Method for detecting track stacking condition of self-moving equipment, self-moving equipment and medium

Abstract

The invention discloses a self-moving equipment crawler stacking condition detection method, self-moving equipment and a medium, and the method comprises the steps: detecting the current in crawler wheels in the self-moving equipment when determining that the self-moving equipment is located in a first type region through a horizontal detection sensor in the self-moving equipment; when the current is greater than the first preset current for a preset duration, determining that a track in the self-moving equipment is accumulated by an object; when it is determined that the self-moving device is located in the second type of area through a horizontal detection sensor in the self-moving device, after the self-moving device is controlled to move to the first type of area, whether a crawler belt in the self-moving device is stacked by an object or not is determined by detecting current in crawler belt wheels in the self-moving device. In the first type area and the second type area, whether the crawler belt in the self-moving equipment is stacked by the object can be detected, the working efficiency of the self-moving equipment can be prevented from being influenced, and damage to mechanical parts of the self-moving equipment can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of self-moving equipment detection, and in particular to a method for detecting accumulation of tracks of a self-moving equipment, a self-moving equipment and a medium. Background Art

[0002] As an autonomous mobile robot designed for courtyards, the self-moving device is equipped with tracks to enable flexible crossing of complex terrains. The tracks are cleverly equipped with running wheels to enhance the stability and efficiency of movement. However, it is worth noting that the tiny gap between the tracks and the running wheels has become a potential problem. During the operation, small objects in the courtyard, such as fallen leaves and pebbles, can easily enter the robot through these gaps.

[0003] If the user fails to find and clean up these small objects in the self-moving device in time, they may gradually accumulate and cause additional burden on the robot's walking mechanism. This may not only reduce the working efficiency of the self-moving device, but also cause wear and tear on its mechanical parts and even cause malfunctions.

[0004] Therefore, those skilled in the art are in urgent need of finding a new technical solution to solve the above technical problems. Summary of the invention

[0005] Based on this, it is necessary to provide a method for detecting the accumulation of tracks of self-moving equipment, a self-moving equipment and a medium to address the above technical problems, so as to solve the technical problems in the prior art that objects accumulated on the tracks of self-moving equipment affect work efficiency and increase the risk of failure.

[0006] In order to achieve the above object, a method for detecting accumulation of tracks of a self-propelled equipment is provided, the method comprising:

[0007] When it is determined by a level detection sensor in the self-moving device that the self-moving device is located in a first type of area, detecting the current in the track wheels in the self-moving device;

[0008] When the current is greater than the first preset current for a preset time period, it is determined that the track in the self-moving device is accumulated with objects;

[0009] When the level detection sensor in the self-moving device determines that the self-moving device is located in the second type of area, after controlling the self-moving device to move to the first type of area, the current in the track wheels in the self-moving device is detected to continue to determine whether the tracks in the self-moving device are piled up with objects.

[0010] Optionally, determining that the self-moving device is located in the first type of area by a level detection sensor in the self-moving device includes:

[0011] Determine the inclination angle of the body of the self-moving device relative to the horizontal plane of the area by means of a horizontal detection sensor in the self-moving device;

[0012] When the tilt angle is a preset target tilt angle, it is determined that the self-moving device is located in the first type of area.

[0013] Optionally, the detecting the current in the track wheels of the self-moving device comprises:

[0014] Determine the signal transmitted by the travel motor corresponding to the crawler of the self-moving device;

[0015] Determining whether data conversion processing is required according to the signal type of the signal;

[0016] After determining that data conversion processing is required, converting the signal data, and analyzing the converted signal to obtain the current in the crawler wheel of the self-moving device;

[0017] After determining that data conversion processing is not required, the current in the track wheel of the self-moving device is obtained by analyzing the signal.

[0018] Optionally, when the current is greater than the first preset current for a preset period of time, determining that the track in the self-moving device is piled up with objects includes:

[0019] determining a changing current on a current changing curve according to the value of the current;

[0020] When the changing current is greater than the first preset current and less than the second preset current, it is determined that the track in the self-moving device is accumulated by objects.

[0021] Optionally, when it is determined by the level detection sensor in the self-moving device that the self-moving device is located in the second type of area, before controlling the self-moving device to move to the first type of area, the method further includes:

[0022] Taking the second type of area as the center, at least one first type of area with a preset distance threshold from the second type of area is determined from the preset map corresponding to the mobile device.

[0023] Optionally, before detecting the current in the track wheels of the self-moving device, the method further includes:

[0024] identifying, by means of an obstacle identification sensor in the self-moving device, whether there is an obstacle in the area of ​​the first type;

[0025] When there is no obstacle, the process of detecting the current in the crawler wheels in the self-moving device begins.

[0026] Optionally, the determining, by a level detection sensor in the self-moving device, that the self-moving device is located in front of the second type of area further includes:

[0027] Determining whether the body of the self-moving device is artificially lifted by using a height recognition sensor in the self-moving device;

[0028] When the self-moving device is not manually lifted, a process is entered in which the level detection sensor in the self-moving device is used to determine that the self-moving device is located in the second type of area.

[0029] Optionally, after controlling the self-moving device to move to the first type of area, after continuing to determine whether the track of the self-moving device is piled up with objects by detecting the current in the track wheels of the self-moving device, the method further includes:

[0030] Determining whether the second type of area in the mobile device is in a fixed state;

[0031] When in the fixed state, marking a position corresponding to the second type of area in a preset map corresponding to the self-moving device, so as to directly control the process of the self-moving device moving to the first type of area after the self-moving device moves to the second type of area;

[0032] When it is not in the fixed state, the area identification sensor in the self-moving device is used to determine in advance whether the first type of area continues to exist, so that if it does not exist, the self-moving device directly enters the process of detecting the current in the track wheels in the self-moving device after moving to the first type of area.

[0033] In order to achieve the above-mentioned purpose, a self-moving device is also provided, including a level detection sensor and a controller of the self-moving device, the level detection sensor and the controller are communicatively connected, and the controller controls the motor in the motor control system to implement the steps of the above-mentioned method for detecting the accumulation of tracks of the self-moving device.

[0034] In order to achieve the above-mentioned purpose, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for detecting the accumulation of tracks of an electronic equipment are implemented.

[0035] The method for detecting accumulation of tracks of a self-moving device provided by the present invention comprises: when it is determined by the level detection sensor in the self-moving device that the self-moving device is located in a first type of area, detecting the current in the track wheel in the self-moving device; when the current is greater than the first preset current for a preset time, determining that the track in the self-moving device is accumulated by objects; when it is determined by the level detection sensor in the self-moving device that the self-moving device is located in a second type of area, after controlling the self-moving device to move to the first type of area, continuing to determine whether the track in the self-moving device is accumulated by objects by detecting the current in the track wheel in the self-moving device. The technical solution performs current detection on the first type of area to determine whether the track in the self-moving device is accumulated by objects, and controls the self-moving device to move to the first type of area for detection on the second type of area. In this way, in both the first type of area and the second type of area, the detection of whether the track in the self-moving device is accumulated by objects can be realized. When there is accumulation of objects on the track, it can be detected in time and the corresponding user can be notified to clean it up, which can not only avoid affecting the working efficiency of the self-moving device, but also avoid damage to the mechanical parts of the self-moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained according to these accompanying drawings without paying creative labor.

[0037] Figure 1 It is a flow chart of an embodiment of a method for detecting accumulation of tracks of a self-moving equipment according to the present invention.

[0038] Figure 2 is a schematic block diagram of an embodiment of a mobile device of the present invention;

[0039] Figure 3 It is a schematic diagram of the body track in the self-moving device of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] like Figure 1As shown, a method for detecting accumulation of tracks of a self-moving device provided by an embodiment of the present invention can be applied to a controller in a self-moving device, wherein the controller can also be understood as an MCU (microcontroller unit) or other devices with the same function, and the method comprises the following steps:

[0042] S10, when it is determined by the level detection sensor in the self-moving device that the self-moving device is located in a first type of area, detecting the current in the track wheels in the self-moving device.

[0043] Understandably, the horizontal detection sensor may be an IMU sensor, which is an inertial measurement unit, which is a sensor used to measure the angle, velocity and acceleration of an object. It is generally composed of an accelerometer and a gyroscope. The working principle of the accelerometer is: when an object undergoes accelerated motion, the accelerometer will sense this change and convert it into an electrical signal output. By analyzing these electrical signals, the acceleration values ​​of the object in the three axes of XYZ can be obtained. The working principle of the gyroscope is: when the object undergoes rotational motion, the gyroscope will sense the change in angular velocity and convert it into an electrical signal output. By analyzing the electrical signal, the angular velocity values ​​of the object in the three axes of XYZ can be obtained; the self-moving device is a garden robot with functional modules, and the functional modules may be leaf blowing modules and weeding modules, etc. The garden robot in this embodiment may be preferably suitable for a garden robot in a weeding scene (in a weeding scene, broken grass and stones are more likely to get stuck in the tracks of the self-moving device); the first type of area refers to a flat area in the working area of ​​the self-moving device, such as an area in the courtyard area where the body of the self-moving device is less than 10 degrees relative to the ground; the tracks are arranged on both sides of the self-moving device (such as Figure 3 As shown), corresponding walking wheels can be set in the crawler, the number of walking wheels can be two, and a walking motor can be set between the walking wheels. The current detected in the crawler wheels in the self-moving device can be detected by the feedback circuit set in the motor, and can also be detected by a preset current sensor.

[0044] S20, when the current is greater than the first preset current for a preset time period, determining that the track in the self-moving device is accumulated with objects.

[0045] It can be understood that the current is a real-time detected crawler travel motor current, which can be a value at a time point or an average within a certain time range; the first preset current is a value obtained in advance through experimental measurement (that is, in the first type of area-the plane area, the value obtained by measuring different stacking conditions of the crawler of the self-moving equipment, such as continuously placing corresponding stacked objects inside the crawler).

[0046] S30, when it is determined by the horizontal detection sensor in the self-moving device that the self-moving device is located in the second type of area, after controlling the self-moving device to move to the first type of area, continue to determine whether the track in the self-moving device is piled up with objects by detecting the current in the track wheels in the self-moving device.

[0047] It can be understood that the second type of area refers to a part of the non-flat area in the working area of ​​the self-moving equipment, such as the area in the courtyard area where the body of the self-moving equipment is greater than or equal to 10 degrees relative to the ground; the detection of the second type of area may not be performed in the first type of area, but the self-moving equipment is controlled to detect in the first type of area. The specific reason is: in the courtyard area, the area of ​​the first type of flat area is most likely to be larger than the area of ​​the second type of non-flat area. In addition, in the second type of non-flat area, it is not conducive to detection for the self-moving equipment on different slopes.

[0048] In the embodiments of step S10 to step S30, current detection is performed on a first type of area to determine whether the track in the self-moving device is accumulated with objects, and on a second type of area, the self-moving device is controlled to move to the first type of area for detection. In this way, in both the first type of area and the second type of area, detection of whether the track in the self-moving device is accumulated with objects can be achieved. When objects accumulate on the track, it can be detected in time and the corresponding user can be notified to clean it, which can not only avoid affecting the working efficiency of the self-moving device, but also avoid damage to the mechanical parts of the self-moving device.

[0049] Further, the determining, by means of a level detection sensor in the self-moving device, that the self-moving device is located in the first type of area includes:

[0050] Determine the inclination angle of the body of the self-moving device relative to the horizontal plane of the area by means of a horizontal detection sensor in the self-moving device;

[0051] When the tilt angle is a preset target tilt angle, it is determined that the self-moving device is located in the first type of area.

[0052] It can be understood that the tilt angle identified by the horizontal detection sensor in the self-mobile device is matched with the stored preset target tilt angle, wherein the tilt angle less than 10 degrees can be set as the preset target tilt angle in advance, such as setting the preset target tilt angle starting from 1 degree;

[0053] Specifically, the acceleration values ​​(ax, ay, az) in the three directions of x, y, and z are obtained from the accelerometer of the horizontal detection sensor; the tilt angle is calculated: the roll angle around the x-axis (Roll, θx): using the formula θx = arctan (ay / √(ax2 +az2)), the pitch angle of the y-axis (P itch, θy): use the formula θy = arctan (-ax / √(ay2+az2));

[0054] The self-moving device in this embodiment can use the horizontal detection sensor to accurately identify the type of area it is in, and perform corresponding operations in the future as needed, which helps to improve the autonomy and safety of the self-moving device and enables it to more effectively complete the task of detecting the accumulation of the tracks of the self-moving device.

[0055] Furthermore, the detecting of the current in the track wheels of the self-moving device comprises:

[0056] Determine the signal transmitted by the travel motor corresponding to the crawler of the self-moving device;

[0057] Determining whether data conversion processing is required according to the signal type of the signal;

[0058] After determining that data conversion processing is required, converting the signal data, and analyzing the converted signal to obtain the current in the crawler wheel of the self-moving device;

[0059] After determining that data conversion processing is not required, the current in the track wheel of the self-moving device is obtained by analyzing the signal.

[0060] It can be understood that the working power of the crawler of the mobile device comes from the drive of the travel motor. In this way, the current passing through the crawler wheels of the mobile device can be determined by detecting the signal generated by the travel motor; data conversion refers to converting the analog signal into a digital signal through an analog-to-digital converter (ADC). In the corresponding detection device, the current sensor that can output a digital signal is used for detection, and no data conversion processing is required; the analysis process processes and analyzes the collected current signal, and can extract information such as the current change trend, peak value, and average value;

[0061] This embodiment determines whether data conversion is required to minimize data loss and distortion, thereby retaining key information in the signal and providing a reliable data basis for subsequent analysis; it can directly analyze the signal and accurately obtain the current value of the track wheel in the self-mobile device.

[0062] Further, when the current is greater than the first preset current for a preset period of time, determining that the track in the self-moving device is accumulated by objects includes:

[0063] determining a changing current on a current changing curve according to the value of the current;

[0064] When the changing current is greater than the first preset current and less than the second preset current, it is determined that the track in the self-moving device is accumulated by objects.

[0065] It is understandable that the current of the walking motor may be at a different value under different working conditions. In order to determine a stable comparison value, a changing current can be determined in the current change curve corresponding to the current, wherein the changing current can be the peak value, minimum value, mean value or mode value of the curve, etc.; the numerical value of the second preset current is greater than the numerical value of the first preset current. The purpose of setting the second preset current is to avoid abnormal working of the walking motor and cause the current value to be too large. In this way, setting the second preset current can determine whether there is an abnormality in the current motor to avoid misjudgment of the accumulation of track conditions.

[0066] Furthermore, when it is determined by the level detection sensor in the self-moving device that the self-moving device is located in the second type of area, before controlling the self-moving device to move to the first type of area, the method further includes:

[0067] Taking the second type of area as the center, at least one first type of area with a preset distance threshold from the second type of area is determined from the preset map corresponding to the mobile device.

[0068] It can be understood that the second type of area is a non-planar area, and there may be a planar area around the non-planar area; the preset map may be a map established after the self-moving device has walked through its courtyard area in advance, wherein, based on the preset map, the first type of area closest to the second type of area can be determined in any direction, so as to control the self-moving device to continue to detect the crawler accumulation in the first type of area;

[0069] When the self-moving device of this embodiment is in a non-detection area, it can determine the target detection area, reduce unnecessary waiting and stagnation time, thereby improving the execution efficiency of the detection task and avoiding misjudgment of detection in the non-detection area.

[0070] Furthermore, before detecting the current in the crawler wheels in the self-moving device, the method further includes:

[0071] identifying, by means of an obstacle identification sensor in the self-moving device, whether there is an obstacle in the area of ​​the first type;

[0072] When there is no obstacle, the process of detecting the current in the crawler wheels in the self-moving device begins.

[0073] It is understandable that obstacle identification sensors include but are not limited to one or more sensors such as laser radar, radar, camera, ultrasonic radar and infrared sensor. The working principle of laser radar is to calculate the distance of obstacles by emitting laser beams and measuring the time difference from the emission to the reception of laser beams. The working principle of radar is to detect objects in the surrounding environment by emitting radio waves and receiving their reflected signals. The working principle of camera is to identify and understand the surrounding environment by capturing video images. The working principle of ultrasonic radar is to measure the distance of objects by emitting ultrasonic waves and receiving their reflected signals. The working principle of infrared sensor is to measure distance based on the principle of triangulation.

[0074] When the present embodiment is located in the first type of area, it is determined whether the area is an obstacle to eliminate the situation where the obstacle blocks the self-moving device and causes the current of the travel motor to increase. In this way, it can ensure that the track accumulation situation can be detected in the first type of area later.

[0075] In another embodiment, when there is an obstacle, it is determined that the current in the travel motor is increasing and the current position of the self-moving device has not changed significantly, the user is reminded that the self-moving device is blocked by the obstacle, and the process of detecting the current in the track wheels in the self-moving device is not entered.

[0076] Furthermore, the determining, by means of a level detection sensor in the self-moving device, that the self-moving device is located before the second type of area further includes:

[0077] Determining whether the body of the self-moving device is artificially lifted by using a height recognition sensor in the self-moving device;

[0078] When the self-moving device is not manually lifted, a process is entered in which the level detection sensor in the self-moving device is used to determine that the self-moving device is located in the second type of area.

[0079] Understandably, the height recognition sensor can be installed at the bottom of the body of the self-moving device, and determine whether the self-moving device is artificially lifted by measuring the distance between it and the ground, such as by using the acoustic ranging principle, the laser ranging principle and the ultrasonic ranging principle. Specifically, the height recognition sensor can be used to first identify the first vertical distance between the body of the self-moving device that has not been lifted and the ground, and then after determining that the self-moving device has no moving speed, the height recognition sensor can be used to identify the second vertical distance between the body of the self-moving device in the current state and the ground, and finally after comparing that the second vertical distance is greater than the first vertical distance, it is determined that the body of the self-moving device is artificially lifted;

[0080] This embodiment determines whether the self-moving device is manually lifted to exclude the situation where the self-moving device is located in the first type of area due to the self-moving device being manually lifted. This ensures that the second type of area can be detected later.

[0081] In another embodiment, when the self-moving device is manually lifted, the process of determining that the self-moving device is located in the second type of area by the level detection sensor in the self-moving device is not entered. In this embodiment, when the self-moving device is manually lifted, the area where the self-moving device is located may also belong to the first type of area. In this way, the process of detecting the second type of area is not entered, saving resources.

[0082] Furthermore, after controlling the self-moving device to move to the first type of area, after continuing to determine whether the track of the self-moving device is piled up with objects by detecting the current in the track wheels of the self-moving device, the method further includes:

[0083] Determining whether the second type of area in the mobile device is in a fixed state;

[0084] When in the fixed state, marking a position corresponding to the second type of area in a preset map corresponding to the self-moving device, so as to directly control the process of the self-moving device moving to the first type of area after the self-moving device moves to the second type of area;

[0085] When it is not in the fixed state, the area identification sensor in the self-moving device is used to determine in advance whether the first type of area continues to exist, so that if it does not exist, the self-moving device directly enters the process of detecting the current in the track wheels in the self-moving device after moving to the first type of area.

[0086] Understandably, the fixed state refers to the state of whether the second type of area continues to exist. The second type of area is an area with a certain tilt angle. The area is formed by objects such as deposits and stones. The area may be cleaned up, etc. In this way, the fixed state of the second type of area is a state of no longer existing; the area recognition sensor includes but is not limited to one or more sensors such as laser radar, radar, camera, ultrasonic radar and infrared sensor, mainly identifying whether the second type of area still has a tilt angle; any area where the self-mobile device has walked can be marked in the preset map, and the corresponding position of the second type of area can also be marked, wherein when the self-mobile device walks and works in the courtyard area, it can walk multiple times in the courtyard area at different time points;

[0087] This embodiment can determine whether the second type of area is in a fixed state. When in a fixed state, the location of the fixed area is marked on a preset map. The self-moving device can directly go to the first type of area after moving to the area without additional judgment, thereby improving the working efficiency of the self-moving device. When in a non-fixed state, the existence of the first type of area is detected in advance by the area recognition sensor, which can avoid the situation where the device finds that the inclination angle of the area does not exist after arriving, thereby reducing invalid movement and possible waste of resources, thereby improving the working efficiency of the self-moving device.

[0088] The present invention provides a method for detecting accumulation of tracks of a self-moving device, which belongs to the technical field of self-moving device detection. When it is determined that the self-moving device is located in a first type of area through a level detection sensor in the self-moving device, the current in the track wheels in the self-moving device is detected; when the current is greater than a first preset current for a preset period of time, it is determined that the tracks in the self-moving device are accumulated by objects; when it is determined that the self-moving device is located in a second type of area through the level detection sensor in the self-moving device, after controlling the self-moving device to move to the first type of area, it is continued to determine whether the tracks in the self-moving device are accumulated by objects by detecting the current in the track wheels in the self-moving device; current detection is performed in the first type of area to determine whether the tracks in the self-moving device are accumulated by objects, and in the second type of area, the self-moving device is controlled to move to the first type of area. The device moves to the first type of area for detection. In this way, in both the first type of area and the second type of area, it can be detected whether the tracks in the self-moving device are piled up with objects. When the tracks are piled up with objects, it can be detected in time and the corresponding user can be notified to clean them up. This can not only avoid affecting the working efficiency of the self-moving device (reducing the burden of machine walking and reducing power loss), but also avoid damage to the mechanical parts of the self-moving device (reducing the impact of accumulated objects on the normal operation of the walking motor and walking wheels). Detecting the accumulation of tracks in the first type of area - the flat area can improve the detection efficiency, reduce the workload before detection or reduce the time cost of the detection work. If the detection is performed in the second type of area - the non-flat area, it is necessary to pre-measure the data of the area at different inclination angles to determine the corresponding preset current.

[0089] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0090] like Figure 2As shown, a self-moving device is also provided, a level detection sensor and a controller of the self-moving device, the level detection sensor and the controller are in communication connection, and the controller controls the motor in the motor control system to implement the steps of the self-moving device track accumulation detection method. The self-moving device is provided with a working motor for working and a walking motor for walking. The controller can control the start and stop of the walking motor, wherein various sensors are provided on the body and the front of the mobile device, and the controller can also control the start and stop of various sensors, and receive signals transmitted by various sensors.

[0091] The execution function of the controller corresponds one-to-one to the method for detecting accumulation of tracks of self-moving equipment in the above-mentioned embodiment. For the specific definition of the controller, please refer to the definition of the method for detecting accumulation of tracks of self-moving equipment in the above text, which will not be repeated here. The execution process of each sub-module in the above-mentioned controller can refer to the definition of the method for detecting accumulation of tracks of self-moving equipment in the above text, which will not be repeated here. It can be implemented in whole or in part by software, hardware and a combination thereof. Each sub-module can be embedded in or independent of the controller in hardware form, or it can be stored in the memory of the controller in software form, so that the controller can call and execute the operations corresponding to each of the above sub-modules.

[0092] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions, and the readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media; the readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the self-moving equipment track accumulation detection method described in the above embodiment.

[0093] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0094] Technicians in the relevant field can clearly understand that in actual applications, the above functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the mobile device can be divided into different functional units or modules to complete all or part of the functions described above.

[0095] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such 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 invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for detecting accumulation of tracks of a self-propelled equipment, characterized in that: The method comprises: When it is determined by a level detection sensor in the self-moving device that the self-moving device is located in a first type of area, detecting the current in the track wheels in the self-moving device; When the current is greater than the first preset current for a preset time period, it is determined that the track in the self-moving device is accumulated with objects; When the level detection sensor in the self-moving device determines that the self-moving device is located in the second type of area, after controlling the self-moving device to move to the first type of area, the current in the track wheels in the self-moving device is detected to continue to determine whether the tracks in the self-moving device are piled up with objects.

2. The method for detecting accumulation of tracks of a self-propelled equipment according to claim 1, characterized in that: The step of determining, by means of a level detection sensor in the self-moving device, that the self-moving device is located in an area of ​​the first type comprises: Determine the inclination angle of the body of the self-moving device relative to the horizontal plane of the area by means of a horizontal detection sensor in the self-moving device; When the tilt angle is a preset target tilt angle, it is determined that the self-moving device is located in the first type of area.

3. The method for detecting accumulation of tracks of a self-propelled equipment according to claim 1, characterized in that: The detecting of the current in the crawler wheels in the self-moving device comprises: Determine the signal transmitted by the travel motor corresponding to the crawler of the self-moving device; Determining whether data conversion processing is required according to the signal type of the signal; After determining that data conversion processing is required, converting the signal data, and analyzing the converted signal to obtain the current in the crawler wheel of the self-moving device; After determining that data conversion processing is not required, the current in the track wheel of the self-moving device is obtained by analyzing the signal.

4. The method for detecting accumulation of tracks of a self-propelled equipment according to claim 1, characterized in that: When the current is greater than the first preset current for a preset period of time, determining that the track in the self-moving device is piled up with objects includes: determining a changing current on a current changing curve according to the value of the current; When the changing current is greater than the first preset current and less than the second preset current, it is determined that the track in the self-moving device is accumulated by objects.

5. The method for detecting accumulation of tracks of a self-moving equipment according to claim 1, characterized in that: When the level detection sensor in the self-moving device determines that the self-moving device is located in the second type of area, before controlling the self-moving device to move to the first type of area, the method further includes: Taking the second type of area as the center, at least one first type of area with a preset distance threshold from the second type of area is determined from the preset map corresponding to the mobile device.

6. The method for detecting accumulation of tracks of a self-propelled equipment according to claim 1, characterized in that: Before detecting the current in the crawler wheels in the self-moving device, the method further includes: identifying, by means of an obstacle identification sensor in the self-moving device, whether there is an obstacle in the area of ​​the first type; When there is no obstacle, the process of detecting the current in the crawler wheels in the self-moving device begins.

7. The method for detecting accumulation of tracks of a self-propelled equipment according to claim 1, characterized in that: The step of determining, by means of a level detection sensor in the self-moving device, that the self-moving device is located before the area of ​​the second type further comprises: Determining whether the body of the self-moving device is artificially lifted by using a height recognition sensor in the self-moving device; When the self-moving device is not manually lifted, a process is entered in which the level detection sensor in the self-moving device is used to determine that the self-moving device is located in the second type of area.

8. The method for detecting accumulation of tracks of a self-moving equipment according to any one of claims 1 to 7, characterized in that: After controlling the self-moving device to move to the first type of area, after continuing to determine whether the crawler in the self-moving device is piled up with objects by detecting the current in the crawler wheels in the self-moving device, the method further includes: Determining whether the second type of area in the mobile device is in a fixed state; When in the fixed state, marking a position corresponding to the second type of area in a preset map corresponding to the self-moving device, so as to directly control the process of the self-moving device moving to the first type of area after the self-moving device moves to the second type of area; When it is not in the fixed state, the area identification sensor in the self-moving device is used to determine in advance whether the first type of area continues to exist, so that if it does not exist, the self-moving device directly enters the process of detecting the current in the track wheels in the self-moving device after moving to the first type of area.

9. A self-propelled device, characterized in that: It includes a level detection sensor and a controller of a self-moving device, the level detection sensor and the controller are communicatively connected, and the controller controls the motor in the motor control system to implement the steps of the method for detecting the accumulation of tracks of a self-moving device as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for detecting accumulation of tracks of a self-moving equipment as described in any one of claims 1 to 8 are implemented.

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