Control method of a self-moving device, device, and storage medium

Abstract

The application belongs to the technical field of automatic control, and particularly relates to a control method and device of a self-moving device and a storage medium. The self-moving device comprises an LDS sensor and a non-contact edge-following sensor. The installation position of the LDS sensor is above the edge-following sensor on the self-moving device, and the method comprises the following steps: acquiring point cloud data of an obstacle collected by the LDS sensor at a target position of the self-moving device; determining a first distance between the self-moving device and the obstacle based on the point cloud data; acquiring a second distance between the self-moving device and the obstacle determined by the edge-following sensor at the target position of the self-moving device; and in the case that the first distance is less than the second distance, controlling the self-moving device to move a third distance towards the obstacle and then move along the edge profile of the obstacle indicated by the point cloud data. The problem that the self-moving device is difficult to clean the concave area and has poor cleaning effect for the obstacle with a concave lower edge can be solved.

Description

Technical Field

[0001] This application belongs to the field of automatic control technology, specifically relating to control methods, devices, and storage media for self-moving equipment. Background Technology

[0002] Currently, self-moving devices are typically equipped with various sensors, such as laser distance sensors (LDS). These sensors are used to detect obstacles in order to avoid obstacles or move along the edges of obstacles.

[0003] However, for obstacles with concave lower edges, the sensor has difficulty detecting information about the concave area, making it difficult for the self-moving device to clean the concave area, resulting in poor cleaning performance of the self-moving device. Summary of the Invention

[0004] This application provides a control method, device, and storage medium for a self-moving device, which can solve the problem that for obstacles with concave lower edges, the sensor has difficulty detecting information about the concave area, making it difficult for the self-moving device to clean the concave area and resulting in poor cleaning effect of the self-moving device.

[0005] This application provides the following technical solution:

[0006] In a first aspect, a control method for a self-moving device is provided, the self-moving device including an LDS sensor and a non-contact edge sensor; on the self-moving device, the LDS sensor is mounted above the edge sensor, the method comprising:

[0007] Acquire point cloud data of obstacles collected by the self-moving device using the LDS sensor at the target location;

[0008] The first distance between the self-moving device and the obstacle is determined based on the point cloud data;

[0009] The second distance between the self-moving device and the obstacle is determined by the edge sensor at the target location;

[0010] If the first distance is less than the second distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; the third distance is less than the second distance.

[0011] Optionally, when the first distance is less than the second distance, controlling the self-moving device to move a third distance toward the obstacle, and then moving along the obstacle according to the obstacle edge contour indicated by the point cloud data, includes:

[0012] When the first distance is less than the second distance and the difference between the second distance and the first distance is greater than or equal to a preset difference, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein, the third distance is less than the second distance and greater than the first distance.

[0013] Optionally, if the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including:

[0014] When the first distance is less than the second distance and the sensor distance between the LDS sensor and the obstacle is greater than the installation distance of the LDS sensor, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0015] Wherein, the installation distance is the distance between the LDS sensor and the edge of the self-moving device relative to the obstacle; the sensor distance is the distance between the LDS sensor and the obstacle.

[0016] Optionally, if the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including:

[0017] If the first distance is less than the second distance, determine whether the height of the concave region of the obstacle is greater than the height of the self-moving device; the concave region refers to the area on the obstacle that is at the second distance from the self-moving device.

[0018] When the height of the concave region is greater than the height of the self-moving device, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein the third distance is less than the second distance and greater than the first distance.

[0019] Optionally, determining whether the height of the concave region of the obstacle is greater than the height of the self-moving device includes:

[0020] The self-moving device is controlled to move towards the obstacle by a test distance, the test distance being greater than the first distance and less than the second distance;

[0021] If no collision signal is received from the collision sensor on the self-moving device during the movement, it is determined that the height of the concave region of the obstacle is greater than or equal to the height of the self-moving device.

[0022] If a collision signal is detected by the collision sensor on the self-moving device during movement, it is determined that the height of the concave region of the obstacle is less than the height of the self-moving device.

[0023] Optionally, the LDS sensor is mounted on the top of the self-moving device, and the mounting distance between the LDS sensor and the edge of the self-moving device relative to the obstacle is greater than 0.

[0024] Accordingly, when the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including:

[0025] If the first distance is less than the second distance, and the difference between the second distance and the first distance is less than or equal to the installation distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0026] Optionally, the method further includes:

[0027] If the first distance is less than the second distance and the difference between the second distance and the first distance is greater than the installation distance, the self-moving device is controlled to move along the obstacle from the target position according to the obstacle edge contour indicated by the point cloud data; or, the self-moving device is controlled to move a fourth distance toward the obstacle, the fourth distance being less than the sum of the first distance and the installation distance.

[0028] Optionally, if the first distance is less than the second distance, before moving the self-moving device a third distance toward the obstacle according to the obstacle edge contour indicated by the point cloud data after controlling the self-moving device to move toward the obstacle, the method further includes:

[0029] When the installation distance of the LDS sensor is greater than the sensor distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0030] Wherein, the installation distance is the distance between the LDS sensor and the edge of the self-moving device relative to the obstacle; the sensor distance is the distance between the LDS sensor and the obstacle.

[0031] Optionally, when the installation distance of the LDS sensor is greater than the sensor distance, after controlling the self-moving device to move a third distance toward the obstacle, and then moving along the obstacle according to the obstacle edge contour indicated by the point cloud data, the step includes:

[0032] If the installation distance is greater than the sensor distance, determine whether the installation distance is greater than the sum of the first distance and the second distance;

[0033] If the installation distance is greater than the sum of the first distance and the second distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0034] Optionally, the method further includes:

[0035] If the first distance is greater than or equal to the second distance, the device moves along the obstacle from the target position according to the obstacle edge contour indicated by the point cloud data. In a third aspect, a computer-readable storage medium is provided, wherein a program is stored therein, which, when executed by a processor, is used to implement the obstacle edge determination method for a self-moving device provided in the second aspect.

[0036] In a second aspect, an electronic device is provided, including a memory, a controller, and a computer program stored in the memory and executable on the controller, wherein the controller executes the computer program to implement the steps of the control method for the self-moving device described above.

[0037] Thirdly, a computer-readable storage medium is provided, wherein a program is stored in the storage medium, and the program, when executed by a processor, is used to implement the control method for the self-moving device provided in the first aspect.

[0038] The beneficial effects of this application include at least the following: acquiring point cloud data of obstacles collected by the self-moving device using an LDS sensor at the target location; determining a first distance between the self-moving device and the obstacle based on the point cloud data; acquiring a second distance between the self-moving device and the obstacle determined by the self-moving device using an edge sensor at the target location; and, if the first distance is less than the second distance, controlling the self-moving device to move a third distance toward the obstacle, and then moving along the obstacle according to the obstacle edge contour indicated by the point cloud data; this can solve the problem that for obstacles with concave lower edges, the sensor has difficulty detecting information about the concave area, making it difficult for the self-moving device to clean the concave area, resulting in poor cleaning effect of the self-moving device. The first distance is determined by point cloud data collected by the LDS sensor, and the second distance is detected by the edge sensor. Since the LDS sensor is installed above the edge sensor, the relationship between the first and second distances can be used to identify whether the obstacle is a concave obstacle. If the obstacle is a concave obstacle, the self-moving device is controlled to move towards the obstacle by a third distance, which is less than the second distance, so that the self-moving device enters the concave area. Therefore, the concave area can be cleaned, improving the cleaning effect of the self-moving device.

[0039] Meanwhile, because the light is dimmer in the concave area at the lower edge, the detection accuracy of the edge sensor is lower than that of the point cloud data collected by the LDS sensor. Therefore, controlling the self-moving device to move along the obstacle according to the obstacle edge contour indicated by the point cloud data, so that the self-moving device can move around the obstacle to work, can avoid collisions between the self-moving device and the obstacle, and can improve the working efficiency of the self-moving device.

[0040] In addition, when the first distance is less than the second distance and the difference between the second distance and the first distance is greater than or equal to a preset difference, that is, when the concave depth of the concave region is greater than the preset difference, controlling the edge of the self-moving device relative to the obstacle to enter the concave region for cleaning can improve the cleaning effect of the self-moving device.

[0041] In addition, when the first distance is less than the second distance and the sensor distance between the LDS sensor and the obstacle is greater than the installation distance of the LDS sensor, that is, when the self-moving device is located outside the concave area, controlling the edge of the self-moving device relative to the obstacle to enter the concave area for cleaning can improve the cleaning effect of the self-moving device.

[0042] In addition, when the first distance is less than the second distance and the height of the recessed area of ​​the obstacle is greater than the height of the self-moving device, controlling the edge of the self-moving device relative to one side of the obstacle to enter the recessed area for cleaning can improve the cleaning effect of the self-moving device and avoid multiple collisions between the self-moving device and the obstacle, thus preventing damage to the self-moving device and improving its safety.

[0043] In addition, by using a collision sensor to collide with an obstacle, it can determine whether the height of the concave area is greater than the height of the self-moving device. This eliminates the need to detect the height of the concave area through signals or point cloud data, thus saving resources for the self-moving device.

[0044] In addition, when the concave depth of the concave area is less than the installation distance of the LDS sensor, controlling the edge of the self-moving device relative to the obstacle to enter the concave area for cleaning can, on the one hand, prevent the LDS sensor from colliding with the obstacle and improve the safety of the self-moving device, and on the other hand, improve the cleaning effect of the self-moving device.

[0045] In addition, when the concave depth of the concave area is greater than or equal to the installation distance of the LDS sensor, controlling the self-moving device to move along the obstacle from the target position can avoid collisions between the LDS sensor and the obstacle, thus improving the safety of the self-moving device; or, controlling the self-moving device to move a fourth distance toward the obstacle so that the edge of the self-moving device relative to the obstacle enters the concave area for cleaning can improve the cleaning effect of the self-moving device.

[0046] In addition, when the first distance is greater than or equal to the second distance, that is, when the obstacle is not an obstacle with a concave lower edge or the LDS sensor is installed at a position lower than the height of the concave area, controlling the self-moving device to move along the obstacle from the target position can improve the cleaning effect of the self-moving device. Attached Figure Description

[0047] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in 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 the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of this application;

[0050] Figure 3 This is a schematic diagram of a self-moving device moving along an obstacle according to an embodiment of this application;

[0051] Figure 4 This is a schematic diagram of a self-moving device moving along an obstacle according to an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of a self-moving device moving along an obstacle according to an embodiment of this application;

[0053] Figure 6 This is a flowchart of a control method for a self-moving device provided in one embodiment of this application;

[0054] Figure 7 This is a block diagram of a control device for a self-moving device according to an embodiment of this application;

[0055] Figure 8 This is a block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0056] 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.

[0057] 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.

[0058] 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 the invention.

[0059] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of this application. The self-moving device includes, but is not limited to, devices with automatic movement functions such as sweeping robots, floor scrubbers, and combined sweeping and mopping machines. This embodiment does not limit the type of self-moving device. Figure 1 It is known that the self-moving device includes at least a housing 110, a non-contact edge sensor 120, an LDS sensor 130, and a controller (not shown in the figure).

[0060] The housing 110 is the outer shell of the self-moving device. The shape of the housing 110 can be a regular geometric shape, such as a circle or a square, or it can be set to other shapes according to the actual application scenario. This embodiment does not limit the shape of the housing 110.

[0061] The housing 110 primarily serves a protective and supportive function. The housing 110 can be integrally formed or have a detachable structure; this embodiment does not limit the implementation of the housing 110.

[0062] The structure of the housing 110 is generally flat, such as a disc. This embodiment does not limit the shape of the housing 110.

[0063] The non-contact edge sensor 120 is located on the side of the housing 110 and is used to transmit detection signals and collect feedback signals reflected back from the detection signals. The edge sensor 120 can be a position sensitive detector (PSD), an ultrasonic sensor, or an infrared sensor. This embodiment does not limit the type of edge sensor 120.

[0064] In this embodiment, the edge sensor 120 can be installed on the left and / or right side of the housing 110 to detect obstacles on at least one side of the travel direction.

[0065] For example, taking the direction of travel of the self-moving device as the front side, the left side of the housing 110 refers to the left side of the self-moving device's direction of travel, and the right side of the housing 110 refers to the right side of the self-moving device's direction of travel; wherein, the left side of the housing 110 includes the directly left side, the left front side, and / or the left rear side of the housing 110; the right side of the housing 110 includes the directly right side, the right front side, and / or the right rear side of the housing 110.

[0066] Optionally, there may be one edge sensor 120 or multiple edge sensors 120. This embodiment does not limit the number of non-contact edge sensors 120.

[0067] In this embodiment, the LDS sensor 130 is installed above the edge sensor 120 and is used to collect point cloud data of obstacles.

[0068] The LDS sensor 130 can be installed on either the side or the top of the housing 110. This embodiment does not limit the installation location of the LDS sensor 130.

[0069] Optionally, there may be one or more LDS sensors 130. This embodiment does not limit the number of LDS sensors 130.

[0070] The controller can be a microcontroller unit installed inside the self-moving device, such as a microcontroller, CPU, MPU, FPGA, or any other unit capable of data processing. The controller can be implemented using dedicated hardware circuitry or by combining general-purpose processing components with executable logic instructions. This embodiment does not limit the type of controller.

[0071] In this embodiment, the controller is connected to the edge sensor 120 and the LDS sensor 130 respectively, and is used to: acquire point cloud data of obstacles collected by the self-moving device using the LDS sensor at the target position; determine a first distance between the self-moving device and the obstacle based on the point cloud data; acquire a second distance between the self-moving device and the obstacle determined by the edge sensor at the target position; if the first distance is less than the second distance, control the self-moving device to move a third distance toward the obstacle, and then move along the obstacle according to the obstacle edge contour indicated by the point cloud data; the third distance is less than the second distance.

[0072] The method of obtaining the second distance between the self-moving device and the obstacle, determined by the edge sensor at the target location, includes: calculating the second distance between the self-moving device and the obstacle based on the signal strength of the feedback signal received by the edge sensor 120 at the target location.

[0073] In this embodiment, the target position is any position where the distance between it and the obstacle is less than or equal to a preset length. The preset length can be less than or equal to the smaller of the maximum detection distances of the edge sensor 120 and the LDS sensor 130. For example, if the maximum detection distances of the edge sensor 120 and the LDS sensor 130 are 1 meter and 3 meters respectively, then the distance between the target position and the obstacle should be less than or equal to 1 meter.

[0074] In actual implementation, the preset length can also be other lengths, such as 5 cm, 10 cm, etc. This embodiment does not limit the implementation method of the preset length.

[0075] Optionally, there may be one target location or multiple target locations. This embodiment does not limit the number of target locations.

[0076] After the mobile device moves to the target location, the first distance between the mobile device and the obstacle is determined using the point cloud data of the obstacle collected by the LDS sensor 130; the second distance between the mobile device and the obstacle is detected using the edge sensor 120.

[0077] In this embodiment, the obstacle includes an obstacle with a concave lower edge, such as a cabinet with a protruding door. When the obstacle has a concave lower edge, it includes a concave region. The concave region refers to the area on the obstacle that is a second distance away from the self-moving device.

[0078] In the case where the obstacle is concave at the bottom edge, since the LDS sensor 130 is mounted above the edge sensor 120, there is a possibility that the LDS sensor 130 cannot detect the concave area, while the edge sensor 120 can detect the concave area.

[0079] For example: Reference Figure 2 When the mobile device moves along the concave area of ​​the lower edge of the obstacle, the LDS sensor 130 is mounted on the housing 110 at a position higher than the height of the concave area. At this time, the LDS sensor 130 cannot detect the concave area.

[0080] In this situation, the self-moving device is prone to swinging back and forth. For example, the self-moving device may move away from or collide with the obstacle while moving along the edge, resulting in poor cleaning effect on the edge of the obstacle.

[0081] Based on this, in this embodiment, the obstacle is identified as having a concave lower edge by using the first distance and the second distance between the self-moving device and the obstacle.

[0082] Since the LDS sensor 130 is mounted above the edge sensor 120, the first distance will be less than the second distance if the obstacle is a concave obstacle with a concave lower edge and the height of the concave area is lower than the mounting position of the LDS sensor 130.

[0083] If the first distance is less than the second distance, the controller controls the mobile device to move a third distance toward the obstacle, so that after the mobile device moves to the edge of the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data to clean the edge of the obstacle.

[0084] The third distance can be dynamically determined by the concave parameters of the concave region.

[0085] In this embodiment, the concavity parameters of the concave region include, but are not limited to, the concavity depth and height of the concave region. Different concavity parameters correspond to the same or different third distances that the self-moving device travels towards the obstacle, specifically including at least one of the following situations:

[0086] The first type is where the depth of the concave region is greater than or equal to a preset difference.

[0087] The concave depth of the concave region can be represented by the difference between the second distance and the first distance.

[0088] In this embodiment, the preset difference can be the length of the cleaning range of the cleaning component of the self-moving device extending outward from the self-moving device. For example, if the cleaning range of the cleaning component of the self-moving device extends 1 cm outward from the self-moving device, then the preset difference can be 1 cm.

[0089] In other embodiments, the preset difference can also be set according to the actual situation. This embodiment does not limit the implementation method of the preset difference.

[0090] Accordingly, the self-moving device also includes a cleaning component, which is a part that comes into contact with the surface to be cleaned when the self-moving device performs cleaning work. The surface to be cleaned includes, but is not limited to, the surface of the ground, wall, or obstacles, etc. This embodiment does not limit the type of surface to be cleaned.

[0091] The cleaning component can be one or more roller brushes, typically referring to brushes with a roughly horizontal axis of rotation. It can also be one or more disc brushes, typically referring to brushes with a roughly vertical axis of rotation. Of course, it can also be various other components that can achieve the cleaning function, such as nozzles or floor mats. This embodiment does not limit the implementation method or quantity of the cleaning component.

[0092] Optionally, the self-moving device also includes a drive unit connected to the cleaning component. The drive unit drives the cleaning component to rotate along a rotation axis, thereby cleaning the work surface.

[0093] In this embodiment, when the concave depth of the concave region is less than a preset difference, the self-moving device does not need to enter the concave region for cleaning because the cleaning range of the cleaning component can cover the concave region. In this case, the third distance can be less than the first distance, and can be the difference between the first distance and the concave depth of the concave region.

[0094] For example, with a concave depth of 0.8 cm, a preset difference of 1 cm, and a first distance of 20 cm, since the cleaning range of the cleaning component of the self-moving device extends 1 cm outward from the self-moving device, the cleaning range can cover the concave area as the self-moving device moves along the obstacle. Therefore, the self-moving device does not need to enter the concave area for cleaning, and the third distance can be 19.2 cm.

[0095] When the depth of the concave area is greater than or equal to a preset difference, the cleaning range of the self-moving device's cleaning component is insufficient to cover the concave area. Therefore, the self-moving device needs to enter the concave area for cleaning. In this case, the third distance is less than the second distance but greater than the first distance.

[0096] Specifically, when the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: when the first distance is less than the second distance and the difference between the second distance and the first distance is greater than or equal to a preset difference, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein, the third distance is less than the second distance and greater than the first distance.

[0097] The second type is where the sensor distance between the LDS sensor 130 and the obstacle is greater than the installation distance of the LDS sensor 130.

[0098] The installation distance is the distance between the LDS sensor 130 and the edge of the self-moving device relative to the obstacle; the sensor distance is the distance between the LDS sensor 130 and the obstacle.

[0099] refer to Figure 3 If the sensor distance is greater than the installation distance, it can be determined that the self-moving device has not yet entered the concave area of ​​the obstacle with its lower edge recessed. At this time, the third distance is less than the second distance but greater than the first distance. The controller controls the self-moving device to move towards the obstacle a third distance so that the edge of the self-moving device relative to the obstacle enters the concave area, and cleans the concave area during the movement along the obstacle.

[0100] For example, if the sensor distance is 30 cm, the installation distance is 15 cm, and the second distance is 17 cm, then the first distance is the difference between the sensor distance and the installation distance, which is 15 cm. It can be determined that the self-moving device has not yet entered the concave area. At this time, the self-moving device is controlled to move towards the obstacle by a third distance, such as 16.5 cm, so that the edge of the self-moving device relative to the obstacle can enter the concave area.

[0101] Specifically, when the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: when the first distance is less than the second distance and the sensor distance between the LDS sensor 130 and the obstacle is greater than the installation distance of the LDS sensor 130, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0102] The third method involves dynamically determining the third distance by comparing the height of the concave region with the height of the self-moving device.

[0103] The height of the concave region refers to the distance from the upper wall of the concave region to the ground; the height of the self-moving device refers to the distance from the top of the housing 110 to the ground.

[0104] In one example, refer to Figure 3 The height of the concave region is greater than the height of the self-moving device. At this time, the third distance is less than the second distance but greater than the first distance; the controller controls the self-moving device to move the third distance toward the obstacle so that the edge of the self-moving device relative to the obstacle enters the concave region, and cleans the concave region during the movement along the obstacle.

[0105] Specifically, when the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: when the first distance is less than the second distance, determining whether the height of the concave region of the obstacle is greater than the height of the self-moving device; the concave region refers to the area on the obstacle that is at the second distance from the self-moving device; when the height of the concave region is greater than the height of the self-moving device, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein, the third distance is less than the second distance and greater than the first distance.

[0106] In another example, refer to Figure 4 The height of the concave region is less than or equal to the height of the self-moving device. In this case, the self-moving device cannot enter the concave region, and the third distance is less than the first distance.

[0107] In this embodiment, in order to determine whether the height of the concave area of ​​the obstacle is greater than the height of the self-moving device, optionally, a collision sensor 140 is also provided on the housing 110, and the collision sensor 140 is connected to the controller.

[0108] Optionally, the collision sensor 140 can be a pressure sensor, or it can be a tactile switch or a photoelectric sensor. This embodiment does not limit the type of the collision sensor 140.

[0109] In this embodiment, the collision sensor 140 is used to generate a collision signal and send it to the controller in the event of a collision with an obstacle. Correspondingly, the controller is also used to control the self-moving device to adjust its direction of travel upon receiving the collision signal.

[0110] Specifically, determining whether the height of the concave region of the obstacle is greater than the height of the self-moving device includes: controlling the self-moving device to move a test distance toward the obstacle, the test distance being greater than a first distance and less than a second distance; if no collision signal is obtained from the collision sensor on the self-moving device during the movement, then the height of the concave region of the obstacle is determined to be greater than or equal to the height of the self-moving device; if a collision signal is obtained from the collision sensor on the self-moving device during the movement, then the height of the concave region of the obstacle is determined to be less than the height of the self-moving device.

[0111] In other embodiments, the height of the concave region can also be determined by the point cloud data collected by the LDS sensor 130. This embodiment does not limit the method of determining whether the height of the concave region of the obstacle is greater than the height of the self-moving device.

[0112] Fourth, the concave depth of the concave region is less than or equal to the mounting distance of the LDS sensor 130. In this case, the LDS sensor 130 is mounted on the top of the self-moving device, and the mounting distance between the LDS sensor 130 and the edge of the self-moving device relative to the obstacle is greater than 0.

[0113] refer to Figure 3 When the depth of the concave region is less than or equal to the installation distance, that is, when the difference between the second distance and the first distance is less than or equal to the installation distance, the third distance is greater than the first distance and less than the second distance.

[0114] The controller controls the self-moving device to move a third distance toward the obstacle so that the edge of the self-moving device relative to the obstacle enters the concave area, and cleans the concave area as it moves along the obstacle.

[0115] For example, if the concave depth is 3 cm, the installation distance is 5 cm, and the first distance is 15 cm, then the second distance is 18 cm. At this time, the third distance is greater than 15 cm and less than 18 cm, and can be 16.5 cm, 17 cm or 17.8 cm, etc., so that after the self-moving device moves the third distance, the edge of the self-moving device relative to the obstacle can enter the concave area.

[0116] Specifically, when the first distance is less than or equal to the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: when the first distance is less than the second distance and the difference between the second distance and the first distance is less than the installation distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0117] Fifth, the concave depth of the concave area is greater than the installation distance of the LDS sensor 130.

[0118] When the depth of the concave region is greater than the installation distance of the LDS sensor 130, and the installation position of the LDS sensor 130 is located at the top of the housing 110, it is difficult for the self-moving device to clean the area outside the installation distance in the concave region. At the same time, in order to avoid the LDS sensor 130 from colliding with the obstacle and to ensure the safety of the self-moving device, the self-moving device can be controlled not to enter the concave region for cleaning, or the self-moving device can be controlled to move a fourth distance toward the obstacle and then move along the obstacle.

[0119] The fourth distance is less than the sum of the first distance and the installation distance to avoid the LDS sensor 130 colliding with obstacles.

[0120] Specifically, if the first distance is less than the second distance and the difference between the second distance and the first distance is greater than or equal to the installation distance, the self-moving device is controlled to move along the obstacle from the target position according to the obstacle edge contour indicated by the point cloud data; or, the self-moving device is controlled to move a fourth distance toward the obstacle, the fourth distance being less than the sum of the first distance and the installation distance.

[0121] For example: Reference Figure 5 Taking a first distance of 5 cm, a concave depth of 20 cm, and an installation distance of 10 cm as an example, at this time, the concave depth is greater than the installation distance of the LDS sensor 130, and the controller can control the self-moving device to move along the obstacle from the target position; or, the controller can control the self-moving device to move a fourth distance toward the obstacle so that the edge of the self-moving device relative to the obstacle can enter the concave area, at which time the fourth distance is less than 15 cm.

[0122] The sixth type is where the edge of the self-moving device relative to the obstacle is already located within the concave region, and the installation distance of the LDS sensor 130 is greater than the concave depth of the concave region.

[0123] refer to Figure 3 Before the self-moving device determines the first and second distances between itself and the obstacle, there is a possibility that the edge of the self-moving device relative to the obstacle is already located in the concave region. In this case, the mounting distance of the LDS sensor 130 will be greater than the sensor distance.

[0124] If the installation distance of the LDS sensor 130 is greater than the sensor distance, and if the installation distance is greater than the concave depth of the concave region, then after the mobile device moves a third distance toward the obstacle, it moves along the obstacle. At this time, the concave depth of the concave region can be represented by the sum of the first distance and the second distance, and the third distance is less than the second distance.

[0125] Specifically, when the first distance is less than the second distance, before moving the self-moving device along the obstacle according to the obstacle edge contour indicated by the point cloud data after controlling the self-moving device to move a third distance toward the obstacle when the installation distance of the LDS sensor is greater than the sensor distance, the method further includes: when the installation distance of the LDS sensor is greater than the sensor distance, before moving the self-moving device along the obstacle according to the obstacle edge contour indicated by the point cloud data after controlling the self-moving device to move a third distance toward the obstacle when the installation distance of the LDS sensor is greater than the sensor distance.

[0126] Specifically, when the installation distance of the LDS sensor is greater than the sensor distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: when the installation distance is greater than the sensor distance, determining whether the installation distance is greater than the sum of the first distance and the second distance; when the installation distance is greater than the sum of the first distance and the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0127] For example, if the installation distance is 4 cm, the sensor distance is 3 cm, the first distance is 1 cm, and the second distance is 2 cm, then the concave depth of the concave area is 3 cm. Since the installation distance is greater than the sensor distance, it can be determined that the edge of the self-moving device relative to the obstacle has entered the concave area. And since the installation distance is greater than the concave depth, the self-moving device can also move a third distance in the direction of the obstacle. The third distance is less than the second distance, such as 1.7 cm, 1.5 cm, or 1 cm.

[0128] In other embodiments, it is possible that the first distance is greater than or equal to the second distance.

[0129] For example, if the obstacle is a protruding obstacle (such as a step) and the LDS sensor 130 is installed at a height higher than the protruding area, the first distance will be greater than the second distance; or, if the LDS sensor 130 is installed at a height lower than the protruding or concave area, the first distance will be equal to the second distance.

[0130] At this point, the self-moving device can be controlled to move along the obstacle from the target position. The distance between the target position and the obstacle includes, but is not limited to, 0.5 cm or 1 cm.

[0131] Specifically, the self-moving device is also used to: move along the obstacle from the target position according to the obstacle edge profile indicated by the point cloud data, provided that the first distance is greater than or equal to the second distance.

[0132] Furthermore, since the light in the concave area is usually dimmer, the detection accuracy of the edge sensor 120 is lower than that of the point cloud data acquired by the LDS sensor 130. Therefore, in this embodiment, the self-moving device is controlled to move along the obstacle according to the obstacle edge contour indicated by the point cloud data, so that the self-moving device can move along the obstacle to facilitate operation around the obstacle.

[0133] Optionally, after controlling the self-moving device to move a third distance toward the obstacle, before moving along the obstacle according to the obstacle edge contour indicated by the point cloud data, the method further includes: linearly fitting the point cloud data to obtain the obstacle edge contour.

[0134] In one example, the least squares method is used to perform a linear fit on the point cloud data.

[0135] Optionally, after linearly fitting the point cloud data to obtain the obstacle edge contour, the method further includes: determining the edge-moving trajectory based on the obstacle edge contour; controlling the self-moving device to move along the edge-moving trajectory so that the self-moving device moves along the obstacle to facilitate working around the obstacle.

[0136] In addition, in this embodiment, when there are at least two target locations, the second distances collected at at least two target locations can be linearly fitted.

[0137] In other embodiments, if the first distance is less than the second distance, and the sensor distance between the LDS sensor 130 and the obstacle is greater than the installation distance of the LDS sensor 130, and if the difference between the second distance and the first distance is greater than or equal to a preset difference, the height of the concave region of the obstacle is greater than the height of the self-moving device, and the difference between the second distance and the first distance is less than or equal to the installation distance, then the self-moving device is controlled to move a third distance toward the obstacle so that the edge of the self-moving device relative to one side of the obstacle can enter the concave region for cleaning. If the difference between the second distance and the first distance is greater than the installation distance, then the self-moving device is controlled to move along the obstacle from the target position according to the obstacle edge contour indicated by the point cloud data; or, the self-moving device is controlled to move a fourth distance toward the obstacle. The fourth distance is less than the sum of the first distance and the installation distance.

[0138] If the installation distance of the LSD sensor 130 is greater than the sensor distance, and the installation distance is greater than the sum of the first distance and the second distance, the self-moving device is controlled to move a third distance toward the obstacle so that the edge of the self-moving device relative to the obstacle can enter the concave area for cleaning.

[0139] In summary, the self-moving device provided in this embodiment acquires point cloud data of obstacles collected by the self-moving device using an LDS sensor at a target location; determines a first distance between the self-moving device and the obstacle based on the point cloud data; acquires a second distance between the self-moving device and the obstacle determined by an edge sensor at the target location; and, if the first distance is less than the second distance, controls the self-moving device to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle's edge contour indicated by the point cloud data. This solves the problem that for obstacles with concave lower edges, the sensor has difficulty detecting information about the concave area, making it difficult for the self-moving device to clean the concave area and resulting in poor cleaning performance. The first distance is determined by point cloud data collected by the LDS sensor, and the second distance is detected by the edge sensor. Since the LDS sensor is installed above the edge sensor, the relationship between the first and second distances can be used to identify whether the obstacle is a concave obstacle. If the obstacle is a concave obstacle, the self-moving device is controlled to move towards the obstacle by a third distance, which is less than the second distance, so that the self-moving device enters the concave area. Therefore, the concave area can be cleaned, improving the cleaning effect of the self-moving device.

[0140] Meanwhile, because the light is dimmer in the concave area at the lower edge, the detection accuracy of the edge sensor is lower than that of the point cloud data collected by the LDS sensor. Therefore, controlling the self-moving device to move along the obstacle according to the obstacle edge contour indicated by the point cloud data, so that the self-moving device can move around the obstacle to work, can avoid collisions between the self-moving device and the obstacle, and can improve the working efficiency of the self-moving device.

[0141] In addition, when the first distance is less than the second distance and the difference between the second distance and the first distance is greater than or equal to a preset difference, that is, when the concave depth of the concave region is greater than the preset difference, controlling the edge of the self-moving device relative to the obstacle to enter the concave region for cleaning can improve the cleaning effect of the self-moving device.

[0142] In addition, when the first distance is less than the second distance and the sensor distance between the LDS sensor and the obstacle is greater than the installation distance of the LDS sensor, that is, when the self-moving device is located outside the concave area, controlling the edge of the self-moving device relative to the obstacle to enter the concave area for cleaning can improve the cleaning effect of the self-moving device.

[0143] In addition, when the first distance is less than the second distance and the height of the recessed area of ​​the obstacle is greater than the height of the self-moving device, controlling the edge of the self-moving device relative to one side of the obstacle to enter the recessed area for cleaning can improve the cleaning effect of the self-moving device and avoid multiple collisions between the self-moving device and the obstacle, thus preventing damage to the self-moving device and improving its safety.

[0144] In addition, by using a collision sensor to collide with an obstacle, it can determine whether the height of the concave area is greater than the height of the self-moving device. This eliminates the need to detect the height of the concave area through signals or point cloud data, thus saving resources for the self-moving device.

[0145] In addition, when the concave depth of the concave area is less than the installation distance of the LDS sensor, controlling the edge of the self-moving device relative to the obstacle to enter the concave area for cleaning can, on the one hand, prevent the LDS sensor from colliding with the obstacle and improve the safety of the self-moving device, and on the other hand, improve the cleaning effect of the self-moving device.

[0146] In addition, when the concave depth of the concave area is greater than or equal to the installation distance of the LDS sensor, controlling the self-moving device to move along the obstacle from the target position can avoid collisions between the LDS sensor and the obstacle, thus improving the safety of the self-moving device; or, controlling the self-moving device to move a fourth distance toward the obstacle so that the edge of the self-moving device relative to the obstacle enters the concave area for cleaning can improve the cleaning effect of the self-moving device.

[0147] In addition, when the first distance is greater than or equal to the second distance, that is, when the obstacle is not an obstacle with a concave lower edge or the LDS sensor is installed at a position lower than the height of the concave area, controlling the self-moving device to move along the obstacle from the target position can improve the cleaning effect of the self-moving device.

[0148] The control method for the self-moving device provided in this application will be described in detail below.

[0149] This embodiment provides a control method for a self-moving device, such as... Figure 6 As shown. This embodiment uses this method for... Figure 1 The method will be illustrated using the controller of the self-moving device shown as an example. The method includes at least the following steps:

[0150] Step 601: Obtain point cloud data of obstacles collected by the mobile device using an LDS sensor at the target location.

[0151] Step 602: Determine the first distance between the self-moving device and the obstacle based on the point cloud data.

[0152] Step 603: Obtain the second distance between the self-moving device and the obstacle at the target location, determined by the edge sensor.

[0153] Step 604: If the first distance is less than the second distance, control the self-moving device to move a third distance toward the obstacle, and then move along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0154] The third distance is smaller than the second distance.

[0155] Optionally, if the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: if the first distance is less than the second distance and the difference between the second distance and the first distance is greater than or equal to a preset difference, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein the third distance is less than the second distance and greater than the first distance.

[0156] Optionally, if the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: if the first distance is less than the second distance and the sensor distance between the LDS sensor and the obstacle is greater than the installation distance of the LDS sensor, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0157] The installation distance is the distance between the LDS sensor and the edge of the self-moving device relative to the obstacle; the sensor distance is the distance between the LDS sensor and the obstacle.

[0158] Optionally, if the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: if the first distance is less than the second distance, determining whether the height of the concave region of the obstacle is greater than the height of the self-moving device; the concave region refers to the area on the obstacle that is a second distance away from the self-moving device; if the height of the concave region is greater than the height of the self-moving device, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein, the third distance is less than the second distance and greater than the first distance.

[0159] Determining whether the height of the concave region of the obstacle is greater than the height of the self-moving device includes: controlling the self-moving device to move a test distance toward the obstacle, the test distance being greater than a first distance and less than a second distance;

[0160] If no collision signal is received from the collision sensor on the self-moving device during movement, it is determined that the height of the concave area of ​​the obstacle is greater than or equal to the height of the self-moving device; if a collision signal is received from the collision sensor on the self-moving device during movement, it is determined that the height of the concave area of ​​the obstacle is less than the height of the self-moving device.

[0161] Optionally, the LDS sensor is mounted on top of the self-moving device, and the mounting distance between the LDS sensor and the edge of the self-moving device relative to the obstacle is greater than 0.

[0162] Accordingly, when the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: when the first distance is less than the second distance and the difference between the second distance and the first distance is less than or equal to the installation distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0163] In addition, if the first distance is less than the second distance and the difference between the second distance and the first distance is greater than the installation distance, the self-moving device is controlled to move along the obstacle from the target position according to the obstacle edge contour indicated by the point cloud data; or, the self-moving device is controlled to move a fourth distance toward the obstacle, the fourth distance being less than the sum of the first distance and the installation distance.

[0164] Optionally, if the first distance is less than the second distance, before moving the self-moving device along the obstacle according to the obstacle edge contour indicated by the point cloud data after controlling the self-moving device to move a third distance toward the obstacle when the first distance is less than the second distance, the method further includes: if the installation distance of the LDS sensor is greater than the sensor distance, after controlling the self-moving device to move a third distance toward the obstacle, moving along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0165] The installation distance is the distance between the LDS sensor and the edge of the self-moving device relative to the obstacle; the sensor distance is the distance between the LDS sensor and the obstacle.

[0166] In addition, when the installation distance of the LDS sensor is greater than the sensor distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: when the installation distance is greater than the sensor distance, determining whether the installation distance is greater than the sum of the first distance and the second distance; when the installation distance is greater than the sum of the first distance and the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

[0167] Optionally, if the first distance is greater than or equal to the second distance, the device moves along the obstacle from the target position according to the obstacle edge profile indicated by the point cloud data.

[0168] The relevant descriptions in this embodiment refer to the above embodiments, and will not be repeated here.

[0169] As can be seen from the above embodiments, the control method for the self-moving device provided in this embodiment obtains point cloud data of obstacles collected by the self-moving device using an LDS sensor at the target location; determines a first distance between the self-moving device and the obstacle based on the point cloud data; obtains a second distance between the self-moving device and the obstacle determined by an edge sensor at the target location; and, if the first distance is less than the second distance, controls the self-moving device to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data. This can solve the problem that for obstacles with concave lower edges, the sensor has difficulty detecting information about the concave area, making it difficult for the self-moving device to clean the concave area, resulting in poor cleaning effect of the self-moving device. The first distance is determined by point cloud data collected by the LDS sensor, and the second distance is detected by the edge sensor. Since the LDS sensor is installed above the edge sensor, the relationship between the first and second distances can be used to identify whether the obstacle has a concave lower edge. If the obstacle has a concave lower edge, the self-moving device is controlled to move towards the obstacle a third distance, which is less than the second distance, so that the self-moving device enters the concave area. Therefore, the concave area can be cleaned, improving the cleaning effect of the self-moving device. However, because the light is dimmer in the concave lower edge area, the detection accuracy of the edge sensor is lower than that of the point cloud data collected by the LDS sensor 130. Therefore, controlling the self-moving device to move along the obstacle according to the obstacle edge contour indicated by the point cloud data allows the self-moving device to move around the obstacle, avoiding collisions and improving the working efficiency of the self-moving device.

[0170] This embodiment provides a control device for a self-moving device, such as... Figure 7 As shown. This embodiment applies the device to... Figure 1 The controller of the self-moving device shown includes at least the following modules: a data acquisition module 701, a distance determination module 702, a distance acquisition module 703, and a movement control module 704.

[0171] The data acquisition module 701 is used to acquire point cloud data of obstacles collected by the mobile device using an LDS sensor at the target location.

[0172] The distance determination module 702 is used to determine the first distance between the self-moving device and the obstacle based on point cloud data.

[0173] The distance acquisition module 703 is used to acquire a second distance between the self-moving device and the obstacle, determined by the edge sensor at the target location.

[0174] The motion control module 704 is used to control the self-moving device to move a third distance toward the obstacle when the first distance is less than the second distance, and then move along the obstacle edge contour indicated by the point cloud data.

[0175] For relevant details, please refer to the above-described method and equipment embodiments.

[0176] It should be noted that the 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 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 control device for the self-moving device provided in the above embodiments and the 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.

[0177] This embodiment provides an electronic device, such as... Figure 8 As shown. Electronic devices can be Figure 1 A self-moving device. The electronic device includes at least a processor 801 and a memory 802.

[0178] Processor 801 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 801 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 801 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 801 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 801 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0179] The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 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 802 are used to store at least one instruction, which is executed by the processor 801 to implement the control method for the self-moving device provided in the method embodiments of this application.

[0180] In some embodiments, the electronic device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 801, memory 802, 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 circuitry, a touch display screen, audio circuitry, and a power supply.

[0181] Of course, electronic devices may also include fewer or more components, and this embodiment does not limit this.

[0182] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the self-moving device control method of the above method embodiments.

[0183] 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.

[0184] 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.

Claims

1. A control method for a self-moving device, characterized in that, The self-moving device includes an LDS sensor and a non-contact edge sensor; on the self-moving device, the LDS sensor is mounted above the edge sensor, and the method includes: Acquire point cloud data of obstacles collected by the self-moving device using the LDS sensor at the target location; The first distance between the self-moving device and the obstacle is determined based on the point cloud data; The second distance between the self-moving device and the obstacle is determined by the edge sensor at the target location; If the first distance is less than the second distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; the third distance is less than the second distance.

2. The method according to claim 1, characterized in that, When the first distance is less than the second distance, controlling the self-moving device to move a third distance toward the obstacle, and then moving along the obstacle according to the obstacle edge contour indicated by the point cloud data, includes: When the first distance is less than the second distance and the difference between the second distance and the first distance is greater than or equal to a preset difference, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein, the third distance is less than the second distance and greater than the first distance.

3. The method according to claim 1, characterized in that, When the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: When the first distance is less than the second distance and the sensor distance between the LDS sensor and the obstacle is greater than the installation distance of the LDS sensor, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data. Wherein, the installation distance is the distance between the LDS sensor and the edge of the self-moving device relative to the obstacle; the sensor distance is the distance between the LDS sensor and the obstacle.

4. The method according to claim 1, characterized in that, When the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: If the first distance is less than the second distance, determine whether the height of the concave region of the obstacle is greater than the height of the self-moving device; the concave region refers to the area on the obstacle that is at the second distance from the self-moving device. When the height of the concave region is greater than the height of the self-moving device, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data; wherein the third distance is less than the second distance and greater than the first distance.

5. The method according to claim 4, characterized in that, Determining whether the height of the concave region of the obstacle is greater than the height of the self-moving device includes: The self-moving device is controlled to move towards the obstacle by a test distance, the test distance being greater than the first distance and less than the second distance; If no collision signal is received from the collision sensor on the self-moving device during the movement, it is determined that the height of the concave region of the obstacle is greater than or equal to the height of the self-moving device. If a collision signal is detected by the collision sensor on the self-moving device during movement, it is determined that the height of the concave region of the obstacle is less than the height of the self-moving device.

6. The method according to claim 1, characterized in that, The LDS sensor is mounted on the top of the self-moving device, and the mounting distance between the LDS sensor and the edge of the self-moving device relative to the obstacle is greater than 0. Accordingly, when the first distance is less than the second distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: If the first distance is less than the second distance, and the difference between the second distance and the first distance is less than or equal to the installation distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

7. The method according to claim 6, characterized in that, The method further includes: If the first distance is less than the second distance and the difference between the second distance and the first distance is greater than the installation distance, the self-moving device is controlled to move along the obstacle from the target position according to the obstacle edge contour indicated by the point cloud data; or, the self-moving device is controlled to move a fourth distance toward the obstacle, the fourth distance being less than the sum of the first distance and the installation distance.

8. The method according to any one of claims 1 to 7, characterized in that, If the first distance is less than the second distance, before moving the self-moving device a third distance toward the obstacle according to the obstacle edge contour indicated by the point cloud data, after controlling the self-moving device to move toward the obstacle, the method further includes: When the installation distance of the LDS sensor is greater than the sensor distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data. Wherein, the installation distance is the distance between the LDS sensor and the edge of the self-moving device relative to the obstacle; the sensor distance is the distance between the LDS sensor and the obstacle.

9. The method according to claim 8, characterized in that, When the installation distance of the LDS sensor is greater than the sensor distance, after controlling the self-moving device to move a third distance toward the obstacle, it moves along the obstacle according to the obstacle edge contour indicated by the point cloud data, including: If the installation distance is greater than the sensor distance, determine whether the installation distance is greater than the sum of the first distance and the second distance; If the installation distance is greater than the sum of the first distance and the second distance, the self-moving device is controlled to move a third distance toward the obstacle, and then moves along the obstacle according to the obstacle edge contour indicated by the point cloud data.

10. The method according to any one of claims 1 to 7, characterized in that, The method further includes: If the first distance is greater than or equal to the second distance, move along the obstacle from the target position according to the obstacle edge profile indicated by the point cloud data.

11. An electronic device, characterized in that, The electronic device includes a processor and a memory; the memory stores a program, which is loaded and executed by the processor to implement the control method of the self-moving device as described in any one of claims 1 to 10.

12. 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 control method for the self-moving device as described in any one of claims 1 to 10.

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