Abnormal state processing method for self-moving equipment, self-moving equipment and storage medium

Abstract

The invention belongs to the technical field of self-moving equipment control, and discloses a self-moving equipment abnormal state processing method, self-moving equipment and a readable storage medium, and the method comprises the steps: in the walking process of the self-moving equipment, obtaining the parameter information of the self-moving equipment and the current head raising height information of a snow bucket; determining the current working state of the self-moving equipment according to the parameter information and the current head-up height information; and when it is determined that the current working state is an abnormal snow sweeping state, current head raising height information of the snow shovel bucket is adjusted to target head raising height information, and the self-moving equipment is controlled to execute a preset separation action according to the target head raising height information. According to the invention, the current head raising height information of the snow bucket in the self-moving equipment can be controlled to be adjusted to be the target head raising height information of dilemma departure, so that automatic processing of the self-moving equipment is realized, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of self-moving equipment control, and in particular to a method for processing an abnormal state of a self-moving equipment, a self-moving equipment and a readable storage medium. Background Art

[0002] A self-moving device is an intelligent robot used in a garden. In the application scenario of snow sweeping, the self-moving device can be a snow sweeper, which is provided with a snow shoveling bucket. The snow shoveling bucket is used to collect the snow on the ground in the snow shoveling bucket during walking, and then the snow rolling blades in the snow shoveling bucket roll the snow into the snow throwing bucket in the machine, and finally the snow is thrown to the target location through the snow throwing bucket.

[0003] Most of the existing snow sweepers are controlled by manual operation, such as a handle provided in the machine, which is provided with an operable button or operating lever, so as to realize the lifting operation of the snow shoveling bucket in the machine. The machine in this way cannot perform automatic work, especially when encountering different road conditions such as rugged and / or a lot of irregular gravel, the lifting height of the snow shoveling bucket can only be controlled by manual means to get rid of the current predicament of the machine;

[0004] Therefore, those skilled in the art are in urgent need of finding a method for solving the abnormal state of a self-moving device. Summary of the invention

[0005] Based on this, it is necessary to provide a method for handling abnormal states of self-moving equipment, a self-moving equipment and a readable storage medium in response to the above technical problems, so as to solve the problem in the prior art that self-moving equipment cannot perform automated work and needs to rely on manual means for a long time to solve the dilemma.

[0006] To achieve the above object, a method for handling abnormal state of a self-moving device is provided, the method comprising:

[0007] During the movement of the self-moving device, parameter information of the self-moving device and current head-up height information of the snow shovel bucket are obtained;

[0008] Determine the current working state of the self-moving device according to the parameter information and the current head-up height information;

[0009] When it is determined that the current working state is an abnormal snow-clearing state, the current head-up height information of the snow-clearing bucket is adjusted to the target head-up height information, and the self-moving device is controlled to perform a preset disengagement action according to the target head-up height information.

[0010] Optionally, determining the current working state of the mobile device according to the parameter information and the current head-up height information includes:

[0011] Determine the travel resistance information according to the travel motor current information and encoder information of the self-moving device in the parameter information;

[0012] Determine the current snow removal amount of the snow removal bucket according to the current information of the snow removal motor of the mobile device in the parameter information;

[0013] The current working state of the self-moving device is determined according to the travel resistance information, the current snow clearing amount of the snow clearing bucket and the current head-up height information.

[0014] Optionally, determining that the current working state is an abnormal snow clearing state includes:

[0015] Determining whether the current change of the walking motor meets the first preset current change condition according to the walking motor current information in the parameter information;

[0016] Determine whether the walking speed of the self-moving device meets the preset speed according to the encoder information in the parameter information;

[0017] Determining whether a current change of the snow-shoveling motor meets a second preset current change condition according to the snow-shoveling motor current information in the parameter information;

[0018] When it is determined that the current change of the walking motor meets the first preset current change, the walking speed of the self-moving device meets the preset speed, and the current change of the snow-clearing motor meets the second preset current change, it is determined that the current working state is an abnormal snow-clearing state.

[0019] Optionally, the obtaining of the current head-up height information of the snow shovel bucket in the mobile device includes:

[0020] Obtaining a push rod position value reflected by a lifting structure in the self-moving device;

[0021] The current head-up height information of the snowplow bucket in the mobile device is obtained according to the push rod position value.

[0022] Optionally, adjusting the current head-up height information of the snow shoveling bucket to target head-up height information, and controlling the self-moving device to perform a preset disengagement action according to the target head-up height information, includes:

[0023] At the card point position corresponding to the abnormal snow-clearing state, after controlling the self-moving device to perform a backward action, the current head-up height information of the snow-clearing bucket is adjusted to the target head-up height information;

[0024] The self-moving device is controlled to perform a forward snow shoveling action according to the target head-up height information.

[0025] Optionally, at the card point position corresponding to the abnormal snow clearing state, after controlling the self-moving device to perform a backward action, before adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information, the method further includes:

[0026] At the stuck point position corresponding to the abnormal snow clearing state, the self-moving device is controlled to perform a backward movement and the travel motor in the self-moving device is controlled to increase the travel speed;

[0027] Controlling the self-moving device to perform a snow-shoveling action forward according to the increased walking speed;

[0028] After the number of times the self-moving device is controlled to perform backward and forward actions reaches a preset number threshold, it is determined that the current working state is still an abnormal snow-clearing state, and the card point position corresponding to the abnormal snow-clearing state is executed. After the self-moving device is controlled to perform a backward action, the current head-up height information of the snowplow bucket is adjusted to the target head-up height information.

[0029] Optionally, adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information includes:

[0030] Adjust the current head-up height information of the snow shoveling bucket according to a preset height adjustment rule to obtain adjustment height information;

[0031] When the current working state corresponding to the adjustment height information is a normal snow-clearing state, the adjustment height information is determined as the target head-up height information; or when the current working state corresponding to the adjustment height information is still an abnormal snow-clearing state, the adjustment height information is continuously adjusted according to the preset height adjustment rule until a new adjustment height information is obtained that can make the current working state a normal snow-clearing state, and the new adjustment height information is determined as the target head-up height information.

[0032] Optionally, adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information includes:

[0033] The preset recognition sensor in the mobile device identifies the vertical height information of the card point corresponding to the abnormal snow clearing state, and determines the target head-up height information according to the vertical height information;

[0034] The current head-up height information of the snow shovel bucket is adjusted to the target head-up height information.

[0035] Optionally, determining the current working state of the mobile device according to the parameter information and the current head-up height information includes:

[0036] Acquiring positioning information according to a preset positioning device in the mobile device;

[0037] The current working state of the mobile device is determined according to the positioning information, the parameter information and the current head-up height information.

[0038] In order to achieve the above-mentioned purpose, a self-moving device is also provided, which includes walking wheels, a walking motor and an encoder connected to the walking wheels, a snow shovel, a snow shovel motor connected to the snow shovel, and a controller. The controller controls the walking wheels, the walking motor, the encoder, the snow shovel and the snow shovel motor to implement the steps of the method for handling abnormal states of the self-moving device.

[0039] In order to achieve the above-mentioned purpose, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for handling abnormal state of a self-moving device are implemented.

[0040] The method for handling abnormal states of a self-moving device provided by the present invention includes: obtaining parameter information of the self-moving device and current head-up height information of the snow-shoveling bucket during the walking process of the self-moving device; determining the current working state of the self-moving device according to the parameter information and the current head-up height information; when it is determined that the current working state is an abnormal snow-clearing state, adjusting the current head-up height information of the snow-shoveling bucket to the target head-up height information, and controlling the self-moving device to perform a preset escape action according to the target head-up height information. In the present invention, during the walking process of the self-moving device, the working state of the self-moving device can be first determined by the monitored parameter information and the current head-up height information, and finally the current head-up height information of the snow-shoveling bucket in the self-moving device can be adjusted according to the working state to obtain the target head-up height information that can get the self-moving device out of trouble, so as to realize the automatic processing of the self-moving device and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0042] Figure 1 It is a flowchart of a method for handling abnormal state of a self-equipped device in one embodiment of the present invention.

[0043] Figure 2 It is a schematic block diagram of a self-moving device in one embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] like Figure 1 As shown, a method for processing an abnormal state of a self-moving device provided by an embodiment of the present invention can be applied to a controller in the self-moving device, wherein the controller can also be understood as an MCU (microcontroller unit). The method comprises the following steps:

[0046] S10, during the movement of the self-moving device, obtaining parameter information of the self-moving device and current head-up height information of the snowplow bucket.

[0047] Understandably, a self-moving device is a robot used in a courtyard. In the robot, it can be divided into a detachable front and body. In the front, there are a snow shovel and a snow throwing bucket. The main function of the snow shovel is to shovel the snow on the ground, and then roll the shoveled snow to the snow throwing bucket through the snow rolling blades provided in the snow shovel, so as to realize the long-distance snow throwing function through the snow throwing bucket. During the walking process, the self-moving device will activate its corresponding function, such as activating the snow removal function mentioned above. The parameter information of the self-moving device refers to the working parameters fed back by various devices in the self-moving device, including the walking motor current information, the snow shoveling motor current information and the encoder information, which means that the self-moving device The equipment is provided with a walking motor, a snow-shoveling motor and an encoder, wherein the encoder can preferably be a photoelectric encoder; the current head-up height information refers to the height information of the snow-shoveling bucket from the ground, wherein the smaller the height of the snow-shoveling bucket from the ground, the cleaner the snow will be, such as when the snow-shoveling bucket works close to the ground; in addition, the current head-up height information is controlled by the jacking structure in the self-moving device, specifically, the jacking motor in the jacking structure drives the push rod (the push rod will drive the snow-shoveling bucket to adjust the pitch angle), and the Hall sensor integrated in the jacking motor detects the size of the push rod position value in the push rod, and then determines the current head-up height information of the snow-shoveling bucket by the size of the push rod position value.

[0048] In one embodiment, the step S10, obtaining the current head-up height information of the snow shovel bucket in the mobile device, includes:

[0049] Obtaining a push rod position value reflected by a lifting structure in the self-moving device;

[0050] The current head-up height information of the snowplow bucket in the mobile device is obtained according to the push rod position value.

[0051] It can be understood that there is a mapping relationship between the push rod position value and the head-up height of the snow shovel bucket. For example, when the machine raises its head to a maximum of 5 cm from the ground, the push rod position value is 0; when the machine is close to the ground at a minimum of 0 cm, the push rod position value is 64; when the machine raises its head to 3 cm from the ground, the push rod position value is 20. It can be seen that the ground distance of this embodiment is determined by controlling the push rod position value of the jacking structure, and the push rod position value and the ground distance of the self-moving device can be a nonlinear curve relationship or a linear relationship. It only requires the push rod position value and the head-up height information of the snow shovel bucket to be associated and recorded in advance.

[0052] S20: Determine the current working state of the mobile device according to the parameter information and the current head-up height information.

[0053] Understandably, the current working state refers to whether the self-moving device is in a normal snow-clearing state. When it is in an abnormal snow-clearing state, it is an abnormal snow-clearing state. When the machine is in an abnormal snow-clearing state, it means that the snowplow bucket in the self-moving device is stuck. It should be noted that when the self-moving device is on a rugged road or a road with a lot of irregular gravel, the snowplow bucket in the self-moving device will be stuck by the gravel due to the current insufficient head-up height. More specifically, during the movement of the self-moving device, some of the gravel in the accumulated snow can be collected into the snowplow bucket during the walking process, and some of the gravel may hit the snow scraper. The gravel will be pushed by the self-moving device all the time, or a large enough stone will directly hit the self-moving device, which may cause the self-moving device to get stuck and affect work efficiency.

[0054] In one embodiment, the step S20, determining the current working state of the self-mobile device according to the parameter information and the current head-up height information, includes:

[0055] The travel resistance information is determined based on the travel motor current information and encoder information of the self-moving device in the parameter information; it can be understood that the travel resistance information refers to the information that affects the forward movement of the self-moving device determined by the parameter information, such as the gravel mentioned above that affects the normal forward movement of the self-moving device; the travel motor current information refers to the current information generated after the travel motor is installed on the self-moving device and is used to provide power for the travel wheels, such as the travel motor current information can be 3A or 5A, etc. It should be noted that this embodiment only describes the travel motor current information of the self-moving device, and other embodiments that determine the travel resistance information through the voltage information or power information of the travel motor are all related to the travel motor current information. In the conversion relationship, it should also constitute an equivalent situation; the encoder information refers to the speed information of the walking wheel of the self-moving equipment detected, wherein the encoder is installed on the synchronous shaft of the walking motor. Therefore, when the walking motor drives the walking wheel connected to it, the encoder can obtain a moving signal, such as the forward and reverse rotation of the walking motor and the number of rotations. It is further explained that the forward use of the encoder is to obtain the moving parameters of the machine through the encoder, and the reverse use of the encoder is to obtain the moving signal of the encoder through the moving parameters of the machine. The moving parameters can be the moving speed of the self-moving equipment. For example, the moving speed can be obtained by obtaining the number of rotation pulses and pulse time in the moving signal as mentioned above (the rotation of the encoder is equivalent to the rotation of the motor).

[0056] The current snow shoveling amount of the snow shoveling bucket is determined according to the current information of the snow shoveling motor of the self-moving device in the parameter information; understandably, the current snow shoveling amount refers to the situation of the snow shoveling bucket determining the snow shoveling amount through the parameter information, wherein the more snow shoveling amount in the snow shoveling bucket, the greater the load of the snow shoveling motor, and at this time, the greater the current information of the snow shoveling motor in the parameter information. It should be noted that in the process of determining the current snow shoveling amount of the snow shoveling bucket, the snow shoveling bucket will be controlled by the control signal sent by the controller, that is, the snow shoveling bucket in the self-moving device will only shovel snow under the control of the control signal, and the snow shoveling bucket will be in an inoperative state if the controller does not send a control signal to the snow shoveling bucket.

[0057] The current working state of the self-moving device is determined according to the travel resistance information, the current snow clearing amount of the snow shoveling bucket and the current head-up height information. It is understandable that the current working state mentioned above can reflect whether the self-moving device is in a normal snow-clearing state. Specifically, it can be judged by the three information sets of travel resistance information, the current snow clearing amount of the snow shoveling bucket and the current head-up height information. For example, in the self-moving device, the travel resistance information is used to determine whether the machine is walking, the current snow clearing amount of the snow shoveling bucket is used to determine whether the machine is rolling snow, and the current head-up height information is used to determine whether the snow shoveling bucket of the machine is rolling snow at a head-up height. The controller combines these three information sets, analyzes and processes the data, and can obtain the current working state of the machine.

[0058] S30, when it is determined that the current working state is an abnormal snow-clearing state, the current head-up height information of the snow-clearing bucket is adjusted to the target head-up height information, and the self-moving device is controlled to perform a preset disengagement action according to the target head-up height information.

[0059] It can be understood that the abnormal snow-clearing state refers to a phenomenon in which the self-moving device becomes stuck, wherein the current working state is determined by the current parameter information of the self-moving device, and after a specific comparison and analysis of the parameter information corresponding to the current working state and the preset parameter information, when the parameter information falls within the preset parameter information, it can be determined that the current working state is in an abnormal snow-clearing state; the target head-up height information refers to the head-up height that can be used to escape from the predicament, that is, the snowplow bucket in the self-moving device will not get stuck, wherein the target head-up height information is a height that can be obtained through a preset identification sensor, or it can be a height obtained by continuously adjusting the head-up height of the snowplow bucket according to a preset height adjustment rule, or it can be a height at which the snowplow bucket is directly determined according to a preset height adjustment rule; the preset escape action refers to the machine action of the self-moving device to escape from the stuck point position corresponding to the current abnormal snow-clearing state, and the action is to be associated based on the current target head-up height information.

[0060] In the embodiments of step S10 to step S30, during the walking process of the self-moving device, the working state of the self-moving device can be first determined by the continuously monitored parameter information and the current head-up height information, and finally the current head-up height information of the snowplow bucket in the self-moving device can be adjusted according to the working state to obtain the target head-up height information that can get the self-moving device out of trouble, so as to realize the automatic processing of the self-moving device in the working environment, continuously adapt to the road conditions of various working environments, and improve work efficiency.

[0061] In one embodiment, after the step S30 of controlling the self-mobile device to perform a preset disengagement action according to the target head-up height information, further comprises:

[0062] After controlling the self-mobile device to adjust the target head-up height to the preset default head-up height information, it continuously monitors whether the current working state is an abnormal snow-clearing state, and in the abnormal snow-clearing state, after adjusting the default head-up height information of the snowplow bucket to the target head-up height information, the self-mobile device is controlled to perform a preset disengagement action according to the target head-up height information.

[0063] Understandably, the preset default head-up height information refers to the head-up height of the current snow shovel bucket after the self-moving device leaves the stuck point position, wherein the preset default head-up height information can be the lowest 0cm close to the ground, or other lower heights. The self-moving device in this embodiment works at a lower height to ensure that the self-moving device improves the efficiency of clearing snow on the ground after passing the stuck point position; in addition, in the process of walking with the preset default head-up height information, the present embodiment can also continue to process the stuck point phenomenon encountered by the self-moving device, realize the automatic processing of the self-moving device, and the intelligence is further improved;

[0064] In this embodiment, the adjustment process of the preset default head-up height information is: control the mobile device to lower its head until the snowplow motor current monitors that the snowplow has reached the ground, then slightly lift the snowplow to a smaller head-up height and try to move forward slowly to explore the way; the above strategy can be implemented in complex road conditions, and can ensure snow clearing efficiency while protecting the snowplow parts and avoiding the snowplow getting stuck as much as possible.

[0065] In one embodiment, the step S30, determining that the current working state is an abnormal snow clearing state, includes:

[0066] Determining whether the current change of the walking motor meets the first preset current change condition according to the walking motor current information in the parameter information;

[0067] Determine whether the walking speed of the self-moving device meets the preset speed according to the encoder information in the parameter information;

[0068] Determining whether a current change of the snow-shoveling motor meets a second preset current change condition according to the snow-shoveling motor current information in the parameter information;

[0069] When it is determined that the current change of the walking motor meets the first preset current change, the walking speed of the self-moving device meets the preset speed, and the current change of the snow-clearing motor meets the second preset current change, it is determined that the current working state is an abnormal snow-clearing state.

[0070] Understandably, the first preset current change condition refers to the change condition of the current in the travel motor, more specifically, the current data suddenly rises and stabilizes at a high current data state within the preset time, such as the initial current in the travel motor increases from 3A to 5A and stabilizes at 5A; the second preset current change condition refers to the change condition of the current in the snow rolling motor, more specifically, it decreases from a larger current data to a smaller current data stable value within the preset time, such as the initial current of the snow shoveling motor decreases from 30A to 10A and stabilizes at 10A; the preset speed condition refers to the walking speed of the walking wheel, such as judging that the walking speed of the walking wheel fed back in real time is not less than 0.05m / s;

[0071] In this embodiment, during the snow-clearing process of the self-moving equipment snowplow, if the walking wheels in the snowplow move to generate a walking speed and a current in the walking motor, and the current data suddenly rises and stabilizes at a high current data state within a certain period of time, and if the snow rolling motor in the snowplow has current and decreases from a larger current data to a smaller current data stable value within a certain period of time, it is considered that the current self-moving equipment is idling and rolling snow, and in the process of the self-moving equipment trying to move forward, it can be known that the front of the self-moving equipment is stuck and rolling snow on the spot. At this time, the self-moving equipment is in an abnormal snow-clearing situation with the front of the vehicle stuck, and the snowplow bucket in the snowplow needs to be raised to a certain height from the ground and out of the stuck position; wherein, the method for judging whether the walking wheel is in motion is that when the real-time feedback walking speed is not less than 0.05m / s and there is a target control speed greater than or equal to 0.1m / s, it is considered that the above-mentioned walking wheel is in motion, and the walking speed can be obtained through the data detected by the encoder.

[0072] In one embodiment, the step S30, adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information, and controlling the self-moving device to perform a preset disengagement action according to the target head-up height information, includes:

[0073] At the card point position corresponding to the abnormal snow-clearing state, after controlling the self-moving device to perform a backward action, the current head-up height information of the snow-clearing bucket is adjusted to the target head-up height information;

[0074] The self-moving device is controlled to perform a forward snow shoveling action according to the target head-up height information.

[0075] It can be understood that the stuck point position refers to the position point in the automated snow-clearing area where the front of the vehicle where the snow-clearing bucket is located is stuck and snow is rolled up in place; the forward snow-clearing action can be performed by increasing the walking speed or by the current walking speed, which is not limited here;

[0076] In this embodiment, the machine is made to perform a backward movement at the stuck point in order to give the machine a power to move forward, and then use this power to get out of the problem of the front of the vehicle being stuck; wherein, the distance that the self-moving device moves forward with the target head-up height information is slightly larger than the backward distance, and the specific reason is to better control the self-moving device to rush through the stuck point.

[0077] In one embodiment, at the card point position corresponding to the abnormal snow clearing state, after controlling the self-moving device to perform a backward action, before adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information, it also includes:

[0078] At the stuck point position corresponding to the abnormal snow clearing state, the self-moving device is controlled to perform a backward movement and the travel motor in the self-moving device is controlled to increase the travel speed;

[0079] Controlling the self-moving device to perform a snow-shoveling action forward according to the increased walking speed;

[0080] After the number of times the self-moving device is controlled to perform backward and forward actions reaches a preset number threshold, it is determined that the current working state is still an abnormal snow-clearing state, and the card point position corresponding to the abnormal snow-clearing state is executed. After the self-moving device is controlled to perform a backward action, the current head-up height information of the snowplow bucket is adjusted to the target head-up height information.

[0081] In the present embodiment, the snow shovel bucket is not directly controlled to perform a head-up operation at the beginning, but is moved forward at a higher walking speed in order to avoid the phenomenon that the stuck point at the stuck point position is caused by thick snow. Therefore, by controlling the self-moving device to move backward and moving forward at a higher walking speed, after reaching a preset number of thresholds, it can be considered that the stuck point at the stuck point position is caused by gravel or other road conditions. At this time, after controlling the self-moving device to perform the backward action, the current head-up height information of the snow shovel bucket is adjusted to the target head-up height information.

[0082] The above is to determine whether the jam is caused by other road conditions by moving forward and backward. In another embodiment, the jam can be determined by the current in the snow shoveling motor.

[0083] Specifically, after the self-mobile device retreats Acm, the snowplow bucket in the front of the vehicle is lifted to a preset height from the ground, and the snowplow bucket is controlled to move forward Bcm. After the self-mobile device moves forward to the position of Ccm, the current of the snowplow motor in the self-mobile device is judged. When the current is higher than the preset current threshold, it is determined that the current jam is caused by thick snow. When the current is lower than the preset current threshold, it is determined that the current jam is caused by other road conditions. Among them, Acm and Ccm are both smaller than Bcm, Bcm is the total forward distance of the machine, Ccm is greater than Acm, and the reason why Acm and Ccm are both smaller than Bcm is to better control the self-mobile device to rush through the jam point position.

[0084] Furthermore, for the scenario of being stuck in thick snow: control the mobile device to continue to retreat Acm, lower the snowplow in the front of the vehicle to the ground, continue to move forward Ccm, and restore the preset automatic snow-clearing plan of the mobile device after the thick snow is removed (control the mobile device to automatically clear snow at a certain height).

[0085] In one embodiment, the step of adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information includes:

[0086] Adjust the current head-up height information of the snow shoveling bucket according to a preset height adjustment rule to obtain adjustment height information;

[0087] When the current working state corresponding to the adjustment height information is a normal snow-clearing state, the adjustment height information is determined as the target head-up height information; or when the current working state corresponding to the adjustment height information is still an abnormal snow-clearing state, the adjustment height information is continuously adjusted according to the preset height adjustment rule until a new adjustment height information is obtained that can make the current working state a normal snow-clearing state, and the new adjustment height information is determined as the target head-up height information.

[0088] It can be understood that the preset height adjustment rule refers to the snowplow bucket adjusting the current head-up height according to pre-defined parameters. For example, when the current working state is an abnormal snow-clearing state, the snowplow bucket can be adjusted to a head-up height. In this embodiment, an adjustment height information is determined according to the preset height adjustment rule. If the adjustment height information can directly make the current working state of the self-mobile device a normal snow-clearing state, there is no need to continue to determine the new adjustment height information. Otherwise, the new adjustment height information continues to be confirmed. This method of this embodiment can definitely determine an ideal head-up height for the snowplow bucket.

[0089] In one embodiment, the step of adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information includes:

[0090] The preset recognition sensor in the mobile device identifies the vertical height information of the card point corresponding to the abnormal snow clearing state, and determines the target head-up height information according to the vertical height information;

[0091] The current head-up height information of the snow shovel bucket is adjusted to the target head-up height information.

[0092] Understandably, the preset identification sensor includes but is not limited to one or more of an image sensor, a laser radar, an infrared radar and a millimeter wave radar; specifically, after taking a photo with an image sensor, the height of any point at the card point position in the vertical direction is identified by the photographed image, such as after a laser radar emits a laser to a point at the card point position, after obtaining the laser reflected at the point, the height in the vertical direction is determined by the reflected laser;

[0093] In this embodiment, a preset identification sensor installed on the front of the vehicle directly identifies the vertical height information, and then determines the target head-up height information based on the vertical height information. For example, a specified number of centimeters is added to the vertical height information. In this way, the target head-up height information can be determined at one time, thereby improving snow clearing efficiency.

[0094] In one embodiment, determining the current working state of the self-moving device according to the parameter information and the current head-up height information includes:

[0095] Acquiring positioning information according to a preset positioning device in the mobile device;

[0096] The current working state of the mobile device is determined according to the positioning information, the parameter information and the current head-up height information.

[0097] It is understandable that the preset positioning device includes but is not limited to one or more of an IMU sensor, a wheel speed meter and RTK; the positioning information is based on the position information obtained by the sensor, and can be the position information obtained by fusing multiple preset positioning devices, wherein the fused positioning position information is used to correct the positioning deviation caused by machine slippage or inaccurate wheel speed meter data;

[0098] This embodiment can determine through positioning information whether the mobile device has not moved in place, and through parameter information and current head-up height information whether the mobile device has the function of shoveling snow. At this time, combining the three information can determine that the mobile device is stuck at the stuck point and is rolling snow on the spot.

[0099] The present invention provides a method for handling abnormal states of self-moving equipment. During the walking process of the self-moving equipment, the working state of the self-moving equipment can be determined first by continuously monitoring parameter information and current head-up height information, and finally the current head-up height information of the snowplow bucket in the self-moving equipment can be adjusted according to the working state to obtain the target head-up height information that can make the self-moving equipment out of trouble, so as to realize the automatic processing of the self-moving equipment in the working environment, continuously adapt to the road conditions of various working environments, and improve the working efficiency; by adjusting the head-up height information, not only the snowplow bucket components in the self-moving equipment can be protected, but also the work can be completed efficiently; in the face of complex road conditions such as gravel, not only the head-up height of the snowplow bucket can be raised to avoid jamming, but simply raising the snowplow bucket will cause the snow on the ground to not be swept cleanly, so through the information linkage of multiple modules in the self-moving equipment, the snowplow bucket can be controlled to automatically raise its head only when it is determined that jamming occurs, and after getting out of the jamming dilemma, the snowplow bucket is controlled to return to the preset default head-up height.

[0100] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0101] like Figure 2 As shown, in one embodiment, the present invention also provides a self-moving device, including a walking wheel, a walking motor and an encoder connected to the walking wheel, a snow shovel, a snow shovel motor connected to the snow shovel, and a controller, wherein the controller controls the walking wheel, the walking motor, the encoder, the snow shovel and the snow shovel motor to implement the steps of the abnormal state processing method of the self-moving device. The self-moving device can be a garden robot with similar or identical functions such as a snowplow. In one embodiment, the front and body of the self-moving device are in a detachable state, wherein the front includes a snow shovel.

[0102] The execution function of the controller corresponds one-to-one to the method for handling abnormal state of the self-equipment device in the above embodiment. For the specific definition of the controller, please refer to the definition of the method for handling abnormal state of the self-equipment device in the above text, which will not be repeated here. Each submodule in the above controller can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above submodules can be embedded in or independent of the processor in the controller in hardware form, or can be stored in the memory in the controller in software form, so that the processor can call and execute the operations corresponding to each of the above submodules.

[0103] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. Computer-readable instructions are stored on the readable storage medium. When the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the method for handling abnormal state of a self-mobile device described in the above embodiment.

[0104] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0105] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0106] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for handling abnormal state of a self-equipment device, characterized in that: The method comprises: During the movement of the self-moving device, parameter information of the self-moving device and current head-up height information of the snow shovel bucket are obtained; Determine the current working state of the self-moving device according to the parameter information and the current head-up height information; When it is determined that the current working state is an abnormal snow-clearing state, the current head-up height information of the snow-clearing bucket is adjusted to the target head-up height information, and the self-moving device is controlled to perform a preset disengagement action according to the target head-up height information.

2. The method for handling abnormal state of a self-equipment device according to claim 1, characterized in that: The determining the current working state of the mobile device according to the parameter information and the current head-up height information includes: Determine the travel resistance information according to the travel motor current information and encoder information of the self-moving device in the parameter information; Determine the current snow removal amount of the snow removal bucket according to the current information of the snow removal motor of the mobile device in the parameter information; The current working state of the self-moving device is determined according to the travel resistance information, the current snow clearing amount of the snow clearing bucket and the current head-up height information.

3. The method for handling abnormal state of a self-equipment device according to claim 1 or 2, characterized in that: Determining that the current working state is an abnormal snow clearing state includes: Determining whether the current change of the walking motor meets the first preset current change condition according to the walking motor current information in the parameter information; Determine whether the walking speed of the self-moving device meets the preset speed according to the encoder information in the parameter information; Determining whether a current change of the snow-shoveling motor meets a second preset current change condition according to the snow-shoveling motor current information in the parameter information; When it is determined that the current change of the walking motor meets the first preset current change, the walking speed of the self-moving device meets the preset speed, and the current change of the snow-clearing motor meets the second preset current change, it is determined that the current working state is an abnormal snow-clearing state.

4. The method for handling abnormal state of a self-equipment device according to claim 1, characterized in that: The step of obtaining the current head-up height information of the snow shovel bucket in the mobile device includes: Obtaining a push rod position value reflected by a lifting structure in the self-moving device; The current head-up height information of the snowplow bucket in the mobile device is obtained according to the push rod position value.

5. The method for handling abnormal state of a self-equipment device according to claim 1, characterized in that: The step of adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information, and controlling the self-moving device to perform a preset disengagement action according to the target head-up height information, includes: At the card point position corresponding to the abnormal snow-clearing state, after controlling the self-moving device to perform a backward action, the current head-up height information of the snow-clearing bucket is adjusted to the target head-up height information; The self-moving device is controlled to perform a forward snow shoveling action according to the target head-up height information.

6. The method for handling abnormal state of a self-equipment device according to claim 5, characterized in that: The method further includes: after the self-moving device is controlled to perform a backward movement at the card point position corresponding to the abnormal snow-clearing state, and before the current head-up height information of the snow-clearing bucket is adjusted to the target head-up height information: At the stuck point position corresponding to the abnormal snow clearing state, the self-moving device is controlled to perform a backward movement and the travel motor in the self-moving device is controlled to increase the travel speed; Controlling the self-moving device to perform a snow-shoveling action forward according to the increased walking speed; After the number of times the self-moving device is controlled to perform backward and forward actions reaches a preset number threshold, it is determined that the current working state is still an abnormal snow-clearing state, and the card point position corresponding to the abnormal snow-clearing state is executed. After the self-moving device is controlled to perform a backward action, the current head-up height information of the snowplow bucket is adjusted to the target head-up height information.

7. The method for handling abnormal state of a self-moving device according to claim 1 or 5, characterized in that: The step of adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information includes: Adjust the current head-up height information of the snow shoveling bucket according to a preset height adjustment rule to obtain adjustment height information; When the current working state corresponding to the adjustment height information is a normal snow-clearing state, the adjustment height information is determined as the target head-up height information; or when the current working state corresponding to the adjustment height information is still an abnormal snow-clearing state, the adjustment height information is continuously adjusted according to the preset height adjustment rule until a new adjustment height information is obtained that can make the current working state a normal snow-clearing state, and the new adjustment height information is determined as the target head-up height information.

8. The method for handling abnormal state of a self-equipment device according to claim 1 or 5, characterized in that: The step of adjusting the current head-up height information of the snow shoveling bucket to the target head-up height information includes: The preset recognition sensor in the mobile device identifies the vertical height information of the card point corresponding to the abnormal snow clearing state, and determines the target head-up height information according to the vertical height information; The current head-up height information of the snow shovel bucket is adjusted to the target head-up height information.

9. The method for handling abnormal state of a self-equipment device as claimed in claim 1, characterized in that The determining of the current working state of the self-mobile device according to the parameter information and the current head-up height information includes: Acquiring positioning information according to a preset positioning device in the mobile device; The current working state of the mobile device is determined according to the positioning information, the parameter information and the current head-up height information.

10. A self-propelled device, characterized in that: It includes walking wheels, a walking motor and an encoder connected to the walking wheels, a snow shovel, a snow shovel motor connected to the snow shovel, and a controller. The controller controls the walking wheels, the walking motor, the encoder, the snow shovel and the snow shovel motor to implement the steps of the method for handling abnormal conditions of a self-moving device as described in any one of claims 1 to 9.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for handling abnormal state of a self-equipment device as described in any one of claims 1 to 9 are implemented.

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