Self-moving device control method and system and self-moving device

Abstract

The invention provides a self-moving device control method and system and a self-moving device. The control method comprises the following steps: determining the quality of a satellite positioning signal; in response to the situation that the quality of the satellite positioning signal does not meet a preset condition, controlling the self-moving equipment to enter a shutdown mode; in the shutdown mode, the positioning module continues to receive satellite positioning signals, and the moving module and the task execution module stop working; determining the duration of the shutdown mode; when the duration time of the shutdown mode is smaller than a first time threshold value and the quality of the satellite positioning signal recovers to meet a preset condition, the mobile module and the task execution module are controlled to continue working; and controlling the self-moving device to enter a sleep mode in response to the situation that the quality of the satellite positioning signal is still not recovered to meet a preset condition when the duration time of the shutdown mode reaches the first time threshold. According to the self-moving equipment control method, human intervention can be reduced, and the intelligent level of the self-moving equipment is improved.

Description

Technical Field

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

[0002] Self-moving devices can be positioned and navigated through satellite positioning, but the received location data may produce errors due to factors such as climate, ionosphere, and obstacles, which may lead to poor positioning accuracy of the self-moving devices.

[0003] Existing self-moving devices automatically shut down when the positioning accuracy is poor to avoid running out of the working area or causing damage. After shutting down, the user needs to manually restart it to continue working, which brings inconvenience to the user. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to provide a control method for a self-moving device with a high level of intelligence.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present disclosure provides a method for controlling a self-moving device, wherein the self-moving device comprises: a body; a moving module installed on the body; a task execution module installed on the body; a positioning module installed on the body to collect satellite positioning signals of the self-moving device; a control module installed on the body to control the moving module to drive the self-moving device to move, and to control the task execution module to perform a work task; the control module receives the satellite positioning signal from the positioning module;

[0006] The control method includes: determining the quality of the satellite positioning signal; in response to the quality of the satellite positioning signal not meeting the preset condition, controlling the self-moving device to enter a shutdown mode; in the shutdown mode, the positioning module continues to receive the satellite positioning signal, and the mobile module and the task execution module stop working; determining the duration of the shutdown mode, when the duration of the shutdown mode is less than a first time threshold and the quality of the satellite positioning signal is restored to meet the preset condition, controlling the mobile module and the task execution module to continue working; in response to the quality of the satellite positioning signal reaching the first time threshold and still not recovering to meet the preset condition when the duration of the shutdown mode reaches the first time threshold, controlling the self-moving device to enter a sleep mode.

[0007] As a further improvement of an implementation manner of the present disclosure, in the sleep mode, the movement module, the task execution module, and the positioning module stop working.

[0008] As a further improvement of an embodiment of the present disclosure, after controlling the self-moving device to enter the sleep mode, it also includes: when the duration of the sleep mode reaches a second time threshold, controlling the self-moving device to re-enter the shutdown mode; determining the duration of the shutdown mode, and when the duration of the shutdown mode is less than the first time threshold and the quality of the satellite positioning signal is restored to meet the preset conditions, controlling the mobile module and the task execution module to continue working; in response to the satellite positioning signal not being restored to meet the preset conditions after the duration of the shutdown mode reaches the first time threshold, controlling the self-moving device to enter the sleep mode again.

[0009] As a further improvement of an embodiment of the present disclosure, the self-moving device further includes a display screen; in the sleep mode, the display screen operates normally and displays a countdown for the self-moving device to re-enter the shutdown mode.

[0010] As a further improvement of an embodiment of the present disclosure, if the number of times the self-mobile device enters the sleep mode reaches a target number and the quality of the satellite positioning signal has not recovered to meet a preset condition, the self-mobile device is controlled to shut down.

[0011] As a further improvement of an embodiment of the present disclosure, the control method also includes: when the duration of the shutdown mode is less than the first time threshold, if the duration of the shutdown mode reaches a third time threshold, controlling the positioning module to restart; in response to the quality of the satellite positioning signal meeting a preset condition, controlling the mobile module and the task execution module to continue working; in response to the quality of the satellite positioning signal not meeting the preset condition, controlling the self-moving device to enter the shutdown mode again.

[0012] As a further improvement of an embodiment of the present disclosure, the self-moving device further includes at least one of an obstacle detection sensor and a rain sensor; the obstacle detection sensor and the rain sensor stop working in the shutdown mode.

[0013] As a further improvement of an implementation manner of the present disclosure, the quality of the satellite positioning signal does not meet a preset condition, including: the quality of the satellite positioning signal is lower than a signal quality threshold and the duration reaches a fourth time threshold.

[0014] In order to achieve the above objectives, the present disclosure also provides a control system, which runs the above control method.

[0015] In order to achieve the above-mentioned purpose, the present disclosure also provides a self-moving device, comprising: a body; a mobile module, installed on the body; a task execution module, installed on the body; a positioning module, installed on the body, collecting satellite positioning signals of the self-moving device; a control module, installed on the body, controlling the mobile module to drive the self-moving device to move, and controlling the task execution module to perform work tasks; the control module receives the satellite positioning signal; the control module determines whether the quality of the satellite positioning signal meets a preset condition, and controls the self-moving device to enter a shutdown mode in response to the quality of the satellite positioning signal not meeting the preset condition; in the shutdown mode, the positioning module continues to receive the satellite positioning signal, and the mobile module and the task execution module stop working; the control module controls the mobile module and the task execution module to continue working in response to the quality of the satellite positioning signal being restored to meet the preset condition within a first time threshold of the shutdown mode; the control module controls the self-moving device to enter a sleep mode in response to the quality of the satellite positioning signal not being restored to meet the preset condition within a first time threshold of the shutdown mode.

[0016] The self-moving device control method provided by the present disclosure collects the satellite positioning signal of the self-moving device through the positioning module, and when the quality of the satellite positioning signal does not meet the preset conditions, controls the self-moving device to enter the shutdown mode or sleep mode, reduces the energy consumption of the self-moving device, and waits for the satellite positioning signal quality to recover; when the duration of the shutdown mode is less than the first time threshold and the quality of the satellite positioning signal recovers to meet the preset conditions, controls the mobile module and the task execution module to continue working, which can reduce human intervention and improve the intelligence level of the self-moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a self-moving device provided in one embodiment of the present disclosure;

[0018] Figure 2 A system architecture diagram of a mobile device provided by an embodiment of the present disclosure;

[0019] Figure 3 A flowchart of a method for controlling a self-moving device provided in one embodiment of the present disclosure;

[0020] Figure 4 A flowchart of a method for controlling a self-moving device provided by another embodiment of the present disclosure;

[0021] Figure 5 A flowchart of a method for controlling a self-moving device provided by another embodiment of the present disclosure;

[0022] Figure 6A module schematic diagram of a control system provided in accordance with an embodiment of the present disclosure.

[0023] Figure numerals: 1, body; 2, mobile module; 3, task execution module; 4, positioning module; 1010, processor; 1020, memory; 1030, input / output interface; 1040, communication interface; 1050, bus. DETAILED DESCRIPTION

[0024] The present disclosure will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present disclosure, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present disclosure.

[0025] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0026] The self-moving device of the present invention refers to a device that can independently walk in the working area and complete certain tasks without external human information input and control during operation; for example, automatic vacuum cleaners, automatic lawn mowers, automatic trimmers, automatic snow sweepers, etc., which automatically walk on the ground or surface of the working area to mow the grass, sweep the snow, etc. The present invention takes an automatic lawn mower as an example for specific introduction. The automatic lawn mower can automatically walk and work in the working area through positioning navigation of satellite positioning signals, and the energy required for walking and working is provided by batteries.

[0027] like Figure 1 and Figure 2 As shown, the automatic lawn mower of the present invention comprises: a body 1, a moving module 2 installed on the body 1, a task execution module 3, a positioning module 4, and a control module.

[0028] The body 1 serves as a supporting frame of the automatic lawn mower and is used to accommodate and install various modules.

[0029] The mobile module 2 is used to drive the self-moving device to move. It usually includes a driving wheel, a passive wheel and a motor for driving the driving wheel. The motor can be a brushless motor with a reduction gearbox and a Hall sensor. After the motor is started, the driving wheel can be driven to move through the reduction gearbox, and by controlling the speed and direction of the driving wheel, the driving actions such as forward and backward straight-line running, on-the-spot turning and circular running can be realized; the passive wheel can be a universal wheel, which is usually set to 1 or 2, and mainly plays the role of supporting balance.

[0030] The task execution module 3 is used to execute the work task, which usually includes a working motor and a working unit driven by the working motor. The working unit is a cutting component that performs the cutting work, such as an output shaft, a cutter disc, a blade, etc. The working unit can be selected according to the purpose of the self-moving device. If the self-moving device is a vacuum cleaner, the task execution module 3 is a dust collection component that performs the dust collection work, such as a dust collection port, a fan, and a vacuum chamber, etc., which will not be repeated here.

[0031] The positioning module 4 is used to collect satellite positioning signals of the automatic lawn mower; wherein the satellite positioning signals may include signals sent from a combined global navigation satellite system GNSS obtained by using a satellite positioning sensor, and may also include signals sent by an independent navigation satellite system, such as the United States' GPS, Russia's Glonass, Europe's Galileo, and China's Beidou satellite navigation system, and may also include related enhancement systems, such as the United States' WAAS (Wide Area Augmentation System), Europe's EGNOS (European Geostationary Navigation Overlay System) and Japan's MSAS (Multifunctional Transport Satellite Augmentation System), etc., and may also include signals sent by other satellite navigation systems that are under construction or to be constructed in the future.

[0032] The control module is used to control the mobile module 2 and the task execution module 3, and receive the satellite positioning signal collected by the positioning module 4. The self-mobile device described above performs positioning and navigation by collecting satellite positioning signals, but the collected satellite positioning signals may produce errors due to factors such as climate, ionosphere, troposphere, electromagnetic waves, and physical shielding, which in turn leads to poor positioning accuracy of the self-mobile device, and it can only shut down and wait for the user to restart it manually.

[0033] A control module in a mobile device provided by an embodiment of the present disclosure includes: a judgment component, a logic control component, and a timing component.

[0034] The specific physical form of the judgment component and the logic control component is a control board with one or more processors, storage, other related components and corresponding peripheral circuits. The processor of the judgment component has a built-in judgment program to execute predetermined work instructions; work instructions, for example: judging whether the quality of the satellite positioning signal meets the preset conditions. The processor of the logic control component has a built-in control program to execute predetermined instructions and control each module to execute work instructions; work instructions, for example: the working status of each module, work strategy, etc.; the memory is used to store various information obtained during the operation of the automatic lawn mower, as well as various pre-configured information of the automatic lawn mower; the memory is for example: EPROM, Flash or SD card, etc.

[0035] The specific physical form of the timing component can be a real-time clock chip, a pulse timer, etc., which can be electrically connected to the judgment component and the logic control component for timing.

[0036] like Figure 3 As shown, an embodiment of the present disclosure discloses a control method, which is applied to the above-mentioned self-moving device, and the control method includes the following steps:

[0037] Step S1, determining the quality of the satellite positioning signal; in response to the quality of the satellite positioning signal not meeting the preset condition, controlling the mobile device to enter the shutdown mode; in the shutdown mode, the positioning module 4 continues to receive the satellite positioning signal, and the mobile module 2 and the task execution module 3 stop working;

[0038] Step S2, determining the duration of the shutdown mode;

[0039] Step S3: When the duration of the shutdown mode is less than the first time threshold and the quality of the satellite positioning signal is restored to meet the preset condition, the mobile module 2 and the task execution module 3 are controlled to continue working;

[0040] Step S4: In response to the quality of the satellite positioning signal not being restored to meet a preset condition after the duration of the shutdown mode reaches a first time threshold, controlling the mobile device to enter a sleep mode.

[0041] The control method disclosed in the present invention collects the satellite positioning signal of the self-mobile device through the positioning module 4; when the quality of the satellite positioning signal does not meet the preset conditions, the self-mobile device is controlled to enter the shutdown mode or the sleep mode, so as to reduce the energy consumption of the self-mobile device and wait for the satellite positioning signal quality to recover; when the duration of the shutdown mode is less than the first time threshold and the quality of the satellite positioning signal recovers to meet the preset conditions, the mobile module 2 and the task execution module 3 are controlled to continue working, which can reduce human intervention and improve the intelligence level of the self-mobile device.

[0042] In step S1, the quality of the satellite positioning signal is determined, and in response to the quality of the satellite positioning signal not meeting the preset condition, the self-moving device is controlled to enter the shutdown mode. Specifically, whether the positioning of the self-moving device is accurate and reliable is determined by the quality of the satellite positioning signal, and when the positioning of the self-moving device is determined to be inaccurate, the mobile module 2 and the task execution module 3 are controlled to stop working, so as to avoid the self-moving device from rushing out of the working area or causing damage, thereby improving the safety of the self-moving device.

[0043] In one embodiment, the quality of the satellite positioning signal is determined by whether it meets the preset conditions, wherein the preset conditions include a signal quality threshold and a duration threshold. The quality of the satellite positioning signal does not meet the preset conditions include: the quality of the satellite positioning signal is lower than the signal quality threshold and the duration reaches a fourth time threshold; conversely, when the quality of the satellite positioning signal is not lower than the signal quality threshold or the duration of being lower than the signal quality threshold is less than the fourth time threshold, it is determined that the quality of the satellite positioning signal meets the preset conditions. By limiting the signal quality threshold and the duration threshold, the quality of the satellite positioning signal can be more accurately judged and the reliability of the equipment is improved. Preferably, the fourth time threshold is 50-100 seconds, for example, 50 seconds, 60 seconds, 70 seconds, and 100 seconds. A suitable fourth time threshold can improve the accuracy of the judgment result and avoid interference with the judgment result caused by short-term fluctuations of the satellite positioning signal. It can be understood by those skilled in the art that the fourth time threshold can be flexibly adjusted according to the actual environment or needs, and is not the value defined in the above text.

[0044] In one embodiment, the quality of the satellite positioning signal is determined by the control module. The control module pre-stores a signal quality threshold and a fourth time threshold. After receiving the satellite positioning signal transmitted by the positioning module 4, the control module determines whether the quality of the satellite positioning signal is lower than the signal quality threshold, and determines the duration of the satellite positioning signal being lower than the signal quality threshold. When the duration reaches the fourth time threshold, it is determined that the quality of the satellite positioning signal does not meet the preset condition; when the duration does not reach the fourth time threshold, it is determined that the quality of the satellite positioning signal meets the preset condition.

[0045] The self-moving device has a working mode and a shutdown mode, and the positioning module 4, the mobile module 2 and the task execution module 3 have a working state and a stop state. Among them, the working state of the mobile module 2 means that the mobile module 2 drives the self-moving device to move under the control of the control module; the stop state of the mobile module 2 means that the mobile module 2 stops driving the self-moving device to move, and at this time the mobile module 2 can be: stop moving under the control of the control module, stop moving after disconnecting from the control module, and the power supply is cut off and cannot operate normally. The working state of the task execution module 3 means that the task execution module 3 performs the work task under the control of the control module; the stop state of the task execution module 3 means that the task execution module 3 stops performing the work task, and at this time the task execution module 3 can be: stop performing the work task under the control of the control module, stop performing the work task after disconnecting from the control module, and the power supply is cut off and cannot operate normally. The working state and stop state of the positioning module 4 are similar to the working state and stop state of the mobile module 2 and the task execution module 3, and will not be repeated here. When the mobile module 2 stops working, it can prevent the self-moving device from rushing out of the working area or hitting obstacles when the positioning is inaccurate; when the task execution module 3 stops working, it can avoid causing harm to people, animals, etc. or being damaged by obstacles; at the same time, when the mobile module 2 and the task execution module 3 stop working, it can also reduce the energy consumption of the self-moving device.

[0046] In one embodiment, the working mode of the self-moving device refers to the control module working normally and controlling the mobile module 2, the task execution module 3 and the positioning module 4 to be in working state; the stop mode refers to the mobile module 2 and the task execution module 3 being in a stopped state, the control module and the positioning module 4 being in a working state, and detecting whether the quality of the satellite positioning signal is restored. Preferably, in the stop mode, the mobile module 2 and the task execution module 3 stop moving and executing the work task under the control of the control module, so that both can quickly restart after the quality of the satellite positioning signal is restored.

[0047] In one embodiment, the control module can change the mode of the self-moving device by switching between the working state and the stopping state by controlling the mobile module 2, the task execution module 3 and the positioning module 4. For example, when the control module determines that the quality of the satellite positioning signal does not meet the preset conditions, the control module can control the mobile module 2 and the task execution module 3 to switch from the working state to the stopping state, and accordingly, the self-moving device switches from the working mode to the stopping mode.

[0048] It can be understood that the shutdown mode is a mode of waiting for the satellite positioning signal to be restored. In the shutdown mode, the positioning module 4 continues to collect satellite positioning signals, and the control module continues to receive and process satellite positioning signals to detect whether the satellite positioning signal is restored within the duration of the shutdown mode.

[0049] In step S2, the duration of the shutdown mode is determined, and in conjunction with the detection result of the satellite positioning signal in step S1, it is determined whether to execute step S3 or step S4; when the duration of the shutdown mode is less than the first time threshold, and the quality of the satellite positioning signal is restored to meet the preset condition, step S3 is executed; when the duration of the shutdown mode reaches the first time threshold, and the quality of the satellite positioning signal is not restored to meet the preset condition, step S4 is executed; wherein, the duration of the shutdown mode refers to the time from the mobile device entering the shutdown mode to switching to other modes, for example, the duration of the shutdown mode refers to the time from the mobile device entering the shutdown mode to switching to the working mode. The duration of the shutdown mode can be determined by the control module, for example, by the timing component in the control module. Alternatively, a timing module can also be separately set in the fuselage 1 to record the duration of the shutdown mode. Preferably, the first time threshold is 5-30 minutes. For example, 5 minutes, 10 minutes, 20 minutes, 30 minutes. It can be understood by those skilled in the art that the first time threshold can be flexibly adjusted according to the actual environment or needs, and is not the value defined in the above text.

[0050] In one embodiment, a first time threshold is pre-stored in the control module. The control module determines whether the quality of the satellite positioning signal is restored to meet the preset condition during the duration of the shutdown mode; when the quality of the satellite positioning signal does not reach the first time threshold during the duration of the shutdown mode, it is restored to meet the preset condition, and the control module controls the self-mobile device to execute step S3; when the quality of the satellite positioning signal reaches the first time threshold during the duration of the shutdown mode, it still does not recover to meet the preset condition, and the control module controls the self-mobile device to execute step S4.

[0051] In step S3, when the duration of the shutdown mode is less than the first time threshold and the quality of the satellite positioning signal is restored to meet the preset conditions, the mobile module 2 and the task execution module 3 are controlled to continue working. Specifically, after the self-mobile device enters the shutdown mode, the positioning module 4 and the control module continue to work to detect whether the quality of the satellite positioning signal is restored to meet the preset conditions; when the quality of the positioning signal is restored to meet the preset conditions and the duration of the shutdown mode is less than the first time threshold, the self-mobile device is controlled to switch to the working mode, and the mobile module 2 and the task execution module 3 continue to work, which can reduce human intervention.

[0052] In step S4, in response to the fact that the quality of the satellite positioning signal has not recovered to meet the preset conditions after the duration of the shutdown mode reaches the first time threshold, it is speculated that the quality of the satellite positioning signal may not meet the preset conditions due to the influence of factors such as the ionosphere and troposphere (the impact time of the ionosphere and troposphere on the satellite positioning signal is usually 60 minutes to 120 minutes). At this time, the self-mobile device is controlled to enter the sleep mode, which can reduce the energy consumption of the self-mobile device while waiting for the quality of the satellite positioning signal to recover.

[0053] In one embodiment, in the sleep mode, the mobile module 2, the task execution module 3, and the positioning module 4 stop working, and the control module continues to work, so as to control each module to restart after the sleep mode ends, thereby avoiding human intervention. Further, in the sleep mode, the positioning module 4, the mobile module 2, and the task execution module 3 are all powered off to further reduce energy consumption.

[0054] In one embodiment, step S4 further includes: when controlling the self-mobile device to enter the sleep mode, controlling the self-mobile device to save the current location information and work progress, so as to control the self-mobile device to continue to perform the work task after the satellite positioning signal meets the preset conditions. The location information may include work area information, the preset walking path of the self-mobile device, and the position of the self-mobile device in the walking path; the work progress may include the information of the path that has been walked and the information of the path that has not been walked, etc.

[0055] See also Figure 4 In one embodiment of the present disclosure, after controlling the mobile device to enter the sleep mode in step S4, the method further includes:

[0056] Step S5: When the duration of the sleep mode reaches a second time threshold, control the mobile device to re-enter the shutdown mode;

[0057] Step S6, determining the duration of the shutdown mode;

[0058] Step S7: When the duration of the shutdown mode is less than the first time threshold and the quality of the satellite positioning signal is restored to meet the preset condition, the mobile module 2 and the task execution module 3 are controlled to continue working;

[0059] Step S8: In response to the satellite positioning signal not being restored to meet a preset condition after the duration of the shutdown mode reaches a first time threshold, the mobile device is controlled to enter the sleep mode again.

[0060] The control method disclosed in the present invention controls the self-mobile device to continuously switch between the shutdown mode and the sleep mode when the satellite positioning signal has not recovered to meet the preset conditions, so as to wait for the satellite positioning signal quality to recover; wherein, in the shutdown mode, it is possible to detect whether the quality of the satellite positioning signal has recovered to meet the preset conditions; in the sleep mode, the energy consumption of the self-mobile device can be further reduced, waiting for the satellite positioning signal quality to recover.

[0061] In step S5, when the duration of the sleep mode reaches the second time threshold, the self-mobile device is controlled to re-enter the shutdown mode to detect whether the satellite positioning signal is restored. The duration of the sleep mode refers to the time from the self-mobile device entering the sleep mode to the self-mobile device re-entering the shutdown mode. The duration of the sleep mode can be determined by the control module, for example, by a timing component in the control module. Alternatively, a timing module can also be set separately to record the duration of the sleep mode.

[0062] In one embodiment, the second time threshold is 60-120 minutes. For example, 60 minutes, 80 minutes, 90 minutes, and 120 minutes. It can be understood by those skilled in the art that the second time threshold can be flexibly adjusted according to the actual environment or needs, and is not the value defined in the above text. For example, the second time threshold can be set according to the local climate, the time of influence of the ionosphere and troposphere on the satellite positioning signal, etc. Exemplarily, the time of influence of the ionosphere and troposphere on the satellite positioning signal is usually 60 minutes-120 minutes, and the second time threshold can be set to 120 minutes. After the influence of the ionosphere and troposphere on the satellite positioning signal disappears, the self-mobile device is controlled to enter the shutdown module to detect the quality of the satellite positioning signal. Alternatively, the second time threshold can also be set to 60 minutes, reducing the duration of the self-mobile device in the sleep mode and increasing the frequency of entering the shutdown mode to detect the quality of the satellite positioning signal, so that after the quality of the satellite positioning signal is restored, the self-mobile device can be quickly controlled to continue working, thereby improving the working efficiency of the self-mobile device.

[0063] In one optional embodiment, the second time threshold can be manually adjusted or automatically adjusted by the control module. For example, the control module can collect and record the factors that cause the quality of the satellite positioning signal to fail to meet the preset conditions and the number of occurrences and duration of the above factors, and adjust the second time threshold according to the number of occurrences and duration of the above factors. Exemplarily, the control module records the factors that cause the quality of the satellite positioning signal to fail to meet the preset conditions for ten consecutive times. If the influence of the ionosphere and troposphere occurs seven times and the duration is between 70 minutes and 80 minutes, the control module can adjust the second time threshold to 80 minutes.

[0064] In one embodiment, the specific implementation of step S6 can refer to the above step S2, the specific implementation of step S7 can refer to the above step S3, and the specific implementation of step S8 can refer to the above step S4, which will not be repeated here. It should be emphasized that the first time threshold in step S7 can be the same as the first time threshold in step S3, or it can be different. For example, the first time threshold in step S7 and the first time threshold in step S3 are both 10 minutes, or the first time threshold in step S3 is 5 minutes, and the first time threshold in step S7 is 15 minutes.

[0065] It is understandable that after step S8, step S5 can be executed again, so that the self-mobile device control method disclosed in the present invention is cyclically performed to wait for the satellite positioning signal to be restored, and to control the self-mobile device to continue to perform the work task after the satellite positioning signal is restored. The second time threshold when step S5 is executed for the second time can be the same as the second time threshold when step S5 is executed for the first time, or it can be different. For example, the second time threshold when step S5 is executed for the first time and the second time is executed for the second time is 120 minutes, or the second time threshold when step S5 is executed for the first time is 120 minutes, and the second time threshold when step S5 is executed for the second time is 60 minutes.

[0066] In one embodiment, after step S8, the method further includes:

[0067] Step S9, after the mobile device is controlled to enter the sleep mode again, if the number of times the mobile device enters the sleep mode reaches the target number and the quality of the satellite positioning signal has not recovered to meet the preset conditions, the mobile device is controlled to shut down.

[0068] Wherein, the target number of times is at least two times, and controlling the self-mobile device to enter sleep mode in step S4 and step S8 is counted as one time. When the target number of times is two times, after step S8 is executed, the self-mobile device is controlled to shut down. Preferably, the target number of times is three times, that is, step S5 is executed for the second time after step S8 is executed, and the self-mobile device is controlled to shut down after the second execution of step S8. Alternatively, the target number of times can be adjusted according to the actual environment and the duration of the second time threshold. For example, when the second time threshold is set to a longer time, the number of target times can be reduced; conversely, when the second time threshold is set to a shorter time, the number of target times can be increased.

[0069] Further, when the mobile device is turned off, the control module, the mobile module 2, the task execution module 3 and the positioning module 4 all stop working. Preferably, when the mobile device is turned off, the control module, the mobile module 2, the task execution module 3 and the positioning module 4 are all powered off.

[0070] In one embodiment of the present disclosure, the self-mobile device re-enters the shutdown mode from the sleep mode by the control module. The second time threshold is pre-stored in the control module, and the control module can determine the duration of the sleep mode, and when the duration of the sleep mode reaches the second time threshold, the self-mobile device is controlled to switch from the sleep mode to the shutdown mode.

[0071] In one embodiment, the self-mobile device also includes a display screen; in sleep mode, the display screen works normally and displays a countdown for the self-mobile device to re-enter the shutdown mode, which can not only provide instant feedback to the user, but also remind the user that the self-mobile device is in sleep mode to avoid user misoperation.

[0072] Furthermore, the display screen may be a touch screen, and the operator may control the application installed in the self-mobile device through the touch screen, thereby realizing the control of the self-mobile device.

[0073] In one embodiment, the display screen can display the number of times the mobile device enters sleep mode, so as to better feedback the operating status of the mobile device; and when the mobile device is turned off, the display screen can be turned off to reduce the energy consumption of the mobile device.

[0074] See also Figure 5 In another embodiment of the present disclosure, after step S2 determines the duration of the shutdown mode, the following steps are also included:

[0075] Step S10, when the duration of the shutdown mode is less than the first time threshold, if the duration of the shutdown mode reaches the third time threshold, control the positioning module 4 to restart;

[0076] Step S11, in response to the quality of the satellite positioning signal meeting the preset condition, controlling the mobile module 2 and the task execution module 3 to continue working; human intervention can be reduced;

[0077] Step S12, in response to the quality of the satellite positioning signal not meeting the preset condition, controlling the mobile device to enter the shutdown mode again to wait for the satellite positioning signal quality to recover.

[0078] The control method disclosed in the present invention restarts the positioning module 4 to check whether the quality of the satellite positioning signal does not meet the preset conditions due to a program failure of the positioning module 4 itself, and controls the mobile module 2 and the task execution module 3 to continue working after the quality of the satellite positioning signal recovers to meet the preset conditions, thereby reducing human intervention; and when the quality of the satellite positioning signal has not recovered to meet the preset conditions, controls the mobile device to enter the shutdown mode again to wait for the satellite positioning signal quality to recover.

[0079] In step S10, when the duration of the shutdown mode is less than the first time threshold, if the duration of the shutdown mode reaches the third time threshold, the positioning module 4 is controlled to restart in order to try to restore the quality of the satellite positioning signal. Among them, the third time threshold is less than the first time threshold. Preferably, the third time threshold is 5-15 minutes. For example, 5 minutes, 10 minutes, and 15 minutes. It can be understood by those skilled in the art that the third time threshold can be flexibly adjusted according to the actual environment or needs, and is not the numerical value defined in the foregoing. The purpose of restarting the positioning module 4 is to check whether it is a program failure of the positioning module 4 itself, resulting in the quality of the satellite positioning signal not meeting the preset conditions. Among them, the program failure of the positioning module 4 itself may be caused by program disorder, dead loop, stuck, etc. in the positioning module 4; restarting the positioning module 4 includes clearing the data and processes inside the positioning module 4 and restarting the program to solve the above-mentioned program failure. Specifically, after restarting the positioning module 4, if the quality of the satellite positioning signal meets the preset conditions, it proves that the positioning module 4 itself has a program failure, which leads to poor satellite positioning signal, and the program failure disappears after the positioning module 4 is restarted. At this time, the self-mobile device can be controlled to continue working; if the quality of the satellite positioning signal still does not meet the preset conditions, it proves that the positioning module 4 itself does not have the above-mentioned program failure, and the poor satellite positioning signal is caused by other factors. At this time, the self-mobile device can be controlled to enter the shutdown mode again and wait for the satellite positioning signal quality to recover.

[0080] In one embodiment, controlling the mobile device to re-enter the shutdown mode means that the positioning module 4 continues to collect satellite positioning signals after restarting, and the duration of the shutdown mode continues to accumulate during the restart of the positioning module 4.

[0081] In one embodiment, the restart of the positioning module 4 is controlled by the control module. The third time threshold is pre-stored in the control module, and the control module determines the duration of the shutdown mode. When the duration of the sleep mode reaches the third time threshold, the control module controls the positioning module 4 to restart.

[0082] In one embodiment, the self-moving device further includes at least one of an obstacle detection sensor and a rain sensor, and the obstacle detection sensor and the rain sensor stop working in the shutdown mode and the sleep mode. The obstacle detection sensor can be a laser radar sensor, an ultrasonic sensor, an infrared sensor, etc., and the rain sensor can be a mechanical rain sensor, a capacitive rain sensor, etc.

[0083] In one embodiment, the sensor has a working state and a stop state, and the control module can control the sensor to switch between the working state and the stop state. The working state of the obstacle detection sensor means that the obstacle detection sensor detects obstacle information and transmits the obstacle information to the control module, and the control module receives and processes the obstacle information and controls the self-mobile device to respond; the stop state of the obstacle detection sensor means that the control module no longer controls the self-mobile device to respond. At this time, the obstacle detection sensor and the control module may be that the obstacle detection sensor continues to collect obstacle information but stops sending obstacle information to the control module, the obstacle detection sensor stops collecting obstacle information, the obstacle detection sensor power is cut off and cannot operate normally, the control module stops receiving or stops processing obstacle information, and the control module receives obstacle information but stops controlling the self-mobile device to respond. The working state and stop state of the rain sensor are similar to those of the obstacle detection sensor, and will not be repeated here.

[0084] Furthermore, the self-moving device also includes a height sensor for detecting the height of the lawn, etc.; wherein the height sensor can be a laser ranging sensor, a mechanical height sensor, etc.

[0085] In one embodiment, the sensor continues to collect information (obstacle information, rainfall information, etc.) in the shutdown mode but stops sending information to the control module, so that the sensor can quickly resume work after the mobile device enters the working mode; further, in the sleep mode, the power supply of the sensor is cut off to reduce energy consumption.

[0086] To summarize, the self-mobile device control method disclosed in the present invention first determines the quality of the satellite positioning signal through the signal quality threshold and the fourth time threshold. When the quality of the satellite positioning signal is poor, the self-mobile device is controlled to enter the shutdown mode to reduce energy consumption and wait for the satellite positioning signal quality to recover; secondly, when the duration of the shutdown mode reaches the third time threshold, the positioning module 4 is controlled to restart to check whether the poor satellite positioning signal is caused by a program failure of the positioning module 4 itself, and the program failure is solved by restarting the positioning module 4 when there is a program failure; finally, after determining that the cause of the poor satellite positioning signal is not related to the program of the positioning module 4 itself, the self-mobile device is controlled to continuously switch between the shutdown mode and the sleep mode to wait for the satellite positioning signal quality to recover, and the self-mobile device is controlled to continue working after the satellite positioning quality is recovered, so as to reduce human intervention and improve the intelligence level of the self-mobile device.

[0087] Based on the same inventive concept, corresponding to the self-moving device control method in any of the above embodiments, the present disclosure also provides a control system that runs the above control method.

[0088] See also Figure 6In one embodiment of the present disclosure, the control system may include:

[0089] The positioning module is used to collect satellite positioning signals. The manner in which the positioning module collects satellite positioning signals can refer to the above-mentioned implementation manner and will not be described in detail here.

[0090] The control module includes a timing component, a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040 and a bus 1050; wherein the timing component, the processor 1010, the memory 1020, the input / output interface 1030 and the communication interface 1040 are connected to each other in the system through the bus 1050.

[0091] A timing component for measuring time; specifically, it can measure the duration of the satellite positioning signal quality being lower than the signal quality threshold, and the duration of the self-mobile device being in the shutdown mode;

[0092] The memory is used to store instructions executable by the processor; the memory can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory and called and executed by the processor.

[0093] The processor is electrically connected to the positioning module, the timing component, and the memory, and is used to implement the self-moving device control method of any embodiment of the present disclosure when executing the above instructions. The processor can be implemented by a general CPU (Central Processing Unit, central processing unit), a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc., and is used to execute related programs to implement the technical solutions provided in the embodiments of this specification.

[0094] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the system as a component (not shown in the figure), or it can be externally connected to the system to provide corresponding functions. The input module can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output module can include a display, a speaker, a vibrator, an indicator light, etc.

[0095] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the system and other systems. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0096] The bus 1050 comprises a pathway for transmitting information between the various components of the system (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0097] In the disclosed embodiment, the control module is capable of receiving a satellite positioning signal from the positioning module and determining whether the quality of the satellite positioning signal meets a preset condition; when the quality of the satellite positioning signal meets the preset condition, the self-mobile device is controlled to continue to perform the work task; when the quality of the satellite positioning signal does not meet the preset condition, the self-mobile device is controlled to enter a shutdown mode; and after the self-mobile device enters the shutdown mode, the control module is also capable of detecting the duration of the shutdown mode; when the duration of the shutdown mode is less than a first time threshold and the quality of the satellite positioning signal meets the preset condition, the self-mobile device is controlled to continue to perform the work task, which can reduce human intervention and improve the intelligence level of the self-mobile device; when the duration of the shutdown mode reaches the first time threshold and the quality of the satellite positioning signal has not yet recovered to meet the preset condition, the self-mobile device is controlled to enter a sleep mode to reduce the energy consumption of the self-mobile device and wait for the satellite positioning signal quality to recover.

[0098] It should be noted that, although the above system only shows a positioning module and a control module, in the specific implementation process, the system may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above system may also only include components necessary for implementing the implementation scheme of this specification, without necessarily including all components.

[0099] Based on the same inventive concept, the present disclosure also provides a self-moving device, which includes: a body 1;

[0100] A mobile module 2 is installed on the body 1;

[0101] A task execution module 3, installed on the fuselage 1;

[0102] The positioning module 4 is installed in the body 1 and collects satellite positioning signals from the mobile device;

[0103] The control module is installed on the fuselage 1, controls the moving module 2 to drive the self-moving device to move, and controls the task execution module 3 to execute the work task; the control module receives the satellite positioning signal;

[0104] The control module determines whether the quality of the satellite positioning signal meets the preset conditions, and in response to the quality of the satellite positioning signal not meeting the preset conditions, controls the mobile device to enter the shutdown mode; in the shutdown mode, the positioning module 4 continues to receive the satellite positioning signal, and the mobile module 2 and the task execution module 3 stop working;

[0105] In response to the quality of the satellite positioning signal being restored to meet the preset condition within the first time threshold in the shutdown mode, the control module controls the movement module 2 and the task execution module 3 to continue working;

[0106] In response to the quality of the satellite positioning signal not being restored to meet a preset condition within a first time threshold in the shutdown mode, the control module controls the mobile device to enter a sleep mode.

[0107] The implementation method and working principle of each module in the mobile device of this embodiment are the same as those in the above embodiment, and will not be described again here.

[0108] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims.

[0109] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. This narrative style of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. Under the concept of the present disclosure, the above embodiments or the technical features in different embodiments may also be appropriately combined, and there are many other variations in different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0110] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and principles of the embodiments of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A method for controlling a self-moving device, the self-moving device comprising: body; A mobile module, installed on the fuselage; A mission execution module, installed on the fuselage; A positioning module, installed in the body, collecting satellite positioning signals from the mobile device; A control module, installed on the fuselage, controls the movement module to drive the self-moving device to move, and controls the task execution module to execute a work task; The control module receives the satellite positioning signal from the positioning module; Characterized in that the control method comprises: Determine the quality of the satellite positioning signal; in response to the quality of the satellite positioning signal not meeting a preset condition, control the self-moving device to enter a shutdown mode; in the shutdown mode, the positioning module continues to receive the satellite positioning signal, and the mobile module and the task execution module stop working; Determine the duration of the shutdown mode, and when the duration of the shutdown mode is less than a first time threshold and the quality of the satellite positioning signal is restored to meet a preset condition, control the mobile module and the task execution module to continue working; In response to the quality of the satellite positioning signal not being restored to meet a preset condition after the duration of the shutdown mode reaches a first time threshold, the self-mobile device is controlled to enter a sleep mode.

2. The control method according to claim 1, characterized in that: In the sleep mode, the movement module, the task execution module and the positioning module stop working.

3. The control method according to claim 2, characterized in that: After controlling the mobile device to enter the sleep mode, the method further includes: When the duration of the sleep mode reaches a second time threshold, controlling the self-mobile device to re-enter the shutdown mode; Determine the duration of the shutdown mode, and when the duration of the shutdown mode is less than a first time threshold and the quality of the satellite positioning signal is restored to meet a preset condition, control the mobile module and the task execution module to continue working; In response to the satellite positioning signal not being restored to meet a preset condition after the duration of the shutdown mode reaches a first time threshold, the self-mobile device is controlled to enter the sleep mode again.

4. The control method according to claim 3, characterized in that: The self-moving device also includes a display screen; in the sleep mode, the display screen works normally and displays a countdown for the self-moving device to re-enter the shutdown mode.

5. The control method according to claim 3, characterized in that: If the number of times the self-mobile device enters the sleep mode reaches the target number of times, and the quality of the satellite positioning signal has not recovered to meet the preset condition, the self-mobile device is controlled to shut down.

6. The control method according to claim 1, characterized in that: The control method further includes: when the duration of the shutdown mode is less than the first time threshold, if the duration of the shutdown mode reaches a third time threshold, controlling the positioning module to restart; In response to the quality of the satellite positioning signal meeting a preset condition, controlling the mobile module and the task execution module to continue working; In response to the quality of the satellite positioning signal not satisfying a preset condition, the self-moving device is controlled to enter the shutdown mode again.

7. The control method according to claim 1, characterized in that: The self-moving device further includes at least one of an obstacle detection sensor and a rain sensor; the obstacle detection sensor and the rain sensor stop working in the shutdown mode.

8. The control method according to claim 1, characterized in that: The quality of the satellite positioning signal does not meet the preset conditions, including: The quality of the satellite positioning signal is lower than a signal quality threshold and the duration reaches a fourth time threshold.

9. A control system, characterized in that: The control system runs the control method as described in any one of claims 1-8.

10. A self-propelled device, comprising: body; A mobile module, installed on the fuselage; A mission execution module, installed on the fuselage; A positioning module, installed in the body, collecting satellite positioning signals from the mobile device; A control module is installed on the fuselage, controls the mobile module to drive the self-moving device to move, and controls the task execution module to execute the work task; the control module receives the satellite positioning signal; The control module determines whether the quality of the satellite positioning signal meets a preset condition, and controls the self-moving device to enter a shutdown mode in response to the quality of the satellite positioning signal not meeting the preset condition; In the shutdown mode, the positioning module continues to receive the satellite positioning signal, and the movement module and the task execution module stop working; The control module controls the movement module and the task execution module to continue working in response to the quality of the satellite positioning signal being restored to meet a preset condition within the first time threshold of the shutdown mode; The control module controls the mobile device to enter a sleep mode in response to the quality of the satellite positioning signal not being restored to meet a preset condition within a first time threshold of the shutdown mode.

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