Control method and device of self-moving equipment and self-moving equipment

Abstract

The invention relates to a control method and device of self-moving equipment and the self-moving equipment. The self-moving equipment is provided with a sensor used for collecting the posture of the self-moving equipment. The method comprises the following steps: acquiring attitude data acquired by the sensor; based on the attitude data, determining the gradient of a plane where the self-moving equipment is located relative to a horizontal reference plane; and when the gradient meets a preset condition, applying a driving force to a driving wheel of the self-moving equipment, so that the self-moving equipment has a trend of resisting the downward movement of the self-moving equipment caused by gravity. By adopting the method, the self-moving equipment has a trend of resisting the downward movement of the self-moving equipment caused by gravity, so that the downward falling of the self-moving equipment along a slope is reduced or avoided, and the safety is ensured.

Description

Technical Field

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

[0002] With the continuous advancement of computer technology and artificial intelligence technology, the application of self-mobile equipment (such as lawn mowers, sweepers, etc.) is becoming more and more widespread. For example, smart lawn mowers can automatically help people maintain lawns, freeing people from the boring, time-consuming and laborious housework of lawn maintenance, and are therefore very popular.

[0003] Currently, when a self-moving device is on a slope, the self-moving device may fall down due to the gravity exerted on the device itself, thus causing safety problems. Summary of the invention

[0004] In order to overcome the defects of the prior art, the present application provides a control method, device and self-moving device for a self-moving device, which can enable the self-moving device to counteract the tendency of the self-moving device to move downward caused by gravity, thereby reducing or avoiding the self-moving device from falling down a slope and ensuring safety.

[0005] According to a first aspect of an embodiment of the present application, a method for controlling a self-moving device is provided, wherein the self-moving device is provided with a sensor for collecting a posture of the self-moving device; the method comprises:

[0006] Acquiring posture data collected by the sensor;

[0007] Based on the posture data, determining the inclination of the plane where the self-moving device is located relative to a horizontal reference plane;

[0008] When the inclination satisfies a preset condition, a driving force is applied to the driving wheels of the self-moving device so that the self-moving device has a tendency to resist the downward movement of the self-moving device caused by gravity.

[0009] In one embodiment, determining the inclination of the plane where the self-moving device is located relative to a horizontal reference plane based on the posture data includes:

[0010] Establishing a coordinate system on the horizontal reference plane with the center of the self-moving device as the origin, the moving direction of the self-moving device as the horizontal axis, and the width direction of the self-moving device as the vertical axis;

[0011] Acquire a first rotation angle and a second rotation angle in the posture data; the first rotation angle represents an angle at which the self-moving device tilts upward or downward around the longitudinal axis relative to the horizontal reference plane; the second rotation angle represents an angle at which the self-moving device tilts upward or downward around the transverse axis relative to the horizontal reference plane;

[0012] The inclination of the plane where the self-moving device is located relative to a horizontal reference plane is determined according to the first rotation angle and the second rotation angle.

[0013] In one embodiment, when the inclination satisfies a preset condition, applying a driving force to a driving wheel of the self-moving device comprises:

[0014] According to the relationship between the first rotation angle and the first preset value and the relationship between the second rotation angle and the second preset value, a driving force is applied to the driving wheel of the self-moving device.

[0015] In one embodiment, the self-moving device includes at least one left drive wheel and at least one right drive wheel;

[0016] Applying a driving force to a driving wheel of the self-moving device according to a relationship between the first rotation angle and a first preset value and a relationship between the second rotation angle and a second preset value includes:

[0017] When the first rotation angle is greater than or equal to a first preset value, applying a driving force that is the same and greater than zero to at least one left driving wheel and at least one right driving wheel;

[0018] When the first rotation angle is less than a first preset value and the second rotation angle is greater than or equal to a second preset value, different driving forces are applied to the at least one left driving wheel and the at least one right driving wheel.

[0019] In one embodiment, the sensor is an inertial navigation sensor.

[0020] In one embodiment, the first steering angle is a pitch angle measured by an inertial measurement unit; and the second steering angle is a roll angle measured by an inertial measurement unit.

[0021] In one embodiment, before applying driving force to the driving wheel of the self-moving device, the method further includes:

[0022] Determining the state of the self-moving device;

[0023] When the self-moving device is in a stationary state, a driving force is applied to the driving wheel of the self-moving device.

[0024] According to a second aspect of the present application, a control device for a self-moving device is also provided, wherein the self-moving device is provided with a sensor for collecting the posture of the self-moving device; the device comprises:

[0025] An acquisition module, used to acquire the posture data collected by the sensor;

[0026] A determination module, configured to determine, based on the posture data, an inclination of the plane where the self-moving device is located relative to a horizontal reference plane;

[0027] The control module is used to apply a driving force to the driving wheels of the self-moving device when the inclination meets a preset condition, so that the self-moving device can resist the tendency of the self-moving device to move downward caused by gravity.

[0028] According to a third aspect of the implementation of the present application, a computer-readable storage medium is further provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any one of the embodiments of the present application.

[0029] According to a fourth aspect of the present application, there is also provided a self-moving device, including:

[0030] processor;

[0031] a memory for storing instructions executable by the processor;

[0032] The processor is used to execute the control method of the mobile device described in any embodiment of the present application.

[0033] In the technical solution provided by the embodiment of the present application, the inclination of the plane where the self-moving device is located relative to the horizontal reference plane is determined based on the posture data collected by the sensor, so that it can be conveniently and quickly determined whether the self-moving device is moving on the horizontal plane or on the slope. When the inclination meets the preset conditions, the driving force is applied to the driving wheel of the self-moving device, so that the self-moving device can resist the tendency of the self-moving device to move downward caused by gravity, thereby reducing or preventing the self-moving device from falling down the slope and ensuring safety.

[0034] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The objectives, technical solutions and beneficial effects of the present application described above can be clearly obtained through the following detailed description of specific embodiments that can implement the present application, combined with the description of the accompanying drawings.

[0036] The same reference numerals and symbols in the drawings and the description are used to designate the same or equivalent elements.

[0037] Figure 1 A schematic diagram of a working scenario provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of a flow chart of a method for controlling a self-moving device provided in one embodiment of the present application;

[0039] Figure 3 A schematic diagram of the structure of a self-moving device provided in one embodiment of the present application;

[0040] Figure 4 A schematic diagram showing Euler angles provided in one embodiment of the present application;

[0041] Figure 5 A schematic diagram of a self-moving device provided in one embodiment of the present application;

[0042] Figure 6 A schematic diagram of a posture of a self-moving device on a slope provided in one embodiment of the present application;

[0043] Figure 7 A schematic diagram of a posture of a self-moving device on a slope provided in one embodiment of the present application;

[0044] Figure 8 It is a schematic diagram of the composition of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to facilitate the understanding of this application, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. The purpose of providing these implementation methods is to understand the disclosure of this application more thoroughly and comprehensively. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of this application.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. In addition, in the absence of explicit special instructions, the various technical features in the various embodiments of the present application can be regarded as being able to be combined or combined with each other, as long as the combination or combination is not impossible to implement due to technical reasons.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0048] With the rapid development of science and technology, the application of intelligent control technology in people's lives is becoming more and more extensive. As a smart product derived from intelligent control technology, self-moving devices with autonomous working ability can bring convenience and speed to people's lives. Therefore, self-moving devices are frequently used in people's lives.

[0049] like Figure 1 As shown, in some implementation scenarios, the self-moving device can move and / or work on a slope. In this way, the self-moving device can be located on the slope in different postures. For example, when going uphill, the self-moving device is located on the slope in the direction upward from the plane where it is located; for another example, when going downhill, the self-moving device is located on the slope in the direction downward from the plane where it is located; for another example, in addition to going up and downhill, the self-moving device is located on the slope in other directions along the slope. However, when the self-moving device is located on the slope, due to the gravity of the machine itself, the self-moving device may fall down, thereby causing safety problems.

[0050] Based on the above problems, an embodiment of the present application provides a control method for a self-moving device, wherein the self-moving device is provided with a sensor for collecting the posture of the self-moving device. The method can be applied to the self-moving device, specifically, to the control module in the self-moving device. Of course, in some cases, it can also be applied to a server arranged on the network side and capable of controlling the operation process of the self-moving device. Figure 2 As shown, the control method of the self-moving device provided in this embodiment may include the following steps.

[0051] S100, acquiring posture data collected by the sensor;

[0052] S102, determining the inclination of the plane where the self-moving device is located relative to a horizontal reference plane based on the posture data;

[0053] S104: When the inclination satisfies a preset condition, a driving force is applied to the driving wheels of the self-moving device, so that the self-moving device has a tendency to resist the downward movement of the self-moving device caused by gravity.

[0054] In some embodiments, the self-moving device may be an intelligent lawn mower, an automatic vacuum cleaner, an automatic spraying device, an automatic monitoring device, or other unattended device that automatically moves on the ground or surface of the work area to complete the corresponding work. It should be noted that in this embodiment, the self-moving device is an intelligent lawn mower as an example, and other implementation scenarios are not limited thereto.

[0055] like Figure 3 As shown, the self-moving device 1 includes a control module 20 , a working module 21 , a walking module 22 , an energy module 23 , and a sensor module 24 .

[0056] The control module 20 is used to control the self-moving device 1 to move and work automatically, and is the core component of the self-moving device 1. The functions it performs include controlling the working module 21 to start or stop working, controlling the walking module 22 to start or stop, and controlling the moving direction, judging the energy of the energy module 23 and timely instructing the self-moving device 1 to return to the charging station for automatic docking and charging, etc. The control module usually includes a single-chip microcomputer, a memory, and other peripheral circuits.

[0057] The working module 21 is used to perform the main working tasks of the self-moving device 1. If the self-moving device 1 is an intelligent lawn mower, the working module includes a mowing blade, a cutting motor, etc., and may also include components such as a mowing height adjustment mechanism to optimize or adjust the mowing effect. If the self-moving device 1 is an automatic vacuum cleaner, the working module includes a vacuum motor, a vacuum port, a vacuum pipe, a vacuum chamber, a dust collection device, and other working components for performing the vacuum task.

[0058] The walking module 22 is used to drive the self-moving device 1 to walk in the working area 7, and is usually composed of a wheel set installed on the self-moving device 1 and a walking motor of the driving wheel set. The wheel set includes a driving wheel connected to the walking motor and an auxiliary wheel that mainly plays an auxiliary supporting role. In some embodiments, the self-moving device includes at least one left driving wheel and at least one right driving wheel. In this embodiment, the number of driving wheels is two, located at the rear of the self-moving device 1, each driving wheel is connected to a walking motor, and the number of auxiliary wheels is one or two, located at the front of the self-moving device 1. Of course, in other embodiments, the number and position of the driving wheels can be set according to the actual scene, and this application does not limit this.

[0059] The energy module 23 is used to provide energy for various operations of the self-moving device 1, and includes a rechargeable battery and a charging connection structure, and the charging connection structure is usually a charging electrode.

[0060] The sensor module 24 may include a variety of sensors, such as a humidity sensor, an inertial navigation sensor, etc., for collecting motion parameters or state parameters of the self-moving device, such as position, attitude and other parameters. In this embodiment, the sensor module 24 includes an inertial navigation sensor for collecting the attitude of the self-moving device. Among them, the inertial navigation sensor may include an inertial measurement unit (I MU for short), an accelerometer, an odometer, a gyroscope, an attitude detection sensor, etc., to detect the speed, acceleration, driving direction, etc. of the positioning module.

[0061] In some embodiments, in addition to the above modules, the self-moving device 1 may also include a positioning module for obtaining location data of the self-moving device 1. The positioning module may be detachably mounted on the self-moving device 1, or may be fixedly mounted on the self-moving device 1.

[0062] In some embodiments, the positioning module may include a satellite navigation module and at least one position sensor, wherein the satellite navigation module is used to receive positioning signals, and the sensor module 24 is used to detect features related to the position of the positioning module. The positioning signal may include a global satellite positioning system GPS (GPS) signal, a Galileo satellite navigation system signal, a Beidou satellite navigation system signal, and the like.

[0063] In some embodiments, the positioning module is usually configured as a real-time dynamic measurement (RTK) module, that is, the positioning is realized by real-time dynamic measurement based on the RTK technology. It can be understood that no matter what positioning principle the positioning module is based on, the accuracy of its positioning result depends on the quality of the positioning signal. The higher the quality of the positioning signal, the more accurate the positioning result. On the contrary, the lower the quality of the positioning signal, the less accurate the positioning result, and even it is difficult to meet the basic positioning requirements. In practical applications, especially for the positioning module that relies on the satellite navigation system, the quality of the positioning signal is easily affected by environmental factors. For example, when the self-mobile device is in an open area without obstruction, the quality of the positioning signal of the positioning module is naturally higher. On the contrary, if the self-mobile device is blocked by trees and buildings, the signal strength of the positioning signal is very weak, and even the positioning module is difficult to receive the positioning signal. In this case, the quality of the positioning signal provided is naturally not high, and it may be difficult to meet the use requirements.

[0064] In this embodiment, the positioning module is an RTK module. Since the navigation mode of the RTK module is a dead reckoning navigation mode, when the positioning signal quality does not meet the preset quality requirements, the positioning signal is still reliable within a certain period of time. Of course, its positioning accuracy will decrease with the extension of time. That is to say, when the positioning signal quality does not meet the preset quality requirements, it is believed that the positioning module can still provide an accurate position within a certain period of time.

[0065] In some embodiments, the positioning module also includes a fusion processing unit, which includes at least two inputs, one of which is a positioning signal and the other is an output of a position sensor. The fusion processing unit operates on the positioning signal and the output of the position sensor and outputs data representing the position information of the positioning module.

[0066] In some embodiments, in addition to the above modules, the self-mobile device 1 also includes a housing for accommodating and installing each module, a control panel for user operation, etc.

[0067] In this embodiment, the posture data may include the angle of rotation of the mobile device relative to the horizontal reference plane. Among them, a specified horizontal plane can be used as the horizontal reference plane. For example, in this embodiment, the ground can be used as the horizontal reference plane. Of course, the selection of the horizontal reference plane may be different according to the actual scene, which can be determined according to the actual scene and is not limited to this.

[0068] In some implementation scenarios, the posture data may include a first rotation angle and a second rotation angle. Wherein, a coordinate system is established on a horizontal reference plane with the center of the self-moving device as the origin, the direction of travel of the self-moving device as the horizontal axis, and the width direction of the self-moving device as the vertical axis. The first rotation angle represents the angle at which the self-moving device tilts upward or downward around the vertical axis relative to the horizontal reference plane, and the second rotation angle represents the angle at which the self-moving device tilts upward or downward around the horizontal axis relative to the horizontal reference plane.

[0069] In some implementation scenarios, when the sensor is an inertial navigation sensor, the attitude data can be described by Euler angles. Among them, Euler angles can be used to represent directions and direction transformations in a three-dimensional coordinate system. Euler angles are a mechanism for creating general rotations based on three simpler rotational movements (called pitch, roll, and yaw), so Euler angles include pitch angle Pitch, roll angle Roll, and heading angle Yaw. Figure 4 As shown in the figure, an aircraft flying along the x-axis direction can change its flight direction by turning left or right (Yawing), flying up or down (Pitching), or simply rotating around the x-axis (Rolling). It can be seen that the pitch angle, heading angle, and roll angle are rotations around the z-axis, y-axis, and x-axis, respectively. In this embodiment, the pitch angle and roll angle can be used to describe the posture of the self-moving device, that is, the first rotation angle is the pitch angle, and the second steering angle is the roll angle.

[0070] In this embodiment, after obtaining the posture data of the self-moving device collected by the sensor on the self-moving device, the inclination of the plane where the self-moving device is located relative to the horizontal reference plane can be determined based on the posture data.

[0071] In some implementation scenarios, determining the inclination of the plane where the self-moving device is located relative to the horizontal reference plane based on the posture data may include determining the inclination of the plane where the self-moving device is located relative to the horizontal reference plane based on the first rotation angle and the second rotation angle in the posture data.

[0072] In some implementation scenarios, after obtaining the first rotation angle and the second rotation angle in the posture data, the maximum value of the first rotation angle and the second rotation angle can be used as the inclination of the plane where the self-moving device is located relative to the horizontal reference plane.

[0073] In this embodiment, by determining the inclination of the plane where the self-moving device is located relative to the horizontal reference plane based on the posture data, it can be determined whether the self-moving device is moving on a horizontal plane or on a slope.

[0074] Of course, other methods can also be used to determine whether the self-moving device is moving on a horizontal plane or on a slope. The above is only an exemplary description and this application does not limit this.

[0075] In this embodiment, after determining the inclination of the plane where the self-moving device is located relative to the horizontal reference plane, the relationship between the inclination and the preset condition can be determined, so as to execute a corresponding strategy according to the relationship between the inclination and the preset condition.

[0076] In some implementation scenarios, the preset conditions may include a preset tilt threshold, such as 15°, 20°, etc. Of course, the tilt threshold can be adjusted according to the actual scenario and is not limited to this.

[0077] In some implementation scenarios, if the inclination does not meet the preset conditions, it can be considered that the angle between the plane where the self-moving device is located and the horizontal reference plane is close to zero, that is, the self-moving device is basically located on the horizontal plane. At this time, the tendency of the self-moving device to move downward due to gravity is very small, and the state of the self-moving device can be kept unchanged, that is, no driving force can be applied to the driving wheels of the self-moving device at this time.

[0078] In some implementation scenarios, if the inclination satisfies the preset condition, the angle between the plane where the self-moving device is located and the horizontal reference plane is relatively large, that is, the self-moving device is located on a slope. At this time, due to the gravity on the self-moving device, the self-moving device will fall down. In order to prevent the self-moving device from falling down the slope, a driving force can be applied to the driving wheels of the self-moving device so that the self-moving device has a tendency to resist the downward movement of the self-moving device caused by gravity.

[0079] In some implementation scenarios, when the inclination satisfies a preset condition, applying a driving force to the driving wheel of the self-moving device may include: applying a driving force to the driving wheel of the self-moving device according to a relationship between the first rotation angle and a first preset value and a relationship between the second rotation angle and a second preset value. The first preset value and the second preset value may be the same or different, and may be set according to the actual scenario, and are not limited thereto. Preferably, in this embodiment, the first preset value and the second preset value are both 15°.

[0080] In some implementation scenarios, the self-moving device includes at least one left drive wheel and at least one right drive wheel. At this time, applying a driving force to the drive wheels of the self-moving device according to the relationship between the first rotation angle and the first preset value and the relationship between the second rotation angle and the second preset value may include: applying the same driving force greater than zero to the at least one left drive wheel and the at least one right drive wheel when the first rotation angle is greater than or equal to the first preset value; applying different driving forces to the at least one left drive wheel and the at least one right drive wheel when the first rotation angle is less than the first preset value and the second rotation angle is greater than or equal to the second preset value.

[0081] Among them, applying different driving forces to at least one left driving wheel and at least one right driving wheel may include applying driving forces to at least one left driving wheel and / or at least one right driving wheel, that is: applying a driving force greater than zero to at least one left driving wheel, and not applying driving force to at least one right driving wheel; applying a driving force greater than zero to at least one right driving wheel, and not applying driving force to at least one left driving wheel; applying driving forces greater than zero and different to at least one left driving wheel and at least one right driving wheel, respectively.

[0082] It should be noted that, when the first rotation angle is greater than or equal to the first preset value, applying the same driving force greater than zero to at least one left driving wheel and at least one right driving wheel can at least ensure that the self-moving device does not fall down the slope. Of course, in some implementation scenarios, when the first rotation angle is greater than or equal to the first preset value, different driving forces can also be applied to at least one left driving wheel and at least one right driving wheel, as long as it can ensure that the self-moving device has a tendency to move upward along the slope and does not fall down the slope.

[0083] Specifically, Figure 5 As shown, the self-moving device includes a left driving wheel and a right driving wheel located at the rear of the self-moving device, and the self-moving device is provided with an inertial navigation sensor for collecting the posture of the self-moving device. When it is determined based on the posture data collected by the inertial navigation sensor that the inclination of the plane where the self-moving device is located relative to the horizontal reference plane is greater than 15°, the driving force applied to the two driving wheels of the self-moving device can be determined based on the relationship between the pitch angle measured by the inertial measurement unit and the preset value and the relationship between the roll angle and the preset value.

[0084] like Figure 6 As shown, assuming that the mobile device Figure 6 The posture shown is on a slope (uphill or downhill), and the pitch angle is greater than a preset value. At this time, the same driving force greater than zero can be applied to the left and right driving wheels to make the self-moving device tend to move up the slope. This trend can reduce or avoid the tendency of the self-moving device to move down the slope due to gravity. Figure 6 The posture shown is on a slope. Due to the gravity on the self-moving device, the self-moving device will fall down. In order to prevent the self-moving device from falling down the slope, at this time, the same driving force can be applied to the two driving wheels upward along the slope, so that the self-moving device has the tendency to resist the downward movement of the self-moving device caused by gravity. Figure 6The posture shown is on a slope. Due to the gravity acting on the self-moving device, the self-moving device will fall downward. In order to prevent the self-moving device from falling down the slope, at this time, the same driving force can be applied to the two driving wheels upward along the slope so that the self-moving device has the tendency to counteract the downward movement of the self-moving device caused by gravity.

[0085] like Figure 7 As shown, assuming that the mobile device Figure 7 The posture shown is on a slope, the pitch angle is less than a preset value, and the roll angle is greater than a preset value. At this time, different driving forces can be applied to the left drive wheel and the right drive wheel. Specifically, for example, the mobile device is Figure 7 The posture shown is on a slope (the forward direction is to the left). Due to the gravity on the self-moving device, the self-moving device will fall down. In order to prevent the self-moving device from falling down the slope, at this time, based on the forward direction of the self-moving device, a driving force that is upward along the slope and greater than zero can be applied to the left driving wheel, and no driving force is applied to the right driving wheel, or a force that is upward along the slope and less than the force applied to the left driving wheel is applied, so that the self-moving device has a tendency to move upward along the slope. This tendency can reduce or avoid the tendency of the self-moving device to move downward along the slope caused by gravity.

[0086] Of course, the above is only an exemplary description and does not constitute a limitation on other implementation scenarios.

[0087] In this embodiment, the driving force applied to the driving wheels of the self-moving device is determined based on the relationship between the posture data and the preset value, so that the self-moving device has the tendency to counteract the downward movement of the self-moving device caused by gravity, thereby reducing or avoiding the self-moving device from falling down the slope and ensuring safety.

[0088] In some implementation scenarios, before applying driving force to the driving wheels of the self-moving device, the state of the self-moving device may be determined, wherein the state of the self-moving device may include a moving state and a stationary state.

[0089] In some implementation scenarios, when the self-moving device is in a stationary state, a driving force is applied to the driving wheels of the self-moving device.

[0090] Of course, the solution of the present application can also be executed when the self-moving device is in motion on the slope, and this is not limited to this. Preferably, the solution is executed when the self-moving device is in a stationary state.

[0091] In the technical solution provided by the embodiment of the present application, the inclination of the plane where the self-moving device is located relative to the horizontal reference plane is determined based on the posture data collected by the sensor, so that it can be conveniently and quickly determined whether the self-moving device is moving on the horizontal plane or on the slope. When the inclination meets the preset conditions, the driving force is applied to the driving wheel of the self-moving device, so that the self-moving device can resist the tendency of the self-moving device to move downward caused by gravity, thereby reducing or preventing the self-moving device from falling down the slope and ensuring safety.

[0092] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the accompanying drawings may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the steps or stages in other steps.

[0093] Based on the same inventive concept, an embodiment of the present application also provides a control device for a self-moving device. The implementation solution for solving the problem provided by the control device is similar to the implementation solution recorded in the above-mentioned control method. Therefore, the specific limitations in the control device embodiment provided below can be referred to the limitations on the method above and will not be repeated here.

[0094] An embodiment of the present application provides a control device for a self-moving device, wherein the self-moving device is provided with a sensor for collecting the posture of the self-moving device; the device comprises:

[0095] An acquisition module, used to acquire the posture data collected by the sensor;

[0096] A determination module, configured to determine, based on the posture data, an inclination of the plane where the self-moving device is located relative to a horizontal reference plane;

[0097] The control module is used to apply a driving force to the driving wheels of the self-moving device when the inclination meets a preset condition, so that the self-moving device can resist the tendency of the self-moving device to move downward caused by gravity.

[0098] Based on the same inventive concept, the embodiment of the present application also provides a self-moving device. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above control method, so the specific limitations in the device embodiment provided below can refer to the limitations of the method above, and will not be repeated here.

[0099] An embodiment of the present application provides a self-moving device, including:

[0100] processor;

[0101] a memory for storing instructions executable by the processor;

[0102] The processor is used to execute any of the above-mentioned control methods for a mobile device.

[0103] It should be noted that each module in the above device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0104] In another embodiment, the present application also provides a computer device, which may be a terminal or a system, such as a software control system of a mobile device, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, the method of any method embodiment of the present application is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball or a touch pad set on the housing of the computer device, or an external keyboard, touch pad or mouse, etc.

[0105] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0106] In one embodiment, the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0107] In one embodiment, the present application further provides a computer program product, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0108] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited thereto.

[0109] It should be noted that in this application, when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element or one element is "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time, and it should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0110] The terms "vertical", "horizontal", "left", "right", "up", "down", "front", "rear", "circumferential", "direction of travel" and similar expressions used in this document are based on the orientation or position relationship shown in the drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0111] Unless otherwise defined, the technical and scientific terms used herein may be identical to the meanings generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The terms "and / or", "and / or", "at least one of..." used herein include any and all combinations of one or more related listed items.

[0112] The technical features of the above embodiments may also be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for a self-moving device, wherein the self-moving device is provided with a sensor for collecting the posture of the self-moving device; characterized in that: The method comprises: Acquiring posture data collected by the sensor; Based on the posture data, determining the inclination of the plane where the self-moving device is located relative to a horizontal reference plane; When the inclination satisfies a preset condition, a driving force is applied to the driving wheels of the self-moving device so that the self-moving device has a tendency to resist the downward movement of the self-moving device caused by gravity.

2. The method according to claim 1, characterized in that Determining the inclination of the plane where the self-moving device is located relative to a horizontal reference plane based on the posture data includes: Establishing a coordinate system on the horizontal reference plane with the center of the self-moving device as the origin, the moving direction of the self-moving device as the horizontal axis, and the width direction of the self-moving device as the vertical axis; Acquire a first rotation angle and a second rotation angle in the posture data; the first rotation angle represents an angle at which the self-moving device tilts upward or downward around the longitudinal axis relative to the horizontal reference plane; the second rotation angle represents an angle at which the self-moving device tilts upward or downward around the transverse axis relative to the horizontal reference plane; The inclination of the plane where the self-moving device is located relative to a horizontal reference plane is determined according to the first rotation angle and the second rotation angle.

3. The method according to claim 2, characterized in that When the inclination satisfies a preset condition, applying a driving force to a driving wheel of the self-moving device comprises: According to the relationship between the first rotation angle and the first preset value and the relationship between the second rotation angle and the second preset value, a driving force is applied to the driving wheel of the self-moving device.

4. The method according to claim 3, characterized in that The self-moving device includes at least one left drive wheel and at least one right drive wheel; Applying a driving force to a driving wheel of the self-moving device according to a relationship between the first rotation angle and a first preset value and a relationship between the second rotation angle and a second preset value includes: When the first rotation angle is greater than or equal to a first preset value, applying a driving force that is the same and greater than zero to at least one left driving wheel and at least one right driving wheel; When the first rotation angle is less than a first preset value and the second rotation angle is greater than or equal to a second preset value, different driving forces are applied to the at least one left driving wheel and the at least one right driving wheel.

5. The method according to claim 4, characterized in that The sensor is an inertial navigation sensor.

6. The method according to claim 5, characterized in that The first steering angle is a pitch angle measured by an inertial measurement unit; and the second steering angle is a roll angle measured by an inertial measurement unit.

7. The method according to claim 1, characterized in that Before applying driving force to the driving wheel of the self-moving device, the method further includes: Determining the state of the self-moving device; When the self-moving device is in a stationary state, a driving force is applied to the driving wheel of the self-moving device.

8. A control device for a self-moving device, wherein the self-moving device is provided with a sensor for collecting the posture of the self-moving device; characterized in that: The device comprises: An acquisition module, used to acquire the posture data collected by the sensor; A determination module, configured to determine, based on the posture data, an inclination of the plane where the self-moving device is located relative to a horizontal reference plane; The control module is used to apply a driving force to the driving wheels of the self-moving device when the inclination meets a preset condition, so that the self-moving device can resist the tendency of the self-moving device to move downward caused by gravity.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

10. A self-propelled device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method according to any one of claims 1 to 7.

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