Warehousing processing method and self-moving device

Abstract

The invention provides a warehousing processing method and self-moving equipment, and the method comprises the steps: controlling the self-moving equipment to move to a first position, enabling the self-moving equipment to be in a first posture at the first position, and enabling a sensor of the self-moving equipment to be aligned with an entrance of a preset closed garage when the self-moving equipment is in the first posture; the self-moving device is controlled to collect environment information in the preset closed garage through the sensor; if it is determined that foreign matter exists in the preset closed garage according to the environment information, the self-moving device is controlled to execute a preset strategy, and the preset strategy comprises a reminding strategy for sending out an alarm signal and / or a driving strategy for executing foreign matter driving operation; if it is determined that no foreign matter exists in the preset closed garage according to the environment information, the self-moving device is controlled to move into the preset closed garage. According to the invention, the moving safety of the self-moving equipment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a warehousing processing method and a self-moving equipment. Background Art

[0002] With the continuous advancement of technology and the rapid development of artificial intelligence, the use of autonomous mobile devices (such as lawn mowers, cleaners, cruisers, etc.) to perform operations can greatly improve work efficiency. In actual scenarios, users may equip autonomous mobile devices with garages for them to dock when charging or shutting down.

[0003] However, since there may be foreign objects in the garage, there is a problem that the self-moving device may collide with the foreign objects when the self-moving device is parked in the garage, which reduces safety. Summary of the invention

[0004] In view of the above, it is necessary to provide a warehousing processing method and a self-moving device, which can solve the technical problem of low safety of the self-moving device when docking at a garage.

[0005] In a first aspect, an embodiment of the present application provides a warehousing processing method, the method comprising: controlling a self-moving device to move to a first position, and making the self-moving device be in a first posture at the first position, wherein, in the first posture, a sensor of the self-moving device is aimed at the entrance of a preset closed garage; controlling the self-moving device to collect environmental information in the preset closed garage through the sensor; if it is determined based on the environmental information that there is a foreign object in the preset closed garage, controlling the self-moving device to execute a preset strategy, wherein the preset strategy includes a reminder strategy of issuing an alarm signal and / or an expulsion strategy of executing a foreign object expulsion operation; if it is determined based on the environmental information that there is no foreign object in the preset closed garage, controlling the self-moving device to move into the preset closed garage.

[0006] In a feasible embodiment, the sensor includes a fill light and a camera, and controlling the self-mobile device to collect environmental information in the preset closed garage through the sensor includes: controlling the fill light to illuminate the preset closed garage; controlling the camera to collect an environmental image in the preset closed garage, and obtaining the environmental information based on the environmental image.

[0007] In a feasible embodiment, controlling the self-moving device to move to a first position and making the self-moving device be in a first posture at the first position includes: determining an initial position of the self-moving device in response to a warehousing instruction; determining a first moving path based on the initial position and the first position; controlling the self-moving device to move to the first position based on the first moving path; and controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to the first posture.

[0008] In a feasible embodiment, controlling the self-moving device to move to a first position and making the self-moving device be in a first posture at the first position also includes: determining an initial position of the self-moving device in response to a warehousing instruction; determining a second moving path based on the initial position and the first position; and controlling the self-moving device to move to the first position based on the second moving path, and the posture of the self-moving device reaches the first position in the first posture.

[0009] In a feasible embodiment, the method also includes: obtaining a preset baseline image; if the similarity between the environmental image and the baseline image is greater than or equal to a preset threshold, determining that there is no foreign object in the preset closed garage; if the similarity between the environmental image and the baseline image is less than the preset threshold, determining that there is a foreign object in the preset closed garage, and the baseline image is an image taken by the self-moving device through the camera at the first position and in the first posture; or determining an object category corresponding to the environmental image; if the object category does not include an object category other than the preset baseline category, determining that there is no foreign object in the preset closed garage; if the object category includes an object category other than the baseline category, determining that there is a foreign object in the preset closed garage.

[0010] In a feasible embodiment, controlling the self-moving device to execute a preset strategy includes: outputting an alarm signal; and / or when the foreign object is a preset foreign object, controlling the fill light to expel the foreign object.

[0011] In a feasible embodiment, controlling the self-moving device to move into the preset closed garage includes: controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to a second posture; and controlling the self-moving device to move to a second position in the preset closed garage based on the second posture.

[0012] In a feasible embodiment, controlling the self-moving device to move into the preset closed garage includes: controlling the self-moving device to move to a third position; controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to a second posture; and controlling the self-moving device to move to a second position in the preset closed garage based on the second posture.

[0013] In a feasible embodiment, the preset closed garage is provided with a charging device, the charging device includes a signal transmitter, the self-moving device includes a signal receiver, and the controlling the self-moving device to move into the preset closed garage includes: receiving a signal transmitted by the signal transmitter through the signal receiver; determining the relative position information between the self-moving device and the charging device according to the received signal; according to the relative position information, controlling the self-moving device to rotate so that the charging contact of the self-moving device is aligned with the charging interface of the charging device; in response to a docking completion signal, controlling the self-moving device to stop moving so that the self-moving device moves to a second position in the preset closed garage.

[0014] In a second aspect, an embodiment of the present application also provides a warehousing processing device, the device comprising: a posture control module, used to control the self-moving device to move to a first position, and to make the self-moving device be in a first posture at the first position, wherein in the first posture, the sensor of the self-moving device is aimed at the entrance of a preset closed garage; an environment acquisition module, used to control the self-moving device to collect environmental information in the preset closed garage through the sensor; a strategy execution module, used to control the self-moving device to execute a preset strategy if it is determined that there is a foreign object in the preset closed garage based on the environmental information, wherein the preset strategy includes a reminder strategy for issuing an alarm signal and / or an expulsion strategy for executing a foreign object expulsion operation; a warehousing control module, used to control the self-moving device to move into the preset closed garage if it is determined that there is no foreign object in the preset closed garage based on the environmental information.

[0015] In a third aspect, an embodiment of the present application further provides a self-moving device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-mentioned warehousing processing methods when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor in a mobile device, the computer program implements any of the above-mentioned warehousing processing methods.

[0017] In the warehousing processing method of this embodiment, the self-moving device is controlled to move to a first position, and the self-moving device is placed in a first posture at the first position, wherein in the first posture, the sensor of the self-moving device is aimed at the entrance of the preset closed garage; the self-moving device is controlled to collect environmental information in the preset closed garage through the sensor; if it is determined that there is a foreign object in the preset closed garage according to the environmental information, the self-moving device is controlled to execute a preset strategy, wherein the preset strategy includes a reminder strategy of issuing an alarm signal and / or a driving strategy of executing a foreign object driving operation; if it is determined that there is no foreign object in the preset closed garage according to the environmental information, the self-moving device is controlled to move into the preset closed garage. The above method adjusts the posture of the self-moving device to the first posture, so that the self-moving device can collect environmental information in the preset closed garage at the first position, thereby improving the convenience of environmental information collection; and the present application determines whether there is a foreign object in the preset closed garage according to the environmental information, and when there is no foreign object in the preset closed garage, controls the self-moving device to move into the preset closed garage, thereby avoiding the problem of foreign object collision in the process of the self-moving device moving to the preset closed garage, thereby improving the safety of movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an application scenario diagram of the warehousing processing method provided in an embodiment of the present application.

[0019] Figure 2 A flow chart of the warehousing processing method provided in an embodiment of the present application.

[0020] Figure 3 It is a flow chart of the environmental information collection method provided in an embodiment of the present application.

[0021] Figure 4 This is a schematic diagram of posture adjustment of a self-moving device provided in the first embodiment of the present application.

[0022] Figure 5 This is a schematic diagram of posture adjustment of a self-moving device provided in the second embodiment of the present application.

[0023] Fig. 6A It is a schematic diagram of the process of foreign body determination provided in the first embodiment of the present application.

[0024] Figure 6B It is a schematic diagram of the process of foreign body determination provided in the second embodiment of the present application.

[0025] Figure 7 It is a flow chart of the second posture adjustment method provided in an embodiment of the present application.

[0026] Figure 8It is a flow chart of the second posture adjustment method provided in an embodiment of the present application.

[0027] Fig. 9 It is a flowchart of the docking determination method provided in an embodiment of the present application.

[0028] Fig.10 It is a structural schematic diagram of the storage processing device provided in an embodiment of the present application.

[0029] Fig.11 It is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0032] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0033] The storage processing method provided in the embodiment of the present application can be applied to one or more self-moving devices, which can be lawn mowers, cleaning machines, cruisers, harvesters, loading and unloading forklifts, and automated guided vehicles (AGVs). Figure 1 The application scenario of the storage processing method provided in the embodiment of the present application is described. Figure 1As shown, the application scenario includes a self-mobile device 10, a charging device 20 and a preset closed garage 30. The preset closed garage 30 can be used to provide a charging place for the self-mobile device 10 or for the self-mobile device 10 to dock when it is turned off. The preset closed garage 30 includes at least one entrance, so that the self-mobile device 10 can dock from the entrance into the preset closed garage 30. In one embodiment, the charging device 20 can be set in the preset closed garage 30, and the self-mobile device 10 can be charged in the preset closed garage 30 through the charging device 20.

[0034] In some embodiments, the self-mobile device 10 includes a first charging contact 10a, a first charging contact 10b, and a sensor 10c. The positions of the first charging contact 10a, the first charging contact 10b, and the sensor 10c in the self-mobile device 10 can be set according to actual needs. The first charging contact 10a and the first charging contact 10b need to be arranged at the same end of the self-mobile device 10, for example, the rear end; the sensor 10c can be arranged at the front end of the self-mobile device 10. Among them, the first charging contact 10a and the first charging contact 10b are used to connect with the charging device 20, so that the charging device 20 can charge the self-mobile device 10. The sensor 10c is used to collect environmental information in the preset closed garage 30. The sensor 10c may include but is not limited to: a camera, a fill light, and a radar, etc. The radar may include a laser radar or a millimeter wave radar, etc.

[0035] In some embodiments, the charging device 20 includes a first charging interface 20a, a first charging interface 20b, and a signal transmitter 20c. By receiving a signal from the signal transmitter 20c, the self-mobile device 10 is controlled to adjust its posture so that the first charging contact 10a located behind the self-mobile device 10 is aligned with the first charging interface 20a of the charging device 20, and the first charging contact 10b is aligned with the first charging interface 20b of the charging device 20. In some embodiments, the self-mobile device 10 is controlled to move toward the entrance of the preset closed garage 30, enter the preset closed garage 30 through the entrance of the preset closed garage 30, and drive towards the charging device 20 until the first charging contact 10a contacts the first charging interface 20b, and the first charging contact 10b contacts the first charging device 20b to generate a docking success signal, and the self-mobile device 10 is controlled to stop driving.

[0036] In some embodiments, there may be foreign objects in the preset closed garage 30. When the self-mobile device 10 is controlled to dock at the preset closed garage 30 (for example, the self-mobile device 10 is controlled to move toward the charging device 20), there may be a problem of collision between the self-mobile device and the foreign objects. Among them, foreign objects can refer to objects that hinder or obstruct the movement of the self-mobile device 10. Foreign objects may include but are not limited to stones, tree roots, piled up fallen leaves, toys, sports equipment, animals, and pedestrians. Based on this, the present application controls the self-mobile device 10 to move to a first position, and makes the self-mobile device 10 in a first posture at the first position, so that the self-mobile device 10 can collect environmental information in the preset closed garage 30, determine whether there are foreign objects in the preset closed garage 30 based on the environmental information, and when there are no foreign objects in the preset closed garage 30, control the self-mobile device 10 to move into the preset closed garage 30, avoid the problem of collision with foreign objects in the process of moving the self-mobile device 10 to the preset closed garage 30, and improve the safety of movement. The first position may include a position on the central axis L of the preset closed garage 30 and at a preset distance from the entrance. For example, the first position may be a position on the central axis L of the preset closed garage 30 and 5 meters from the entrance. When the self-moving device 10 is in the first posture, the sensor 10c of the self-moving device 10 is aligned with the entrance of the preset closed garage 30, and the environmental information in the preset closed garage 30 is collected through the sensor 10c.

[0037] In order to more clearly illustrate the warehousing processing method provided by the embodiment of the present application, the present application will describe the technical solution of the present application in detail through specific embodiments below. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0038] In some embodiments, the warehousing processing method provided in the embodiments of the present application can be applied to one or more electronic devices, which are connected to the self-moving device, and the electronic device can be used to control the movement of the self-moving device. For example, the electronic device can be a computer, a tablet, a mobile phone, a server, a cloud server, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc. In other embodiments, the warehousing processing method provided in the embodiments of the present application can be applied to the self-moving device. For example, the self-moving device can be a lawn mower, a cleaning machine, a cruise machine, a harvester, a loading and unloading forklift, and an automated guided vehicle (AGV). The embodiments of the present application are described by taking the warehousing processing method applied to the self-moving device as an example.

[0039] like Figure 2 , which is a flow chart of the warehousing processing method provided by the embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a self-moving device (such as Figure 1 The self-mobile device 10) in the embodiment comprises the following steps:

[0040] S11, controlling the self-moving device to move to a first position, and making the self-moving device be in a first posture at the first position, wherein in the first posture, a sensor of the self-moving device is aligned with an entrance of a preset closed garage.

[0041] In at least one embodiment of the present application, in response to a storage instruction, the self-mobile device is controlled to move to a first position, and the self-mobile device is placed in a first posture at the first position. The self-mobile device can provide a human-computer interaction method, and the user can input the storage instruction in the self-mobile device through a keyboard, a mouse, a remote control, a touchpad or a voice control device. The storage instruction can be used to instruct the self-mobile device to enter a preset closed garage and perform operations such as shutdown, docking or charging in the preset closed garage. In some other embodiments, before controlling the self-mobile device to move to the first position and placing the self-mobile device in the first posture at the first position, the method also includes: determining the remaining power of the self-mobile device; when the remaining power is less than or equal to the preset power threshold, controlling the self-mobile device to move to the first position, and placing the self-mobile device in the first posture at the first position; and / or determining the working time; when the working time is in a preset time period, the self-mobile device moves to the first position, and places the self-mobile device in the first posture at the first position. Among them, the preset power threshold and the preset time period can be set according to actual needs. For example, the preset power threshold can be 10%, 20% and 30%, etc., and the preset time period can be a high temperature and high electricity price time period such as 10:00-15:00, etc., which are not limited here. The embodiment of the present application monitors the remaining power of the self-moving device and promptly controls the self-moving device to return to the preset closed garage for charging when the remaining power is less than the preset power threshold, thereby ensuring that the self-moving device can work normally; in addition, the embodiment of the present application monitors the current working time of the self-moving device and promptly controls the self-moving device to return to the preset closed garage for docking when the current working time is the preset time period, which can effectively reduce energy consumption costs and improve the working efficiency of the self-moving device.

[0042] In some embodiments, the first position may represent a position where the self-mobile device can collect environmental information in a preset closed garage. The number of first positions may be one or more. When the number of first positions is one, the first position may be a position on the central axis of the preset closed garage and at a first preset distance from the entrance. When the number of first positions is multiple, the first position may include a position on the central axis of the preset closed garage and at a first preset distance from the entrance, a position on the central axis of the preset closed garage and at a second preset distance from the entrance, and a position that deviates from the central axis of the preset closed garage by a preset angle and at a third preset distance from the entrance. Among them, the first preset distance is different from the second preset distance. The preset angle can be set according to actual needs and is not limited here. In some embodiments, when the number of first positions is multiple, any first position can be randomly selected from multiple first positions, and the self-mobile device can be controlled to move to the selected first position. By setting multiple first positions, the embodiment of the present application can reduce the wear of the lawn by the self-mobile device at the first position.

[0043] In some embodiments, the first preset distance, the second preset distance and the third preset distance can all be determined based on the clarity and the collection field of view of the environmental information collected from the mobile device. Taking the first preset distance as an example, the smaller the first preset distance is, the closer the distance between the mobile device and the entrance of the preset closed garage is, the higher the clarity of the collected environmental information is, and the smaller the collection field of view is; the smaller the first preset distance is, the farther the distance between the mobile device and the entrance of the preset closed garage is, the larger the collection field of view of the collected environmental information is, and the lower the clarity is. In some embodiments, a first correspondence between the first preset distance and the clarity of the collection, and a second correspondence between the first preset distance and the collection field of view can be pre-set. Based on the preset clarity requirements and the collection field of view requirements, the first preset distance can be determined by querying the first correspondence and the second correspondence. Correspondingly, by setting different clarity requirements and collection field of view requirements, the second preset distance can be obtained. The embodiment of the present application determines the first preset distance and the second preset distance based on the clarity and the collection field of view of the environmental information collected from the mobile device, and then determines the first position, so that the environmental information collected by the mobile device at the first position meets the requirements of clarity and collection field of view, improves the accuracy of environmental information determination, and thus improves the accuracy of warehousing processing.

[0044] In some embodiments, the first posture may represent a posture in which the self-mobile device can collect environmental information in a preset closed garage. Following the above embodiment, the self-mobile device includes a sensor, which is disposed at the front end of the self-mobile device and is used to collect environmental information in the preset closed garage. Based on this, the first posture may represent a posture in which the sensor of the self-mobile device is aimed at the entrance of the preset closed garage. When the self-mobile device is in the first posture, it can collect environmental information in the preset closed garage through the sensor.

[0045] In some embodiments, the self-mobile device may determine the current position in the working area (for ease of description, referred to as "initial position" in this application) by real-time kinematic positioning technology (RTK). The self-mobile device may store a work map, which may include various information required by the self-mobile device in the working area, such as the location of objects such as roads, buildings, obstacles, preset closed garages, and maintenance equipment. The self-mobile device may determine the location of the preset closed garage and the first location by parsing the work map.

[0046] In some embodiments, a first moving path may be planned, and after the self-moving device is controlled to move from the initial position to the first position according to the first moving path, it may be monitored whether the posture of the self-moving device at the first position is the first posture; if the monitoring result shows that the posture of the self-moving device at the first position is the first posture, the sensor of the self-moving device is used to collect environmental information in the preset closed garage; if the monitoring result shows that the posture of the self-moving device at the first position is not the first posture, the self-moving device is controlled to adjust the posture at the first position so that the posture of the self-moving device is the first posture. The posture adjustment method may include self-rotation or steering, etc., which are not limited here.

[0047] In other embodiments, the second moving path may be pre-planned so that when the self-moving device moves from the initial position to the first position according to the second moving path, the posture of the self-moving device is the first posture. In the second embodiment, by planning the moving path, when the self-moving device moves from the initial position to the first position, the posture of the self-moving device is the first posture, thereby avoiding frequent posture adjustments at the first position that cause wear and tear on the lawn in the working area, and reducing the actions of adjusting the posture, thereby improving the efficiency of environmental information collection.

[0048] S12, controlling the mobile device to collect environmental information in the preset closed garage through the sensor.

[0049] In at least one embodiment of the present application, the environmental information corresponds to the type of sensor. When the sensor includes a fill light and a camera, the corresponding environmental information is an environmental image; when the sensor is a radar, the corresponding environmental information is point cloud information; when the sensor includes a fill light, a camera, and a radar, the corresponding environmental information includes at least one of an environmental image and point cloud information. Among them, the camera may include an infrared thermal imaging camera, a panoramic camera, etc., which are not limited here. The fill light is used to fill light for the camera, and the fill light may include an infrared fill light, a white light, a soft light, etc. The radar may include a laser radar, a millimeter wave radar, etc.

[0050] S13, if it is determined according to the environmental information that there is a foreign object in the preset closed garage, the self-moving device is controlled to execute a preset strategy, wherein the preset strategy includes a reminder strategy of issuing an alarm signal and / or a driving away strategy of executing a foreign object driving away operation.

[0051] In at least one embodiment of the present application, foreign matter may refer to an object that hinders or obstructs the movement of a self-moving device, and the foreign matter may include, but is not limited to, stones, tree roots, piled up fallen leaves, toys, sports equipment, animals, and pedestrians. Determining whether there is a foreign matter in a preset closed garage based on environmental information may include determining whether there is a foreign matter in a path where the self-moving device moves from a first position to a preset closed garage and whether there is a foreign matter at a charging device in the preset closed garage based on environmental information. When it is determined that there is no foreign matter in the path where the self-moving device moves from a first position to a preset closed garage and there is no foreign matter at a charging device in the preset closed garage, it is determined that there is no foreign matter in the preset closed garage; when it is determined that there is a foreign matter in the path where the self-moving device moves from a first position to a preset closed garage, or there is a foreign matter at a charging device in the preset closed garage, it is determined that there is a foreign matter in the preset closed garage.

[0052] In some embodiments, following the above embodiments, the environmental information may include at least one of an environmental image or point cloud information. When the environmental information is an environmental image, in one embodiment, the environmental image may be compared with a preset reference image. If the environmental image is similar to the reference image, it is determined that there is no foreign object in the preset closed garage; if the environmental image is not similar to the reference image, it is determined that there is a foreign object in the preset closed garage. In other embodiments, the object category corresponding to the environmental image may also be determined, and whether there is a foreign object in the preset closed garage may be determined based on the object category. When the environmental information is point cloud information, in one embodiment, the point cloud information may be compared with the reference point cloud. If the point cloud information is similar to the reference point cloud, it is determined that there is no foreign object in the preset closed garage; if the point cloud information is not similar to the reference point cloud, it is determined that there is a foreign object in the preset closed garage. In other embodiments, the point cloud category corresponding to the point cloud information may also be determined, and whether there is a foreign object in the preset closed garage may be determined based on the point cloud category.

[0053] In some embodiments, the reference image may represent an image of the preset closed garage collected by the mobile device at the first position using a sensor when there is no foreign object in the preset closed garage. In accordance with the above embodiment, the number of first positions may be one or more, and when the number of first positions is multiple, each first position has a corresponding reference image. Before comparing the environment image with the reference image, the method further includes: determining the first position corresponding to the environment image, and obtaining the reference image based on the determined first position. The embodiment of the present application determines the first position corresponding to the environment image, and then selects the reference image based on the determined first position. By selecting the reference image closest to the environment image for comparison, the accuracy of foreign object detection can be improved. Correspondingly, the reference point cloud may represent point cloud information of the preset closed garage collected by the mobile device at the first position using a sensor when there is no foreign object in the preset closed garage. In accordance with the above embodiment, the number of first positions may be one or more, and when the number of first positions is multiple, each first position has a corresponding reference point cloud. Before comparing the point cloud information with the reference point cloud, the method further includes: determining the first position corresponding to the point cloud information, and obtaining the reference point cloud based on the determined first position. The embodiment of the present application determines the first position corresponding to the point cloud information, and then selects a reference point cloud based on the determined first position. By selecting the reference point cloud closest to the point cloud information for comparison, the accuracy of foreign object detection can be improved.

[0054] In some embodiments, an object category recognition model is pre-trained, and the input data of the object category recognition model is the environment image, and the output data is the object category contained in the environment image. Among them, the object category recognition model may include but is not limited to convolutional neural network models such as LeNet-5, AlexNet, VGGNet, ResNet, Inception, or supervised learning models such as support vector machines, and this application does not limit this. Accordingly, a point cloud category recognition model can also be pre-trained, and the input data of the point cloud category recognition model is point cloud information, and the output data is the point cloud category contained in the point cloud information. Among them, the point cloud category recognition model may include but is not limited to PointNet, PointNet++, KPConv and other models. The above examples of models are only examples and are not limited to this in actual applications.

[0055] In some embodiments, if it is determined based on the environmental information that there are foreign objects in the preset closed garage, the self-mobile device is controlled to execute a preset strategy, wherein the preset strategy includes a reminder strategy and a drive-away strategy. The reminder strategy can be used to remind the operator to clean up the foreign objects in time. For example, the self-mobile device is provided with a buzzer, and an alarm signal can be sent through the buzzer; or, the self-mobile device is connected to the user terminal, and the self-mobile device sends an alarm signal to the user terminal to notify the user to clean up the foreign objects in time. The drive-away strategy is used to drive away foreign objects. For example, the self-mobile device includes a fill light, and the fill light can be controlled to illuminate the preset closed garage to achieve the drive-away of foreign objects.

[0056] S14, if it is determined according to the environmental information that there is no foreign object in the preset closed garage, control the mobile device to move into the preset closed garage.

[0057] In the warehousing processing method of the present embodiment, by adjusting the posture of the self-moving device to the first posture, the self-moving device can collect environmental information in the preset closed garage at the first position, thereby improving the convenience of collecting environmental information; and the present application determines whether there are foreign objects in the preset closed garage based on the environmental information, and when there are no foreign objects in the preset closed garage, controls the self-moving device to move into the preset closed garage, thereby avoiding the problem of collision with foreign objects in the process of moving the self-moving device to the preset closed garage, thereby improving the safety of movement.

[0058] In at least one embodiment of the present application, a sensor including a fill light and a camera is used as an example for description. When the camera is used to collect environmental information in a preset closed garage, the clarity of the environmental information collected by the camera is related to the brightness in the preset closed garage. Since the preset closed garage blocks sunlight, the preset closed garage is usually dark. The present application adjusts the brightness in the preset closed garage by a fill light to improve the clarity of the collected environmental information. Figure 3 1 is a flow chart of the environmental information collection method provided in the embodiment of the present application, and the environmental information collection method is applied in a mobile device. Figure 3 As shown, the following steps are included:

[0059] S21, controlling the fill light to illuminate the preset closed garage.

[0060] In at least one embodiment of the present application, a fill light is used to illuminate a preset closed garage so that the brightness in the preset closed garage meets the shooting requirements. Considering different time periods in a day, the brightness in the preset closed garage is different. For example, in the morning time period, the brightness in the preset closed garage becomes larger and larger; in the afternoon time period, the brightness in the preset closed garage becomes smaller and smaller. In some embodiments, the control of the fill light to illuminate the preset closed garage includes: determining the brightness in the preset closed garage; determining the brightness level corresponding to the fill light according to the correspondence between the preset brightness and the brightness level corresponding to the fill light; and controlling the fill light to illuminate the preset closed garage according to the determined brightness level. Among them, the brightness level of the fill light may include low, medium and high. When the brightness level of the fill light is low, the brightness irradiated by the fill light is small; when the brightness level of the fill light is high, the brightness irradiated by the fill light is large.

[0061] In some embodiments, a light sensor or a light sensor may be provided in the preset closed garage, and the light sensor or the light sensor is connected to the self-moving device. The light sensor or the light sensor is used to monitor the light intensity in the preset closed garage and convert the light intensity into an electrical signal, and then transmit the electrical signal to the self-moving device, which analyzes the electrical signal to determine the brightness in the preset closed garage.

[0062] The embodiment of the present application dynamically determines the brightness level of the fill light according to the brightness in a preset closed garage, and illuminates the preset closed garage according to the determined brightness level, so that the brightness in the preset closed garage meets the shooting requirements and improves the clarity of environmental information.

[0063] S22, controlling the camera to collect an environmental image in the preset closed garage, and obtaining the environmental information based on the environmental image.

[0064] In at least one embodiment of the present application, a camera is controlled to capture an environmental image in a preset closed garage according to a preset frame rate to obtain multiple frames of environmental images. At least one environmental image with a clarity higher than a preset clarity threshold is selected from the multiple frames of environmental images, and the selected environmental image is used as environmental information. The preset clarity threshold can be set according to actual needs and is not limited here.

[0065] In the warehousing processing method provided in the embodiment of the present application, the fill light is controlled to illuminate the preset closed garage, the camera is controlled to collect the environmental image of the preset closed garage, and the environmental information is obtained based on the environmental image. The above method adjusts the brightness of the preset closed garage through the fill light to improve the clarity of the collected environmental information.

[0066] In at least one embodiment of the present application, the self-moving device may be controlled to move to a first position first, and then the self-moving device may be placed in a first posture at the first position. In some embodiments, the controlling the self-moving device to move to the first position and placing the self-moving device in a first posture at the first position include: determining an initial position of the self-moving device in response to a storage instruction; determining a first moving path based on the initial position and the first position; controlling the self-moving device to move to the first position based on the first moving path; and controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to the first posture.

[0067] In some embodiments, the entry instruction can be used to instruct the mobile device to enter a preset closed garage and perform operations such as shutting down, docking or charging in the preset closed garage. The entry instruction can be input by the user or determined based on the remaining power or working time of the mobile device. The output method of the entry instruction has been described in detail in the above S11 method step and will not be repeated here.

[0068] In some embodiments, determining the first moving path based on the initial position and the first position includes: determining the shortest path from the initial position to the first position as the first moving path based on the operation map. Since a straight line path is the shortest among the direct paths between two points, the self-moving device can determine the straight line path from the initial position to the first position in the operation map as the connected path.

[0069] In some embodiments, the sensor is located at the front end of the self-moving device. Figure 4 A schematic diagram of posture adjustment of a self-moving device provided in the first embodiment of the present application is described. Figure 4 As shown, according to the initial position P of the mobile device A With the first position P M A first moving path R1 is planned. Since the sensor is located at the front end of the self-moving device, the self-moving device moves to the first position P according to the first moving path R1. M After that, the sensor on the self-mobile device is not aligned with the entrance of the preset closed garage. Based on this, at the first position P M At the location, the self-moving device is controlled to adjust its posture, for example, the self-moving device is controlled to rotate, so that the self-moving device is in a first posture. At this time, the sensor on the self-moving device is aligned with the entrance of the preset closed garage.

[0070] In the warehousing processing method provided in the embodiment of the present application, the posture of the self-moving device is adjusted at the first position so that the sensor of the self-moving device is aimed at the entrance of the preset closed garage, which facilitates the collection of environmental information of the preset closed garage and improves the accuracy of the warehousing processing.

[0071] In at least one embodiment of the present application, the posture of the self-moving device can be adjusted during the process of controlling the self-moving device to move to the first position, so that the self-moving device is in the first posture at the first position. In some embodiments, the controlling the self-moving device to move to the first position and making the self-moving device in the first posture at the first position also includes: determining the initial position of the self-moving device in response to the warehousing instruction; determining a second moving path based on the initial position and the first position; and controlling the self-moving device to move to the first position based on the second moving path, and the posture of the self-moving device reaches the first position with the first posture.

[0072] In some embodiments, determining the second moving path based on the initial position and the first position includes: determining the entrance direction of a preset closed garage; and planning the second moving path from the initial position to the first position based on the entrance direction. Figure 5 A schematic diagram of posture adjustment of a self-moving device provided in the second embodiment of the present application is described. Figure 5 As shown, the entrance direction of the closed garage is preset to be the Y-axis direction. A With the first position P M When planning the second moving path R2, it is necessary to set a path in the Y-axis direction so that the self-moving device reaches the first position P in the first posture based on the path in the Y-axis direction. M .

[0073] In the warehousing processing method provided in the embodiment of the present application, the moving path is planned so that when the self-moving device moves from the initial position to the first position, the posture of the self-moving device is the first posture, thereby avoiding frequent posture adjustments at the first position that cause wear and tear on the lawn in the working area. At the same time, the actions of adjusting the posture can be reduced, thereby improving the efficiency of environmental information collection.

[0074] In at least one embodiment of the present application, when the environmental information is an environmental image, it can be determined whether there is a foreign object in the preset closed garage by comparing the environmental image with a preset reference image or identifying the object category in the environmental image. Fig. 6A and Figure 6B A schematic diagram of the process of foreign body determination provided by the embodiment of the present application is shown in FIG. Fig. 6AAs shown, a preset reference image is obtained; the similarity between the reference image and the environment image is calculated; if the similarity between the environment image and the reference image is greater than or equal to a preset threshold, it is determined that there is no foreign object in the preset closed garage; if the similarity between the environment image and the reference image is less than the preset threshold, it is determined that there is a foreign object in the preset closed garage. The reference image is an image taken by the self-moving device at the first position and in the first posture through the camera. The preset threshold can be set according to actual needs. For example, the preset threshold can be 95%, 96%, 98%, etc.

[0075] like Figure 6B As shown, the object category corresponding to the environmental image is determined; if the object category does not include an object category other than the preset baseline category, it is determined that there is no foreign object in the preset closed garage; if the object category includes an object category other than the baseline category, it is determined that there is a foreign object in the preset closed garage. Wherein, the baseline category may be the object category in the preset closed garage when there is no foreign object in the preset closed garage. For example, the baseline category may include an interface category, a transmitter category, and the like. Exemplarily, the object category corresponding to the environmental image includes an interface category, a transmitter category, and a biological category. Since the object category is not the same as the preset baseline category, and the object category includes an object category other than the baseline category (such as a biological category), it is determined that there is a foreign object in the preset closed garage.

[0076] In the warehousing processing method provided in the embodiment of the present application, by comparing the environmental image with the reference image, or comparing the object category of the environmental image with the preset reference category, it is possible to accurately determine whether there are foreign objects in the preset closed garage, thereby improving the accuracy of the warehousing processing.

[0077] In at least one embodiment of the present application, if it is determined based on the environmental information that there is a foreign object in the preset closed garage, the self-mobile device is controlled to execute a preset strategy, wherein the preset strategy includes a reminder strategy and an expulsion strategy. In some embodiments, the reminder strategy may include outputting an alarm signal to notify the user to clean up the foreign object in time. The way of outputting the alarm signal may include controlling a buzzer in the self-mobile device to send an alarm signal, or sending an alarm signal to a user terminal connected to the self-mobile device. In some embodiments, the expulsion strategy may include expelling the foreign object by controlling the fill light when the foreign object is a preset foreign object. Among them, the preset foreign object may include objects that can move by themselves, such as animals and pedestrians. In some embodiments, the camera may include an infrared thermal imaging camera, which uses the infrared radiation difference generated by the temperature difference of the object to form an image. When there is a foreign object in the preset closed garage, the camera can determine whether the foreign object is a preset foreign object based on the infrared radiation difference in the environmental image.

[0078] In some embodiments, after controlling the self-mobile device to execute the preset strategy, the method further includes: according to a preset time interval, controlling the self-mobile device to collect updated environmental information in the preset closed garage through the sensor again. If it is determined that there is no foreign object in the preset closed garage according to the updated environmental information, it is determined that the foreign object has been cleared or driven away; if it is determined that there is still a foreign object in the preset closed garage according to the updated environmental information, the control of the self-mobile device to move to the preset closed garage is abandoned. Among them, the preset time interval can be set according to actual needs, for example, the preset time interval is 10 minutes.

[0079] In the warehousing processing method provided in the embodiment of the present application, when there are foreign objects in the preset closed garage, the foreign objects can be handled through a reminder strategy or an expulsion strategy, which can avoid the problem of foreign object collision when the mobile device is moving to the preset closed garage, thereby improving the safety of movement.

[0080] In at least one embodiment of the present application, the self-moving device includes a first charging contact, a second charging contact, and a sensor. The first charging contact and the second charging contact need to be arranged at the same end of the self-moving device, for example, the first charging contact and the second charging contact need to be arranged at the rear end of the self-moving device; the sensor can be arranged at the front end of the self-moving device. When controlling the self-moving device to collect environmental information in the preset closed garage through the sensor, the front end of the self-moving device is aligned with the entrance of the preset closed garage. When controlling the self-moving device to move to the preset closed garage for charging, it is necessary to control the self-moving device to adjust its posture so that the rear end of the self-moving device is aligned with the entrance of the preset closed garage. Figure 7 is a flow chart of a second posture adjustment method provided in an embodiment of the present application, and the second posture adjustment method is applied to a self-moving device. Figure 7 As shown, the following steps are included:

[0081] S31, controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to a second posture.

[0082] In at least one embodiment of the present application, the self-moving device is controlled to rotate at the first position so that the posture of the self-moving device is adjusted to a second posture. The second posture may indicate that the first charging contact of the self-moving device and the second charging contact are aligned with the entrance of a preset closed garage.

[0083] S32, according to the second posture, controlling the mobile device to move to a second position in the preset closed garage.

[0084] In at least one embodiment of the present application, according to the second posture, the self-moving device is controlled to move to a second position in a preset closed garage by driving backward, wherein the second position may represent the position of the charging device. In some embodiments, the charging device includes a first charging interface and a first charging interface, and when the self-moving device is at the second position, the first charging contact in the self-moving device contacts the first charging interface of the charging device, and the second charging contact in the self-moving device contacts the second charging interface of the charging device.

[0085] In the warehousing processing method provided in the embodiment of the present application, the posture of the self-moving device is adjusted to a second posture by controlling the self-rotation of the self-moving device at a first position, and then according to the second posture, the self-moving device is controlled to move into a preset closed garage, thereby realizing charging of the self-moving device in the preset closed garage.

[0086] In at least one embodiment of the present application, in order to prevent the self-moving device from frequently rotating at the first position, causing wear of the lawn at the first position, the self-moving device can also be controlled to move to the third position first, and then controlled to rotate at the third position. Figure 8 is a flow chart of a second posture adjustment method provided in an embodiment of the present application, and the second posture adjustment method is applied to a self-moving device. Figure 8 As shown, the following steps are included:

[0087] S41, controlling the mobile device to move to a third position.

[0088] In at least one embodiment of the present application, the third position may include a position on the central axis L of the preset closed garage and at a specified distance from the entrance. The third position is different from the first position. For example, the first position may be a position on the central axis L of the preset closed garage 30 and 5 meters from the entrance. The third position may be a position on the central axis L of the preset closed garage 30 and 2 meters from the entrance.

[0089] In some embodiments, there may be one or more third positions. The embodiment of the present application takes the number of third positions as an example to illustrate, and multiple third positions are randomly set. For example, the third position may be on the central axis L of the preset closed garage 30 and 1 meter, 2 meters, 3 meters, 4 meters, 6 meters, etc. away from the entrance. When controlling the self-moving device to move to the third position, the method includes: randomly selecting a third position from multiple third positions; controlling the self-moving device to move to the selected third position. The embodiment of the present application avoids the problem of lawn wear at the third position caused by the self-moving device frequently adjusting its posture at the same third position by setting multiple third positions.

[0090] S42, controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to a second posture.

[0091] In at least one embodiment of the present application, the self-moving device is controlled to rotate at the third position so that the posture of the self-moving device is adjusted to a second posture. The second posture may indicate that the first charging contact and the second charging contact of the self-moving device are aligned with the entrance of a preset closed garage.

[0092] S43, according to the second posture, controlling the mobile device to move to a second position in the preset closed garage.

[0093] In the warehousing processing method provided in the embodiment of the present application, the self-moving device is controlled to move to the third position, and the self-moving device is controlled to rotate at the third position, so that the posture of the self-moving device is adjusted to the second posture, thereby avoiding the self-moving device from frequently rotating at the first position, causing wear of the lawn at the first position.

[0094] In at least one embodiment of the present application, a charging device is arranged at the second position, the charging device includes a charging interface (for example, a first charging interface and a second charging interface) and a signal transmitter, the self-moving device includes a charging contact (for example, a first charging contact and a second charging contact) and a signal receiver, and the self-moving device can align the charging contact with the charging interface of the charging device based on the signal transmitted by the signal transmitter received by the signal receiver. Fig. 9 is a flow chart of a docking determination method provided in an embodiment of the present application, and the docking determination method is applied to a self-equipped device. Fig. 9 As shown, the following steps are included:

[0095] S51, receiving, by the signal receiver, a signal transmitted by the signal transmitter.

[0096] In at least one embodiment of the present application, during the process of controlling the self-mobile device to travel backward, a signal receiver on the self-mobile device receives a signal transmitted by a signal transmitter. The signal transmitted by the signal transmitter includes, but is not limited to: infrared (IR) signals, Bluetooth (BT) signals, and ultra-wideband (UWB) signals. The signal receiver corresponds to the signal transmitter. Exemplarily, if the signal transmitter is an infrared transmitter, the signal receiver may be an infrared receiver.

[0097] S52: Determine relative position information between the mobile device and the charging device according to the received signal.

[0098] In at least one embodiment of the present application, the relative position information may include information such as the distance between the mobile device and the charging device, and the direction, angle, and phase difference of the mobile device relative to the charging device.

[0099] In some embodiments, the signal transmitter is an infrared transmitter and the signal receiver is an infrared receiver. In the process of controlling the self-moving device to move backward, the infrared transmitter is used to transmit infrared signals; the infrared receiver is used to receive the infrared signals transmitted by the infrared transmitter, and determine the relative position information between the self-moving device and the charging device according to the infrared signals. For example, the distance between the self-moving device and the charging device can be determined by determining the time required for the infrared signal to be sent from the infrared transmitter to be received by the infrared receiver; the direction and angle of the self-moving device relative to the charging device can be determined by determining the arrival angle of the infrared signal.

[0100] S53, according to the relative position information, controlling the self-moving device to rotate so that the charging contact of the self-moving device is aligned with the charging interface of the charging device.

[0101] In at least one embodiment of the present application, the relative position information is parsed to obtain the direction and angle of the mobile device relative to the charging device. When the direction of the mobile device relative to the charging device satisfies the preset direction, and the angle satisfies the preset angle, it means that the charging contact of the mobile device (e.g., the first charging contact and the second charging contact) is aligned with the charging interface of the charging device (e.g., the first charging interface and the second charging interface), and the mobile device is controlled to maintain the current posture and continue to move backward. When the direction of the mobile device relative to the charging device does not meet the preset direction, or the angle does not meet the preset angle, it means that the charging contact of the mobile device (e.g., the first charging contact and the second charging contact) is not aligned with the charging interface of the charging device (e.g., the first charging interface and the second charging interface), and the mobile device needs to be controlled to adjust its posture (e.g., self-rotation) until the charging contact of the mobile device is aligned with the charging interface of the charging device.

[0102] S54, in response to the docking completion signal, controlling the self-moving device to stop moving, so that the self-moving device moves to a second position in the preset closed garage.

[0103] In at least one embodiment of the present application, when the charging contact contacts the charging interface, the charging device generates a docking completion signal and sends the docking completion signal to the mobile device. The mobile device stops moving in response to the docking completion signal.

[0104] In the warehousing processing method provided in the embodiment of the present application, during the process of moving the self-moving device to a preset closed garage, by monitoring the relative position information of the self-moving device and the charging device, it is possible to ensure that the charging contact of the self-moving device is aligned with the charging interface of the charging device, so that the self-moving device can be charged normally, thereby improving the accuracy of warehousing.

[0105] See also Fig.10 , Fig.10 1 is a schematic diagram of the structure of the storage processing device provided in the embodiment of the present application. In some embodiments, the storage processing device 100 may include multiple functional modules composed of computer program segments. The computer program of each program segment in the storage processing device 100 may be stored in the memory of the mobile device and executed by at least one processor to execute (see Figure 2 Description) Functionality of inbound processing.

[0106] In this embodiment, the storage processing device 100 can be divided into multiple functional modules according to the functions it performs. The functional modules may include: a posture control module 101, an environment acquisition module 102, a strategy execution module 103 and a storage control module 104. The module referred to in this application refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in a memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0107] The posture control module 101 can be used to control the self-moving device to move to a first position, and make the self-moving device be in a first posture at the first position, wherein in the first posture, the sensor of the self-moving device is aligned with the entrance of a preset closed garage.

[0108] The environment collection module 102 can be used to control the mobile device to collect the environment information in the preset closed garage through the sensor.

[0109] The strategy execution module 103 can be used to control the self-moving device to execute a preset strategy if it is determined based on the environmental information that there is a foreign object in the preset closed garage, wherein the preset strategy includes a reminder strategy for issuing an alarm signal and / or an expulsion strategy for executing a foreign object expulsion operation.

[0110] The entry control module 104 may be configured to control the mobile device to move into the preset closed garage if it is determined based on the environmental information that no foreign objects exist in the preset closed garage.

[0111] It can be understood that the warehousing processing device 100 and the warehousing processing method of the above-mentioned embodiment belong to the same inventive concept, and the specific implementation method of each module in the warehousing processing device 100 corresponds to the steps of the warehousing processing method in the above-mentioned embodiment, which will not be repeated in this application.

[0112] The module division described above is a logical function division, and there may be other division methods in actual implementation. In addition, the functional modules in each embodiment of the present application may be integrated in the same processing unit, or each module may exist physically separately, or two or more modules may be integrated in the same unit. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0113] Fig.11 Schematic diagram of the structure of the self-moving device provided in the embodiment of the present application. Fig.11 As shown, the mobile device 10 further includes a memory 11, a power source 12, a sensor 13, an operating mechanism 14, a communication module 15, a positioning module 16, a bus 17, and a processor 18. The processor 18 is coupled to the memory 11, the power source 12, the sensor 13, the operating mechanism 14, the communication module 15, and the positioning module 16 through the bus 17.

[0114] The memory 11 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 18, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0115] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 18. The non-volatile memory may include a disk storage device and a flash memory.

[0116] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 18. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 18, the warehousing processing method executed on the mobile device 1 can be implemented.

[0117] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1 .

[0118] The processor 18 may include one or more processing units, for example, the processor 18 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a processor, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0119] The processor 18 provides computing and control capabilities. For example, the processor 18 is used to execute a computer program stored in the memory 11 to implement the above-mentioned warehousing processing method.

[0120] The power source 12 is used to power the mobile device. In one embodiment of the present application, the power source 12 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0121] The sensor 13 is used to obtain information for the mobile device 1, such as obtaining environmental information and movement information of the mobile device 1. In an embodiment of the present application, the sensor 13 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0122] The operating mechanism 14 is used to perform corresponding operating tasks, such as mowing, deicing, cruising, cleaning, and spraying pesticides. In some embodiments of the present application, the operating mechanism 14 may include a motor, a transmission mechanism, a cutter disc, and other mechanisms. When the self-moving device is a lawn mower, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.

[0123] The communication module 15 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 15 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0124] The positioning module 16 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 16 may include one or more positioning modules 16 of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0125] The bus 17 is at least used to provide a channel for mutual communication between the first driving device 14, the second driving device 15, the memory 11, the processor 18, the power supply 12, the sensor 13, the operating mechanism 14, the communication module 15, and the positioning module 16 in the mobile device 1.

[0126] In other embodiments of the present application, the self-moving device 1 may further include an anti-collision part and a steering assembly, etc. The anti-collision part may be used to prevent the driving wheel from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to adjust the driving direction of the driving wheel.

[0127] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0128] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0129] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0130] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A warehousing processing method, characterized in that: The method comprises: Controlling the self-moving device to move to a first position, and making the self-moving device in a first posture at the first position, wherein in the first posture, a sensor of the self-moving device is aligned with an entrance of a preset closed garage; Controlling the mobile device to collect environmental information in the preset closed garage through the sensor; If it is determined according to the environmental information that there is a foreign object in the preset closed garage, the self-moving device is controlled to execute a preset strategy, wherein the preset strategy includes a reminder strategy of issuing an alarm signal and / or a driving strategy of executing a foreign object driving operation; If it is determined according to the environmental information that there is no foreign object in the preset closed garage, the self-moving device is controlled to move into the preset closed garage.

2. The warehousing processing method according to claim 1, characterized in that: The sensor includes a fill light and a camera, and the controlling the mobile device to collect environmental information in the preset closed garage through the sensor includes: Controlling the fill light to illuminate the preset closed garage; The camera is controlled to collect an environmental image in the preset closed garage, and the environmental information is obtained based on the environmental image.

3. The warehousing processing method according to claim 1, characterized in that: The controlling the self-moving device to move to a first position, and making the self-moving device be in a first posture at the first position, comprises: In response to the warehousing instruction, determining the initial position of the self-moving device; Determining a first moving path according to the initial position and the first position; According to the first moving path, controlling the self-moving device to move to the first position; The self-moving device is controlled to rotate so that the posture of the self-moving device is adjusted to the first posture.

4. The warehousing processing method according to claim 1, characterized in that: The controlling the self-moving device to move to a first position, and making the self-moving device be in a first posture at the first position, further includes: In response to the warehousing instruction, determining the initial position of the self-moving device; Determining a second moving path according to the initial position and the first position; According to the second moving path, the self-moving device is controlled to move to the first position, and the posture of the self-moving device reaches the first position in the first posture.

5. The warehousing processing method according to claim 2, characterized in that: The method further comprises: Acquire a preset reference image; if the similarity between the environment image and the reference image is greater than or equal to a preset threshold, determine that there is no foreign object in the preset closed garage; if the similarity between the environment image and the reference image is less than the preset threshold, determine that there is a foreign object in the preset closed garage, and the reference image is an image taken by the self-mobile device at the first position and in the first posture through the camera; or Determine an object category corresponding to the environment image; if the object category does not include an object category other than a preset baseline category, determine that there is no foreign object in the preset closed garage; if the object category includes an object category other than the baseline category, determine that there is a foreign object in the preset closed garage.

6. The warehousing processing method according to claim 2, characterized in that: The controlling the self-mobile device to execute a preset strategy includes: outputting an alarm signal; and / or When the foreign object is a preset foreign object, the foreign object is expelled by controlling the fill light component.

7. The warehousing processing method according to claim 1, characterized in that: The controlling the mobile device to move into the preset closed garage includes: Controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to a second posture; According to the second posture, the self-moving device is controlled to move to a second position in the preset closed garage.

8. The warehousing processing method according to claim 3, characterized in that: The controlling the mobile device to move into the preset closed garage includes: Controlling the mobile device to move to a third position; Controlling the self-moving device to rotate so that the posture of the self-moving device is adjusted to a second posture; According to the second posture, the self-moving device is controlled to move to a second position in the preset closed garage.

9. The warehousing processing method according to claim 1, characterized in that: A charging device is arranged in the preset closed garage, the charging device includes a signal transmitter, the self-moving device includes a signal receiver, and the controlling the self-moving device to move into the preset closed garage includes: Receiving, by means of the signal receiver, a signal transmitted by the signal transmitter; Determine the relative position information between the mobile device and the charging device according to the received signal; According to the relative position information, the self-moving device is controlled to rotate so that the charging contact of the self-moving device is aligned with the charging interface of the charging device; In response to the docking completion signal, the self-moving device is controlled to stop moving, so that the self-moving device moves to a second position in the preset closed garage.

10. A self-propelled device, characterized in that: The self-mobile device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the warehousing processing method according to any one of claims 1 to 9 is implemented.

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