figure 2 This is a flowchart of an optional control method for a self-moving device according to an embodiment of the present invention;

[0025] Figure 3 This is a flowchart illustrating an optional control method for a self-moving device according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an optional self-moving device according to an embodiment of the present invention;

[0027] Figure 5 This is a structural block diagram of an optional control device for a self-moving device according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of a sensor for an optional self-moving device according to an embodiment of the present invention (I);

[0029] Figure 7 This is a schematic diagram (II) of the structure of a sensor for an optional self-moving device according to an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram (iii) of the structure of a sensor for an optional self-moving device according to an embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram (four) of the structure of a sensor for an optional self-moving device according to an embodiment of the present invention.

Detailed Implementation Methods

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] The method embodiments provided in these inventions can be executed in self-moving devices or similar computing devices. Taking running on a self-moving device as an example... Figure 1 This is a hardware structure block diagram of the self-moving device according to an embodiment of the present invention's control method for a self-moving device. For example... Figure 1 As shown, a self-moving device may include one or more ( Figure 1 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor (MPU) or a programmable logic device (PLD)) and a memory 104 for storing data are also shown. In one exemplary embodiment, the self-moving device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the switching device described above. For example, the self-moving device may also include a... Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0035] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the control method of the self-moving device in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the self-moving device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0036] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the switching device. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0037] This embodiment provides a control method for a self-moving device, which is applied to the aforementioned self-moving device. Figure 2 This is a flowchart of a control method for a self-moving device according to an embodiment of the present invention, the process including the following steps:

[0038] Step S202: When the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, the target sensor corresponding to the second height is determined from at least one sensor of the self-moving device, wherein the measurement range of the sensor corresponding to different heights of the chassis from the target plane is not exactly the same.

[0039] Step S204: Obtain the corresponding measurement results through the target sensor.

[0040] Through the above steps, when the height of the self-moving device's chassis from the target plane is adjusted from a first height to a second height, the target sensor corresponding to the second height is determined from at least one sensor of the self-moving device. The measurement range of the sensor corresponding to different chassis heights from the target plane is not entirely the same. After the chassis height of the self-moving device changes, the target sensor that needs to work can be adjusted accordingly. Since the measurement range of the sensor corresponding to different chassis heights is not entirely the same, the measurement range of the sensor in use can be adaptively changed according to the change in chassis height, ensuring that the object to be measured in the external environment always falls within the measurement range of the working sensor. By adopting the above technical solution, the problem in related technologies where the cleaning robot cannot dynamically adjust its sensors, resulting in inaccurate measurement results and malfunction, is solved. This achieves the technical effect of effectively improving the working efficiency of the cleaning robot.

[0041] It should be noted that in some embodiments, the sensor involved in this application can be a downward-looking sensor. Typically, the downward-looking sensor is mounted on the chassis of a self-moving device such as a cleaning robot and arranged around the outer perimeter of the chassis. It can be implemented by an infrared ranging sensor, including an infrared transmitter (equivalent to the transmitter described above) and an infrared receiver (equivalent to the receiver described above). It calculates the ground clearance of the cleaning robot's chassis based on the signal reflected back to the receiver after the infrared light emitted by the transmitter reaches the ground.

[0042] When the chassis height changes, the height of the downward-facing sensor relative to the ground also changes, resulting in a change in the measured height above the ground. Since the effective measurement range of the downward-facing sensor is limited, the change in its height above the ground can cause the distance between the ground and the sensor to exceed its effective measurement range. This can lead to situations where, even if there is no actual cliff, the robot misjudges that its chassis has reached a cliff and incorrectly avoids it, resulting in missed scans. Alternatively, it may indicate the presence of a cliff but fail to recognize it, causing the robot to continue moving and potentially fall off the cliff, resulting in damage.

[0043] To address this, this application proposes that at least one sensor be installed on the chassis, such that the measurement range of the sensor corresponding to different chassis heights (i.e., chassis heights) is not entirely the same. This allows for the corresponding sensor switching when the chassis height changes, thus avoiding the problem of exceeding the effective measurement range.

[0044] To enable sensors with varying measurement ranges at different chassis heights to be deployed on the chassis, at least one transmitter and at least one receiver can be placed on the chassis. By rationally designing the transmitter's transmission angle, the receiver's reception angle, and pre-setting combinations of transmitters and receivers corresponding to different chassis heights, the effective measurement range of the sensors can be covered for targets such as cliffs on the ground at different chassis heights. This solves the problem of inaccurate measurement of targets due to changes in chassis height.

[0045] To achieve the above functions, such as Figure 6-9 As shown, the sensor can be multiple transmitters and multiple receivers; or one transmitter and multiple receivers; or multiple transmitters and one receiver; this application does not limit this.

[0046] Optionally, when the sensor includes a downward-looking sensor, it can be an infrared sensor. An infrared sensor can consist of one or more emitting lights and one or more receiving lights, and the positions of the emitting lights and receiving lights can be as follows: Figure 7-9 The arrangement shown can be any other arrangement, and this application does not limit this arrangement.

[0047] Of course, the aforementioned sensors are not limited to downward-facing sensors; they can be any sensor mounted on a self-moving device such as a cleaning robot. Preferably, the aforementioned sensors can be sensors mounted on the chassis of the self-moving device, such as sensors used to measure ground information. These chassis-mounted sensors are more prone to changes in the distance between the sensor and the ground due to changes in the chassis height, resulting in the distance between the sensor and the ground exceeding the sensor's effective measurement range.

[0048] In an exemplary embodiment, before performing step S202: when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, and before determining the target sensor corresponding to the second height from at least one sensor of the self-moving device, the method further includes: receiving an adjustment instruction, the adjustment instruction being used to switch the position of the chassis of the self-moving device; and in response to the adjustment instruction, adjusting the height of the chassis of the self-moving device from the target plane from the first height to the second height.

[0049] Before determining the target transmitter and receiver corresponding to the second height, the cleaning robot can receive an adjustment command for raising and lowering its chassis, and respond to the command to adjust the height of the robot's chassis from the target plane from the first height to the second height. During operation, the cleaning robot (equivalent to the aforementioned self-moving device) encounters various terrains. To ensure the robot can adapt to different terrains and complete cleaning tasks, the chassis height needs to be raised or lowered when cleaning certain special terrain areas. This allows the robot to overcome obstacles or pass through narrow areas, avoiding damage to the chassis or other components.

[0050] After obtaining the corresponding measurement results based on the above steps, the method further includes: determining the downward viewing height of the self-moving device based on the measurement results; and determining whether to trigger an alarm event based on the downward viewing height.

[0051] During the operation of a cleaning robot, it is necessary to ensure the robot's own safety. Therefore, it is necessary to detect factors in the surrounding environment that may pose a threat to the robot, such as cliffs. Falling from a height can cause great damage to the cleaning robot, and various parts may be destroyed. Therefore, the cleaning robot uses sensors installed on its chassis to detect whether there are cliffs in its path. The sensors also detect the height of the robot's chassis above the ground. When the height exceeds the preset threshold of the sensor, an alarm event is triggered.

[0052] Optionally, step S204 above: determining whether to trigger an alarm event based on the downward viewing height includes: determining an alarm threshold corresponding to the second height; and determining to trigger the alarm event when the downward viewing height exceeds the alarm threshold.

[0053] During operation, cleaning robots may adjust their chassis height automatically due to terrain conditions, causing sensors to detect an increase in the chassis's height above the ground. Similarly, if there are stairs ahead, the robot will also detect an increase in its chassis height. To accurately determine the scenarios requiring judgment and avoid inconveniencing users, it's necessary to determine the robot's second chassis height above the ground and its corresponding alarm threshold. If the downward viewing height exceeds the alarm threshold, an alarm event is triggered. If the downward viewing height is less than or equal to the preset threshold, the robot can continue moving, and the alarm event is prevented.

[0054] Optionally, after performing step S204 above, the method further includes: if it is determined that the alarm event is triggered, controlling the self-moving device to travel according to a target movement mode, wherein the target movement mode includes at least one of the following: prohibiting the self-moving device from traveling, controlling the self-moving device to travel backward, controlling the self-moving device to travel in the opposite direction of the current direction; if it is determined that the alarm event is not triggered, controlling the self-moving device to continue traveling according to the current travel path.

[0055] If the downward viewing height exceeds a preset threshold, triggering an alarm event, the cleaning robot needs to be controlled to move according to a target movement pattern to avoid a potential cliff ahead. This target movement pattern includes at least one of the following: prohibiting the cleaning robot from moving forward; controlling the cleaning robot to move backward; controlling the cleaning robot to move in the opposite direction of the current direction; if the downward viewing height does not exceed the preset threshold, prohibiting the alarm event, and then controlling the cleaning robot to continue moving along the current path. In other words, the cleaning robot is controlled in the above manner to avoid a potential crash caused by reaching the cliff.

[0056] In step S202 above, each sensor includes a transmitter and a receiver. When the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, determining the target sensor corresponding to the second height from at least one sensor of the self-moving device includes: determining the target transmitter and target receiver corresponding to the second height when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, wherein the target transmitter and target receiver are the transmitter and receiver corresponding to the second height from at least one transmitter and at least one receiver of the self-moving device; and determining the combination of the target transmitter and the target receiver as the target sensor.

[0057] Optionally, the aforementioned sensor consists of a transmitter and a receiver. The transmitter emits infrared light, which is reflected off the ground and received by the receiver, thereby determining the height of the cleaning robot's chassis above the ground. Therefore, after determining that the height of the cleaning robot's chassis above the ground is adjusted from a second height to a second height, a transmitter and receiver corresponding to this second height are matched so that the sensor can accurately detect the height of the chassis above the ground at this second height. The determined combination of the target transmitter and target receiver is defined as the target sensor.

[0058] Specifically, a self-operated mobile device can be equipped with one transmitter and multiple receivers, multiple transmitters and one receiver, or multiple transmitters and multiple receivers. By rationally designing the transmission angle of each transmitter and the reception angle of the receiver, the corresponding combination of transmitters and receivers can meet the measurement range corresponding to the chassis at a certain height, thereby avoiding the need to arrange a separate transmitter and receiver for each height and thus reducing the corresponding hardware costs.

[0059] In an exemplary embodiment, when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, determining the target transmitter and target receiver corresponding to the second height includes: obtaining a correspondence between height and a target set, wherein the target set includes: first identification information of the transmitter and second identification information of the receiver; determining third identification information and fourth identification information corresponding to the second height according to the correspondence, wherein the first identification information includes the third identification information and the second identification information includes the fourth identification information; determining the transmitter corresponding to the third identification information as the target transmitter, and determining the receiver corresponding to the fourth identification information as the target receiver.

[0060] Optionally, the process of determining the corresponding target receiver and target transmitter based on the second altitude includes: obtaining the correspondence between altitude and target set, i.e., mapping relationship; the target set includes the first identification information of the transmitter and the second identification information of the receiver; determining the third identification information and the fourth identification information corresponding to the second altitude based on the mapping relationship (equivalent to the above correspondence); the third identification information is an element in the first identification information set, and the fourth identification information is an element in the second identification information set; determining the transmitter corresponding to the third identification information as the target transmitter and the receiver corresponding to the fourth identification information as the target receiver.

[0061] Optionally, the transmitter's transmission angle may not be exactly the same for different chassis heights from the target plane, and / or the receiver's reception angle may not be exactly the same for different chassis heights from the target plane.

[0062] It is understandable that due to differences in performance parameters, installation angles, and other configurations, the emission or reception angles of different transmitters and receivers when emitting infrared light are also different. Consequently, the height range that the sensors composed of different receivers and transmitters can accurately detect is also different. Therefore, when the chassis of the cleaning robot is at different heights from the ground, the measurement range of the sensors composed of receivers and sensors corresponding to that height will also be different.

[0063] In an exemplary embodiment, determining the target sensor corresponding to the second height from at least one sensor of the self-moving device when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height includes: determining the sensor type that needs to be switched when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height; and determining the target sensor corresponding to the second height from all sensors corresponding to the sensor type.

[0064] Optionally, various types of sensors can be installed on the self-moving equipment, such as downward-facing sensors, ground surface sensors, etc. Since the effective measurement range of each type of sensor is usually different, not all types of sensors necessarily need to be switched after each chassis height change.

[0065] Therefore, when the height of the chassis of the self-moving device from the target plane is adjusted from the first height to the second height, the type of sensor that needs to be adjusted can be determined first, and the corresponding sensor of that type can be switched. This avoids the problem of having to switch all sensors when the chassis height changes, which would affect the working efficiency of the self-moving device.

[0066] For example, infrared sensors such as downlight sensors typically have a small effective measurement range, while sensors used to measure ground media, such as ultrasonic sensors, typically have a relatively large measurement range. Therefore, in a preferred embodiment, it can be determined whether to switch to the corresponding sensor type based on whether the difference between the first and second heights meets the switching conditions for the corresponding sensor type.

[0067] Optionally, determining the downward viewing height of the self-moving device based on the target transmitter and the target receiver includes: controlling the target transmitter to transmit a first optical signal at a preset period, and controlling the target receiver to receive a second optical signal at the preset period; determining the downward viewing height of the self-moving device based on the first optical signal and the second optical signal.

[0068] The cleaning robot determines the height of its chassis above the ground (equivalent to the above-mentioned downward viewing height) by the following steps: controlling the target transmitter of the cleaning robot to emit a first light signal at a preset period, and controlling the target receiver of the cleaning robot to receive a second light signal at a preset period, and calculating the downward viewing height of the cleaning robot based on the emission time of the first light signal, the reception time of the second light signal, and the speed of light propagation.

[0069] In an exemplary embodiment, the method further includes: receiving a setting operation of a target object; and in response to the setting operation, setting different preset thresholds for different target transmitters, and / or setting different preset thresholds for different target receivers.

[0070] Optionally, different target transmitters and / or different target receivers can correspond to different preset thresholds, that is, the preset thresholds for determining whether a cliff exists are different when different receivers and transmitters are used. In an optional embodiment, the preset thresholds for different target transmitters and / or different target receivers can be set by the user or R&D personnel (equivalent to the aforementioned target object).

[0071] Obviously, the embodiments described above are only some embodiments of the present invention, and not all embodiments. In order to better understand the control method of the self-moving device described above, the above process will be described in conjunction with optional embodiments below, but it is not intended to limit the technical solution of the embodiments of the present invention.

[0072] This embodiment provides a control method for a self-moving device, which is a flowchart illustrating an optional control method for a self-moving device according to an embodiment of the present invention. Figure 3 As shown, the specific steps are as follows:

[0073] Step S302: The first control unit raises the chassis;

[0074] Step S304: Determine whether the lifting position is in place. If it is not in place, proceed to step S302. If it is in place, proceed to step S306.

[0075] Step S306: Switch the preset threshold for the corresponding downward viewing height or the corresponding receiver;

[0076] Step S308: The control center controls the machine to move;

[0077] Step S310: Determine whether the threshold is triggered. If the threshold is not triggered, proceed to step S308; if the threshold is triggered, proceed to step S312.

[0078] Step S312: Control the machine to move backward or in the opposite direction.

[0079] The cleaning robot's first control unit raises the chassis and determines whether the chassis has reached a preset height. If not, it continues raising the chassis; if it has, it switches to the corresponding preset threshold for the downward viewing height. The cleaning robot's control center controls the robot's movement and continuously checks whether the downward viewing height triggers a threshold (equivalent to the aforementioned downward viewing threshold). If not triggered, it continues moving; if triggered, it controls the robot to move backward or in the opposite direction. These steps solve the problem in existing technologies where the cleaning robot's inability to dynamically adjust sensors leads to inaccurate measurement results and malfunctions; effectively improving the cleaning robot's efficiency.

[0080] This invention also provides a schematic diagram of the structure of an optional control device for a self-moving device, as shown in the embodiment of the invention. Figure 4 As shown:

[0081] The cleaning robot (equivalent to the aforementioned self-moving device) includes a first control unit, a second control unit, a ground clearance sensor, a transmitting light, a receiving light, and other structures.

[0082] The first control unit is used to control the cleaning robot to raise its chassis; the second control unit is used to control the cleaning robot to move; the ground clearance detection sensor includes a transmitting light (equivalent to the target transmitter mentioned above) and a receiving light (equivalent to the target receiver mentioned above). The transmitting light is used to emit light signals (equivalent to the first light signal mentioned above), and the receiving light is used to receive light signals (equivalent to the second light signal mentioned above). Through the joint cooperation of the transmitting light and the receiving light, the current ground clearance of the cleaning robot's chassis is detected.

[0083] Optionally, the cleaning robot also includes a chassis lifting structure, which is used to raise and lower the chassis in response to control commands from the first control unit.

[0084] Optionally, the above-mentioned ground clearance detection sensor includes one or more transmitting lights and one or more receiving lights; the transmitting lights are periodically driven by the first control unit to emit infrared light (equivalent to the above-mentioned first light signal), and the receiving lights are periodically acquired by the first control unit according to the transmission cycle.

[0085] Optionally, the first control unit, based on the chassis lifting command issued by the second control unit, controls the chassis to rise or fall to a certain position. Then, the first control unit collects the corresponding receiver light feedback signal (equivalent to the aforementioned second light signal) based on the chassis location, preprocesses it, and reports it to the second control unit. The second control unit judges whether a cliff alarm (equivalent to the aforementioned alarm event) has been triggered based on a preset threshold. If the trigger condition is met, the first control unit immediately stops the machine (equivalent to the aforementioned self-moving device) and reports the result to the second control unit. The second control unit judges the current state and issues a movement command to the first control unit, which then controls the machine to move. If the trigger condition is not met, the first control unit will also periodically report the result to the second control unit so that the second control unit can control the machine to move normally.

[0086] The aforementioned device solves the problem in related technologies where cleaning robots cannot dynamically adjust sensors, resulting in inaccurate measurement results and malfunctions; it effectively improves the working efficiency of cleaning robots.

[0087] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0088] This embodiment also provides a control device for a self-moving device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0089] Figure 5 This is a structural block diagram of a control device for a self-moving device according to an embodiment of the present invention. The device includes:

[0090] The determining module 51 is used to determine the target sensor corresponding to the second height from at least one sensor of the self-moving device when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, wherein the measurement range of the sensor corresponding to different heights of the chassis from the target plane is not exactly the same.

[0091] The acquisition module 52 is used to acquire the corresponding measurement results through the target sensor.

[0092] With the aforementioned device, when the height of the self-moving device's chassis from the target plane is adjusted from a first height to a second height, a target sensor corresponding to the second height is determined from at least one sensor of the self-moving device. The measurement range of the sensor corresponding to different chassis heights is not entirely the same. Through the target sensor, corresponding measurement results are obtained. This application, by setting corresponding sensors for different chassis heights, allows for the adjustment of the target sensor to be used after the chassis height of the self-moving device changes. Since the measurement range of the sensors corresponding to different chassis heights is not entirely the same, the measurement range of the sensor in use can be adaptively changed according to the change in chassis height. This ensures that the object to be measured in the external environment always falls within the measurement range of the working sensor, thereby solving the problem in related technologies where the cleaning robot cannot dynamically adjust the sensors, resulting in inaccurate measurement results and malfunction. This effectively improves the working efficiency of the cleaning robot.

[0093] In an exemplary embodiment, the determining module 52 is further configured to receive an adjustment instruction, the adjustment instruction being used to switch the position of the chassis of the self-moving device; and in response to the adjustment instruction, adjusting the height of the chassis of the self-moving device from the target plane from the first height to the second height.

[0094] Before determining the target transmitter and receiver corresponding to the second height, the cleaning robot can receive an adjustment command for raising and lowering its chassis, and respond to the command to adjust the height of the robot's chassis from the target plane from the first height to the second height. During operation, the cleaning robot (equivalent to the aforementioned self-moving device) encounters various terrains. To ensure the robot can adapt to different terrains and complete cleaning tasks, the chassis height needs to be raised or lowered when cleaning certain special terrain areas. This allows the robot to overcome obstacles or pass through narrow areas, avoiding damage to the chassis or other components.

[0095] Based on the above steps, the determining module 52 is further configured to determine the downward viewing height of the self-moving device according to the measurement results; and determine whether to trigger an alarm event according to the downward viewing height.

[0096] During the operation of a cleaning robot, it is necessary to ensure the robot's own safety. Therefore, it is necessary to detect factors in the surrounding environment that may pose a threat to the robot, such as cliffs. Falling from a height can cause great damage to the cleaning robot, and various parts may be destroyed. Therefore, the cleaning robot uses sensors installed on its chassis to detect whether there are cliffs in its path. The sensors also detect the height of the robot's chassis above the ground. When the height exceeds the preset threshold of the sensor, an alarm event is triggered.

[0097] In addition, the determining module 52 is also used to determine the alarm threshold corresponding to the second height; when the downward viewing height exceeds the alarm threshold, it is determined that the alarm event is triggered.

[0098] During operation, cleaning robots may adjust their chassis height automatically due to terrain conditions, causing sensors to detect an increase in the chassis's height above the ground. Similarly, if there are stairs ahead, the robot will also detect an increase in its chassis height. To accurately determine the scenarios requiring judgment and avoid inconveniencing users, it's necessary to determine the robot's second chassis height above the ground and its corresponding alarm threshold. If the downward viewing height exceeds the alarm threshold, an alarm event is triggered. If the downward viewing height is less than or equal to the preset threshold, the robot can continue moving, and the alarm event is prevented.

[0099] Optionally, the determining module 54 is further configured to, upon determining that the alarm event has been triggered, control the self-moving device to travel according to a target movement mode, wherein the target movement mode includes at least one of the following: prohibiting the self-moving device from traveling, controlling the self-moving device to travel backward, controlling the self-moving device to travel in the opposite direction of the current direction; and, upon determining that the alarm event has not been triggered, controlling the self-moving device to continue traveling according to the current travel path.

[0100] If the downward viewing height exceeds a preset threshold, triggering an alarm event, the cleaning robot needs to be controlled to move according to a target movement pattern to avoid a potential cliff ahead. This target movement pattern includes at least one of the following: prohibiting the cleaning robot from moving forward; controlling the cleaning robot to move backward; controlling the cleaning robot to move in the opposite direction of the current direction; if the downward viewing height does not exceed the preset threshold, prohibiting the alarm event, and then controlling the cleaning robot to continue moving along the current path. In other words, the cleaning robot is controlled in the above ways to avoid a potential crash caused by reaching the cliff.

[0101] In one exemplary embodiment, the determining module 52 is further configured to determine a target transmitter and a target receiver corresponding to the second height when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, wherein the target transmitter and the target receiver are at least one transmitter and at least one receiver of the self-moving device that correspond to the second height; and to determine the combination of the target transmitter and the target receiver as the target sensor.

[0102] The aforementioned sensor consists of a transmitter and a receiver. The transmitter emits infrared light, which is reflected off the ground and received by the receiver, thus determining the height of the cleaning robot's chassis above the ground. Therefore, after adjusting the height of the cleaning robot's chassis above the ground from a second height to a second height, a transmitter and receiver corresponding to this second height are matched to enable the sensor to accurately detect the chassis's height above the ground at this second height. The determined combination of the target transmitter and target receiver is defined as the target sensor.

[0103] Specifically, a self-operated mobile device can be equipped with one transmitter and multiple receivers, multiple transmitters and one receiver, or multiple transmitters and multiple receivers. By rationally designing the transmission angle of each transmitter and the reception angle of the receiver, the corresponding combination of transmitters and receivers can meet the measurement range corresponding to the chassis at a certain height, thereby avoiding the need to arrange a separate transmitter and receiver for each height and thus reducing the corresponding hardware costs.

[0104] In an exemplary embodiment, the acquisition module 54 is further configured to acquire the correspondence between height and target set, wherein the target set includes: first identification information of a transmitter and second identification information of a receiver; determine third identification information and fourth identification information corresponding to the second height according to the correspondence, wherein the first identification information includes the third identification information and the second identification information includes the fourth identification information; determine the transmitter corresponding to the third identification information as the target transmitter, and determine the receiver corresponding to the fourth identification information as the target receiver.

[0105] Optionally, the process of determining the corresponding target receiver and target transmitter based on the second altitude includes: obtaining the correspondence between altitude and target set, i.e., mapping relationship; the target set includes the first identification information of the transmitter and the second identification information of the receiver; determining the third identification information and the fourth identification information corresponding to the second altitude based on the mapping relationship (equivalent to the above correspondence); the third identification information is an element in the first identification information set, and the fourth identification information is an element in the second identification information set; determining the transmitter corresponding to the third identification information as the target transmitter and the receiver corresponding to the fourth identification information as the target receiver.

[0106] Optionally, the determining module 52 is also used to determine that the transmitter's transmission angles corresponding to different chassis heights from the target plane are not exactly the same, and / or that the receiver's reception angles corresponding to different chassis heights from the target plane are not exactly the same.

[0107] It is understandable that due to differences in performance parameters, installation angles, and other configurations, the emission or reception angles of different transmitters and receivers when emitting infrared light are also different. Consequently, the height range that the sensors composed of different receivers and transmitters can accurately detect are also different. Therefore, when the chassis of the cleaning robot is at different heights from the ground, the receivers and sensors corresponding to those heights will also be different.

[0108] In an exemplary embodiment, the determining module 52 is further configured to determine the sensor type that needs to be switched when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height; and to determine the target sensor corresponding to the second height from all sensors corresponding to the sensor type.

[0109] Optionally, various types of sensors can be installed on the self-moving equipment, such as downward-facing sensors, ground surface sensors, etc. Since the effective measurement range of each type of sensor is usually different, not all types of sensors necessarily need to be switched after each chassis height change.

[0110] Therefore, when the height of the chassis of the self-moving device from the target plane is adjusted from the first height to the second height, the type of sensor that needs to be adjusted can be determined first, and the corresponding sensor of that type can be switched. This avoids the problem of having to switch all sensors when the chassis height changes, which would affect the working efficiency of the self-moving device.

[0111] For example, infrared sensors such as downlight sensors typically have a small effective measurement range, while sensors used to measure ground media, such as ultrasonic sensors, typically have a relatively large measurement range. Therefore, in a preferred embodiment, it can be determined whether to switch to the corresponding sensor type based on whether the difference between the first and second heights meets the switching conditions for the corresponding sensor type.

[0112] Optionally, the determining module 52 is further configured to control the target transmitter to transmit a first optical signal according to a preset period, and to control the target receiver to receive a second optical signal according to the preset period; and to determine the downward viewing height of the self-moving device based on the first optical signal and the second optical signal.

[0113] The cleaning robot determines the height of its chassis above the ground (equivalent to the above-mentioned downward viewing height) by the following steps: controlling the target transmitter of the cleaning robot to emit a first light signal at a preset period, and controlling the target receiver of the cleaning robot to receive a second light signal at a preset period, and calculating the downward viewing height of the cleaning robot based on the emission time of the first light signal, the reception time of the second light signal, and the speed of light propagation.

[0114] In an exemplary embodiment, the determining module 52 is further configured to receive a setting operation of the target object; in response to the setting operation, set different preset thresholds for different target transmitters, and / or set different preset thresholds for different target receivers.

[0115] Optionally, different target transmitters and / or different target receivers can correspond to different preset thresholds, that is, the preset thresholds for determining whether a cliff exists are different when different receivers and transmitters are used. In an optional embodiment, the preset thresholds for different target transmitters and / or different target receivers can be set by the user or R&D personnel (equivalent to the aforementioned target object).

[0116] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0117] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0118] S1, when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, the target sensor corresponding to the second height is determined from at least one sensor of the self-moving device, wherein the measurement range of the sensor corresponding to different heights of the chassis from the target plane is not exactly the same;

[0119] S2, obtain the corresponding measurement results through the target sensor.

[0120] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0121] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0122] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0123] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0124] S1, when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, the target sensor corresponding to the second height is determined from at least one sensor of the self-moving device, wherein the measurement range of the sensor corresponding to different heights of the chassis from the target plane is not exactly the same;

[0125] S2, obtain the corresponding measurement results through the target sensor.

[0126] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0127] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0128] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0129] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a self-moving device, characterized in that, include: When the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, the target transmitter and target receiver corresponding to the second height are determined, wherein each sensor includes at least one transmitter and at least one receiver, and the target transmitter and target receiver are the transmitter and receiver corresponding to the second height among at least one transmitter and at least one receiver of the self-moving device. The combination of the target transmitter and the target receiver is defined as the target sensor, wherein the measurement range of the sensor is not exactly the same for different chassis heights from the target plane; The target sensor is used to obtain the corresponding measurement results.

2. The control method for a self-moving device according to claim 1, characterized in that, Before determining the target sensor corresponding to the second height from at least one sensor of the self-moving device when the height of the chassis of the self-moving device above the target plane is adjusted from a first height to a second height, the method further includes: Receive adjustment instructions, the adjustment instructions being used to switch the position of the chassis of the self-moving device; In response to the adjustment command, the height of the chassis of the self-moving device from the target plane is adjusted from the first height to the second height.

3. The control method for a self-moving device according to claim 1, characterized in that, After obtaining the corresponding measurement results, the method further includes: Based on the measurement results, the downward viewing height of the self-moving device is determined; Based on the downward viewing height, determine whether an alarm event should be triggered.

4. The control method for a self-moving device according to claim 3, characterized in that, The step of determining whether to trigger an alarm event based on the downward viewing height includes: Determine the alarm threshold corresponding to the second height; When the downward viewing height exceeds the corresponding alarm threshold, the alarm event is determined to be triggered.

5. The control method for a self-moving device according to claim 3, characterized in that, After determining whether an alarm event is triggered based on the downward viewing height, the method further includes: If the alarm event is triggered, the self-moving device is controlled to travel in a target movement mode, wherein the target movement mode includes at least one of the following: prohibiting the self-moving device from traveling, controlling the self-moving device to travel backward, or controlling the self-moving device to travel in the opposite direction of the current direction; If it is determined that the alarm event will not be triggered, the self-moving device is controlled to continue driving along the current driving path.

6. The control method for a self-moving device according to claim 5, characterized in that, When the height of the chassis of the self-moving device above the target plane is adjusted from a first height to a second height, determining the target transmitter and target receiver corresponding to the second height includes: Obtain the correspondence between altitude and target set, wherein the target set includes: first identification information of transmitter and second identification information of receiver; Based on the correspondence, a third identification information and a fourth identification information corresponding to the second height are determined, wherein the first identification information includes the third identification information and the second identification information includes the fourth identification information; The transmitter corresponding to the third identification information is identified as the target transmitter, and the receiver corresponding to the fourth identification information is identified as the target receiver.

7. The control method for a self-moving device according to claim 5, characterized in that, The transmitter's transmission angle is not exactly the same for different chassis heights above the target plane, and / or the receiver's reception angle is not exactly the same for different chassis heights above the target plane.

8. The control method for the self-moving device according to any one of claims 1-6, characterized in that, When the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height, determining the target sensor corresponding to the second height from at least one sensor of the self-moving device includes: When the height of the chassis of the self-moving device from the target plane is adjusted from the first height to the second height, determine the type of sensor that needs to be switched. The target sensor corresponding to the second height is determined from all sensors corresponding to the sensor type.

9. A control device for a self-moving device, characterized in that, include: A determination module is used to determine a target transmitter and a target receiver corresponding to the second height when the height of the chassis of the self-moving device from the target plane is adjusted from a first height to a second height. Each sensor includes at least one transmitter and at least one receiver. The target transmitter and target receiver are the transmitter and receiver corresponding to the second height from the at least one transmitter and at least one receiver of the self-moving device. The combination of the target transmitter and the target receiver is determined as the target sensor. The measurement range of the sensor corresponding to different chassis heights from the target plane is not entirely the same. The acquisition module is used to acquire the corresponding measurement results through the target sensor.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 9 when it is run.

11. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 9.

Images