Self-moving device abnormal state processing method, self-moving device and storage medium

Abstract

The application belongs to the technical field of self-moving equipment control, and discloses a self-moving equipment abnormal state processing method, a self-moving equipment and a readable storage medium. The method comprises the following steps: in the process of walking of the self-moving equipment, parameter information of the self-moving equipment and current lifting height information of a snow shovel are acquired; the current working state of the self-moving equipment is determined according to the parameter information and the current lifting height information; when it is determined that the current working state is an abnormal snow sweeping state, the current lifting height information of the snow shovel is adjusted to target lifting height information, and the self-moving equipment is controlled to perform a preset escape action according to the target lifting height information. The current lifting height information of the snow shovel in the self-moving equipment can be adjusted to the target lifting height information for escaping from the predicament, so that the automatic processing of the self-moving equipment is realized, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving device control, and in particular to a self-moving device abnormal state processing method, a self-moving device and a readable storage medium. BACKGROUND

[0002] The self-moving device is a kind of intelligent robot applied in a yard, and in the application scene of snow sweeping, the self-moving device can be a snow sweeper, and a snow shovel is arranged in the snow sweeper, wherein the snow shovel is used to collect snow on the ground in the process of walking in the snow shovel, and then the snow is rolled to a snow throwing barrel in the machine through the snow rolling blade in the snow shovel, and finally the snow is thrown to a target position through the snow throwing barrel.

[0003] Most of the existing snow sweepers are controlled by manual operation, such as a handle provided in the machine, and buttons or operating levers provided in the handle are operable to realize the lifting operation of the snow shovel in the machine. The machine in this way cannot perform automatic work, especially when encountering different road conditions such as ruggedness, irregularity and more irregular gravel, the lifting height of the snow shovel can only be controlled by manual means to get out of the current predicament of the machine.

[0004] Therefore, the technical personnel in the art urgently need to find a self-moving device abnormal state processing method. SUMMARY

[0005] Therefore, it is necessary to provide a self-moving device abnormal state processing method, a self-moving device and a readable storage medium to solve the problem that the self-moving device cannot perform automatic work and needs to rely on manual means for a long time to solve the problem.

[0006] To achieve the above-mentioned purpose, a self-moving device abnormal state processing method is provided, and the method comprises:

[0007] In the process of walking of the self-moving device, the parameter information of the self-moving device and the current lifting height information of the snow shovel are acquired.

[0008] The current working state of the self-moving device is determined according to the parameter information and the current lifting height information.

[0009] When it is determined that the current working state is an abnormal snow sweeping state, the current lifting height information of the snow shovel is adjusted to target lifting height information, and the self-moving device is controlled to perform a preset escape action according to the target lifting height information.

[0010] Optionally, the current working state of the self-moving device is determined according to the parameter information and the current lifting height information, comprising:

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

[0012] determining the current snowplowing amount of the snowplowing bucket according to the snowplowing motor current information of the self-moving device in the parameter information;

[0013] determining the current working state of the self-moving device according to the travel resistance information, the current snowplowing amount of the snowplowing bucket and the current lifting height information of the snowplowing bucket.

[0014] Optionally, the determining the current working state as the abnormal snow sweeping state comprises:

[0015] determining whether the current change of the walking motor current conforms to a first preset current change condition according to the walking motor current information in the parameter information;

[0016] determining whether the walking speed of the self-moving device conforms to a preset speed condition according to the encoder information in the parameter information;

[0017] determining whether the current change of the snowplowing motor current conforms to a second preset current change condition according to the snowplowing motor current information in the parameter information;

[0018] determining the current working state as the abnormal snow sweeping state when the current change of the walking motor current conforms to the first preset current change condition, the walking speed of the self-moving device conforms to the preset speed condition and the current change of the snowplowing motor current conforms to the second preset current change condition.

[0019] Optionally, the obtaining the current lifting height information of the snowplowing bucket in the self-moving device comprises:

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

[0021] obtaining the current lifting height information of the snowplowing bucket in the self-moving device according to the push rod position value.

[0022] Optionally, the adjusting the current lifting height information of the snowplowing bucket to target lifting height information and controlling the self-moving device to perform a preset disengaging action according to the target lifting height information comprises:

[0023] adjusting the current lifting height information of the snowplowing bucket to target lifting height information at a stuck point position corresponding to the abnormal snow sweeping state after controlling the self-moving device to perform a backward moving action;

[0024] controlling the self-moving device to perform a forward snowplowing action according to the target lifting height information.

[0025] Optionally, before the current lifting height information of the snow bucket is adjusted to the target lifting height information after the self-moving device performs the backward action at the stuck point position corresponding to the abnormal snow sweeping state, the method further comprises:

[0026] after the self-moving device performs the backward action at the stuck point position corresponding to the abnormal snow sweeping state and controls the walking motor in the self-moving device to increase the walking speed;

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

[0028] after the number of times of performing the backward and forward actions reaches a preset number threshold, it is determined that the current working state is still the abnormal snow sweeping state, and the process of adjusting the current lifting height information of the snow bucket to the target lifting height information at the stuck point position corresponding to the abnormal snow sweeping state after the self-moving device performs the backward action is performed.

[0029] Optionally, the adjusting the current lifting height information of the snow bucket to the target lifting height information comprises:

[0030] adjusting the current lifting height information of the snow bucket according to a preset height adjustment rule to obtain adjusted height information;

[0031] when the current working state corresponding to the adjusted height information is the normal snow sweeping state, the adjusted height information is determined as the target lifting height information, or when the current working state corresponding to the adjusted height information is still the abnormal snow sweeping state, the adjusted height information is continuously adjusted according to the preset height adjustment rule until a new adjusted height information is obtained, which enables the current working state to be the normal snow sweeping state, and the new adjusted height information is determined as the target lifting height information.

[0032] Optionally, the adjusting the current lifting height information of the snow bucket to the target lifting height information comprises:

[0033] determining the target lifting height information according to vertical height information at the stuck point position corresponding to the abnormal snow sweeping state identified by a preset identification sensor in the self-moving device;

[0034] adjusting the current lifting height information of the snow bucket to the target lifting height information.

[0035] Optionally, the determining the current working state of the self-moving device according to the parameter information and the current lifting height information comprises:

[0036] obtaining positioning information by a preset positioning device in the self-moving device;

[0037] determine the current working state of the self-moving device according to the positioning information, parameter information and current head height information.

[0038] To achieve the above object, the application further provides a self-moving device, which comprises walking wheels, walking motors and encoders connected with the walking wheels, a snow shovel, a snow shoveling motor connected with the snow shovel and a controller, wherein the controller controls the walking wheels, walking motors, encoders, snow shovel and snow shoveling motor to realize the steps of the self-moving device abnormal state processing method.

[0039] To achieve the above object, the application further provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to realize the steps of the self-moving device abnormal state processing method.

[0040] The self-moving device abnormal state processing method provided by the application comprises the following steps: obtaining parameter information of a self-moving device and current head height information of a snow shovel during walking of the self-moving device; determining a current working state of the self-moving device according to the parameter information and the current head height information; when the current working state is determined to be an abnormal snow sweeping state, adjusting the current head height information of the snow shovel to target head height information, and controlling the self-moving device to perform a preset escape action according to the target head height information. In the application, the working state of the self-moving device can be determined by the monitored parameter information and current head height information during walking of the self-moving device, and finally the current head height information of the snow shovel in the self-moving device can be adjusted according to the working state to obtain target head height information that can make the self-moving device escape from the predicament, so as to realize automatic processing of the self-moving device and improve working efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the application. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0042] Figure 1 is a flowchart of the self-moving device abnormal state processing method in an embodiment of the application.

[0043] Figure 2 is a schematic block diagram of the self-moving device in an embodiment of the application. DETAILED DESCRIPTION

[0044] With reference to the drawings and embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of the present application.

[0045] As shown in the drawings, Figure 1 An embodiment of the present application provides a self-moving equipment abnormal state processing method, which can be applied to a controller in the self-moving equipment, wherein the controller can also be understood as an MCU (Microcontroller Unit), and the method comprises the following steps:

[0046] S10, obtaining parameter information of the self-moving equipment and current lifting height information of a snow shovel in the self-moving equipment during walking of the self-moving equipment.

[0047] Understandably, the self-moving equipment is a robot applied to a yard, which can be divided into a detachable vehicle head and a vehicle body. In the vehicle head, a snow shovel and a snow throwing bucket are arranged. The main function of the snow shovel is to shovel the snow on the ground and roll the snow to the snow throwing bucket through snow rolling blades arranged in the snow shovel, so as to realize the long-distance snow throwing function through the snow throwing bucket. During walking of the self-moving equipment, the corresponding function of the self-moving equipment is started, such as the snow removing function mentioned above. The parameter information of the self-moving equipment refers to the working parameters fed back by various devices in the self-moving equipment, including walking motor current information, snow shovel motor current information and encoder information, that is, the self-moving equipment is provided with a walking motor, a snow shovel motor and an encoder, wherein the encoder can be preferably an optical encoder. The current lifting height information refers to the height information of the snow shovel from the ground, wherein the smaller the height of the snow shovel from the ground, the higher the cleaning degree of the snow. For example, the snow shovel works close to the ground. In addition, the current lifting height information is controlled through the jacking structure in the self-moving equipment. Specifically, the jacking motor in the jacking structure drives the push rod (the push rod drives the snow shovel to adjust the pitch angle), and the size of the push rod position value in the push rod is detected through the Hall sensor integrated in the jacking motor, so as to determine the current lifting height information of the snow shovel through the size of the push rod position value.

[0048] In an embodiment, the step S10 of obtaining the current lifting height information of the snow shovel in the self-moving equipment comprises:

[0049] Obtaining a push rod position value reflected by the jacking structure in the self-moving equipment.

[0050] Obtaining the current lifting height information of the snow shovel in the self-moving equipment according to the push rod position value.

[0051] Understandably, there is a mapping relationship between the push rod position value and the lifting height of the snow bucket, for example, when the machine is lifted to the highest 5cm from the ground, the push rod position value is 0, when the machine is close to the ground to the lowest 0cm, the push rod position value is 64, and when the machine is lifted to 3cm from the ground, the push rod position value is 20. It can be seen that the ground clearance of the embodiment is determined by controlling the push rod position value of the lifting structure, and the push rod position value and the ground clearance of the self-moving device can be a nonlinear curve relationship or a linear relationship. It is only necessary to record the push rod position value and the lifting height information of the snow bucket in advance.

[0052] S20, according to the parameter information and the current lifting height information, determining the current working state of the self-moving device.

[0053] Understandably, the current working state refers to whether the self-moving device is in a normal snow sweeping state, and in a non-normal snow sweeping state, that is, an abnormal snow sweeping state. When the machine is in an abnormal snow sweeping state, it means that the snow bucket in the self-moving device is stuck, and it should be noted that when the self-moving device is in a rugged road condition or a road condition with more irregular gravel, the snow bucket in the self-moving device will be in a dilemma of being pushed by gravel due to insufficient current lifting height. More specifically, in the process of the self-moving device walking, part of the gravel in the snow can be collected into the snow bucket in the process of walking, and the other part of the gravel can push against the snowplow. The gravel will be pushed by the self-moving device all the time, or the large enough stone will directly push the self-moving device, which can cause the self-moving device to be stuck and affect the working efficiency.

[0054] In an embodiment, the step S20, the current working state of the self-moving device is determined according to the parameter information and the current lifting height information, comprising:

[0055] According to the walking motor current information and the encoder information of the self-moving device in the parameter information, the advancing resistance information is determined; it can be understood that the advancing resistance information refers to the information affecting the advancing of the self-moving device determined by the parameter information, such as the gravel affecting the normal advancing of the self-moving device mentioned above; the walking motor current information refers to the current information generated after the walking motor installed on the self-moving device is used to provide power for the walking wheel, such as 3A or 5A, and it needs to be noted that the embodiment only illustrates the walking motor current information of the self-moving device, and other embodiments for determining the advancing resistance information by the voltage information or the power information of the walking motor exist conversion relationship with the walking motor current information, and should also constitute equivalent conditions; the encoder information refers to the speed information of the walking wheel of the self-moving device, wherein the encoder is installed on the synchronous shaft of the walking motor, so that when the walking motor drives the walking wheel connected thereto, the encoder can obtain the movement signal, such as the forward and reverse rotation of the walking motor and the number of rotations, and further, the forward use of the encoder is to obtain the movement parameter of the machine by the encoder, and the reverse use of the encoder is to obtain the movement signal of the encoder by the movement parameter of the machine, and the movement parameter can be the movement speed of the self-moving device, such as the movement speed obtained by the number of rotation pulses and the pulse time in the above-mentioned movement signal (the rotation of the encoder is equivalent to the rotation of the motor).

[0056] According to the snow shovel motor current information of the self-moving device in the parameter information, the current snow shoveling amount of the snow shovel is determined; it can be understood that the current snow shoveling amount refers to the snow shoveling condition of the snow shovel determined by the parameter information, wherein the more the snow shoveling amount in the snow shovel, the greater the load of the snow shoveling motor, and at this time, the snow shoveling motor current information in the parameter information is greater. It needs to be noted that in the process of determining the current snow shoveling amount of the snow shovel, the snow shovel is controlled by the control signal sent by the controller, that is, the snow shovel in the self-moving device exists the snow shoveling process under the control of the control signal, and the snow shovel is in the non-working state when the controller does not send the control signal to the snow shovel.

[0057] According to the advancing resistance information, the current snow shoveling amount of the snow shovel and the current lifting height information, the current working state of the self-moving device is determined. It can be understood that the current working state can reflect whether the self-moving device is in the normal snow sweeping state, and specifically, the three information sets of the advancing resistance information, the current snow shoveling amount of the snow shovel and the current lifting height information can be used for judgment, such as in the self-moving device, the machine is determined to be walking by the advancing resistance information, the machine is determined to be rolling snow by the current snow shoveling amount of the snow shovel, and the machine is determined to have a lifting height for rolling snow by the current lifting height information, and the controller can obtain the current working state of the machine after analyzing and processing the data by combining the three information sets.

[0058] S30, in the determination of the current working state is abnormal snow removal state, the current lifting height information of the snow bucket is adjusted to the target lifting height information, and the self-moving device is controlled to perform a preset escape action according to the target lifting height information.

[0059] Understandably, the abnormal snow removal state refers to the phenomenon that the self-moving device is stuck, wherein the current working state is determined through the current parameter information of the self-moving device, and the parameter information corresponding to the current working state is specifically compared and analyzed with the preset parameter information, and after the parameter information falls within the preset parameter information, it is determined that the current working state is the abnormal snow removal state; the target lifting height information refers to the lifting height that can escape from the predicament, that is, the snow bucket in the self-moving device will not appear the phenomenon of being stuck, wherein the target lifting height information is the height obtained by continuously adjusting the lifting height of the snow bucket according to the preset height adjustment rule, or is a height determined according to the preset height adjustment rule; the preset escape action refers to the machine action of the self-moving device to escape from the sticking point position corresponding to the current abnormal snow removal state, and the action is associated based on the current target lifting height information.

[0060] In the embodiment of steps S10 to S30, in the walking process of the self-moving device, the working state of the self-moving device can be determined through the continuously monitored parameter information and the current lifting height information, and finally the current lifting height information of the snow bucket in the self-moving device can be adjusted according to the working state to obtain the target lifting height information that can make the self-moving device escape from the predicament, so as to realize the automatic processing of the self-moving device in the working environment, continuously adapt to various road conditions of different working environments, and improve the working efficiency.

[0061] In an embodiment, after the step S30, the self-moving device is controlled to perform a preset escape action according to the target lifting height information, further comprising:

[0062] The target lifting height is adjusted to the preset default lifting height information, and it is continuously monitored whether the current working state is an abnormal snow removal state, and when the abnormal snow removal state is adjusted to the target lifting height information, the target lifting height information is adjusted to the target lifting height information, and the self-moving device is controlled to perform a preset escape action according to the target lifting height information.

[0063] Understandably, the preset default lifting height information refers to the lifting height of the current snow bucket after the mobile device leaves the stuck position, wherein the preset default lifting height information can be the lowest 0 cm close to the ground, or other lower heights. In the embodiment, the mobile device works at a lower height, which can ensure that the mobile device improves the cleaning efficiency of the snow on the ground after passing the stuck position. In addition, the embodiment can continue to process the stuck phenomenon of the mobile device encountered during walking at the preset default lifting height information, realize the automatic processing of the mobile device, and further improve the intelligence.

[0064] In the embodiment, the adjustment process of the preset default lifting height information is: controlling the mobile device to work in a low position until the snow bucket motor current detects that the snow bucket has reached the ground, and then slightly lifting the snow bucket to a small lifting height and trying to slowly move forward to explore the road. The above strategy can be realized in complex road conditions, which can protect the snow bucket parts and avoid the snow bucket being stuck as much as possible, and also can ensure the snow cleaning efficiency.

[0065] In an embodiment, the step S30 of determining that the current working state is an abnormal snow cleaning state comprises:

[0066] According to the walking motor current information in the parameter information, it is determined whether the current change of the walking motor conforms to the first preset current change;

[0067] According to the encoder information in the parameter information, it is determined whether the walking speed of the mobile device conforms to the preset speed condition;

[0068] According to the snow bucket motor current information in the parameter information, it is determined whether the current change of the snow bucket motor conforms to the second preset current change;

[0069] When it is determined that the current change of the walking motor conforms to the first preset current change, the walking speed of the mobile device conforms to the preset speed condition, and the current change of the snow bucket motor conforms to the second preset current change, it is determined that the current working state is an abnormal snow cleaning state.

[0070] It can be understood that the first preset current change condition refers to the change condition of the current in the walking motor, and more specifically, the current data suddenly rises and stabilizes at a high current data within a preset time, such as the initial current in the walking motor being raised from 3A to 5A and then stabilized at 5A; the second preset current change condition refers to the change condition of the current in the snow rolling motor, and more specifically, the current data is reduced from a larger value to a smaller stable value within a preset time, such as the initial current in the snow rolling motor being reduced from 30A to 10A and then stabilized at 10A; the preset speed condition refers to the walking speed of the walking wheel, such as judging that the real-time feedback walking speed of the walking wheel is not lower than 0.05 m / s;

[0071] In the present embodiment, during the snow sweeping process of the self-moving device, if the walking wheel of the snow sweeper has a walking speed generated by movement and the walking motor has a current, and the current data suddenly rises and stabilizes at a high current data within a certain time, and if the snow rolling motor of the snow sweeper has a current, and the current data is reduced from a larger value to a smaller stable value within a certain time, it is considered that the current self-moving device is in a snow rolling idle state, and during the process of attempting to walk, it is known that the self-moving device is stuck and rolling snow in place, at this time, the self-moving device is in an abnormal snow sweeping state of a stuck head, and the snow bucket of the snow sweeper needs to be lifted to a certain height from the ground and separated from the sticking point position; wherein the walking wheel is considered to be in motion when the real-time feedback walking speed is not lower than 0.05 m / s and there is a target control speed greater than or equal to 0.1 m / s, and the walking speed can be obtained by the data detected by the encoder.

[0072] In an embodiment, the step S30 of adjusting the current lifting height information of the snow bucket to the target lifting height information and controlling the self-moving device to perform a preset separation action according to the target lifting height information comprises:

[0073] At the sticking point position corresponding to the abnormal snow sweeping state, the current lifting height information of the snow bucket is adjusted to the target lifting height information after the self-moving device performs a backward movement action.

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

[0075] It can be understood that the sticking point position refers to a position point in the automatic snow sweeping area that causes the head of the snow bucket to be stuck and roll snow in place; the forward snow sweeping action can be performed at a walking speed, or can be performed at the current walking speed, which is not limited here;

[0076] The embodiment makes the machine perform the action of retreating at the card point position, so as to make the machine have a power of forward movement, and then the power is used to solve the problem of the stuck vehicle head; wherein the distance of the self-moving device advancing at the target lifting height information is slightly larger than the distance of retreating, and the specific reason is to better control the self-moving device to rush through the card point position.

[0077] In an embodiment, before the current lifting height information of the snow shovel is adjusted to the target lifting height information after the self-moving device performs the action of retreating at the card point position corresponding to the abnormal snow sweeping state, the method further comprises:

[0078] After the self-moving device performs the action of retreating at the card point position corresponding to the abnormal snow sweeping state, and the walking motor in the self-moving device increases the walking speed;

[0079] According to the improved walking speed, the self-moving device performs the action of forward snow shoveling;

[0080] After the number of times of controlling the self-moving device to perform the actions of retreating and advancing reaches the preset number threshold, it is determined that the current working state is still the abnormal snow sweeping state, and the process of adjusting the current lifting height information of the snow shovel to the target lifting height information after the self-moving device performs the action of retreating at the card point position corresponding to the abnormal snow sweeping state is performed.

[0081] The embodiment does not directly control the snow shovel to perform the lifting operation at the beginning, but advances at a higher walking speed, so as to avoid the phenomenon that the card point position exists the card point caused by thick snow. Therefore, by controlling the self-moving device to retreat and advancing at a higher walking speed, when the preset number threshold is reached, it is considered that the phenomenon that the card point position exists the card point is caused by gravel or other road conditions. At this time, the process of adjusting the current lifting height information of the snow shovel to the target lifting height information after the self-moving device performs the action of retreating is controlled.

[0082] The above is to determine whether other road conditions cause the phenomenon of being stuck by advancing and retreating. In another embodiment, whether other road conditions cause the phenomenon of being stuck can be determined by the current of the snow shoveling motor.

[0083] Specifically, after the self-moving device retreats Acm, the snow shovel in the vehicle head is lifted to a preset height position, the control is started to make the snow shovel advance Bcm, after the self-moving device advances to a Ccm position, the current of the snow shovel motor in the self-moving device is judged, when the current is higher than a preset current threshold, it is determined that the current stuck phenomenon is caused by thick snow, when the current is lower than the preset current threshold, it is determined that the current stuck phenomenon is caused by other road conditions, wherein, Acm and Ccm are both less than Bcm, Bcm is the total advancing distance of the machine, Ccm is greater than Acm, and Acm and Ccm are both less than Bcm, because the self-moving device is better controlled to rush through the stuck position;

[0084] Further, for the thick snow stuck scene: control the self-moving device to continue to retreat Acm, lower the snow shovel in the vehicle head to the ground, continue to advance Ccm, and restore the preset automatic snow removal plan of the self-moving device (control the self-moving device to automatically snow removal at a certain height) after the thick snow is removed.

[0085] In an embodiment, the current lifting height information of the snow shovel is adjusted to target lifting height information, comprising:

[0086] According to the preset height adjustment rule, the current lifting height information of the snow shovel is adjusted to obtain adjustment height information;

[0087] When the current working state corresponding to the adjustment height information is a normal snow removal state, the adjustment height information is determined as the target lifting height information, or when the current working state corresponding to the adjustment height information is also an abnormal snow removal state, the adjustment height information is continuously adjusted according to the preset height adjustment rule until a new adjustment height information is obtained, which enables the current working state to be a normal snow removal state, and the new adjustment height information is determined as the target lifting height information.

[0088] Understandably, the preset height adjustment rule means that the snow shovel adjusts the current lifting height according to the pre-defined parameters, such as the lifting height that the snow shovel can adjust to when the current working state is an abnormal snow removal state. In this embodiment, according to the preset height adjustment rule, an adjustment height information is determined. If the adjustment height information can directly enable the current working state of the self-moving device to be a normal snow removal state, there is no need to continue to determine a new adjustment height information, otherwise, a new adjustment height information is continued to be determined. This way in this embodiment can certainly determine an ideal lifting height for the snow shovel.

[0089] In an embodiment, the current lifting height information of the snow shovel is adjusted to target lifting height information, comprising:

[0090] According to the preset identification sensor in the self-moving device, vertical height information at the position of the stuck point corresponding to the abnormal snow sweeping state is identified, and target lifting height information is determined according to the vertical height information.

[0091] The current lifting height information of the snow shovel is adjusted to the target lifting height information.

[0092] It can be understood that 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 photographing by the image sensor, the height of any one point of the stuck point position in the vertical direction is identified by the photographed image, after the laser emitted by the laser radar reaches one point of the stuck point position, the height in the vertical direction is determined by the reflected laser after the reflected laser is obtained;

[0093] In this embodiment, the target lifting height information is determined directly by the preset identification sensor installed on the vehicle head to identify the vertical height information, for example, a specified centimeter is added on the basis of the vertical height information, and the target lifting height information is determined at one time by this method, thereby improving the snow sweeping efficiency.

[0094] In an embodiment, the current working state of the self-moving device is determined according to the parameter information and the current lifting height information, including:

[0095] According to the preset positioning device in the self-moving device, positioning information is obtained;

[0096] According to the positioning information, the parameter information and the current lifting height information, the current working state of the self-moving device is determined.

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

[0098] In this embodiment, whether the self-moving device has a problem of not moving in place can be determined by the positioning information, and whether the self-moving device has a snow shoveling function can be determined by the parameter information and the current lifting height information, so that the phenomenon that the self-moving device is stuck at the stuck point position can be determined, and the snow is rolled in place.

[0099] The application provides a self-moving equipment abnormal state processing method, which comprises the following steps: determining the working state of the self-moving equipment by continuously monitoring parameter information and current lifting height information during the walking process of the self-moving equipment; and adjusting the current lifting height information of a snow shovel in the self-moving equipment according to the working state to obtain target lifting height information, so that the self-moving equipment can be automatically processed in the working environment, the road conditions of various working environments can be continuously adapted, and the working efficiency is improved; the lifting height information is adjusted, so that the snow shovel in the self-moving equipment can be protected and the work can be efficiently completed; in the face of complex road conditions such as gravel, the snow shovel is not only lifted to avoid being stuck, but also simply lifted, which can cause the snow on the ground to be not cleaned, so that the information of various modules in the self-moving equipment is linked to control the snow shovel to automatically lift when it is determined that the snow shovel is stuck, and the snow shovel is controlled to return to the preset default lifting height after the self-moving equipment is out of the stuck situation.

[0100] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0101] As shown in Figure 2 In an embodiment, the application further provides a self-moving equipment, which comprises walking wheels, a walking motor and an encoder connected with the walking wheels, a snow shovel, a snow shovel motor connected with the snow shovel, and a controller, wherein the controller controls the walking wheels, the walking motor, the encoder, the snow shovel and the snow shovel motor to realize the steps of the self-moving equipment abnormal state processing method. The self-moving equipment can be a snow sweeper or a yard robot with similar or identical functions. In an embodiment, the vehicle head and the vehicle body of the self-moving equipment are in a detachable state, wherein the vehicle head comprises the snow shovel.

[0102] The execution function of the controller corresponds to the self-moving equipment abnormal state processing method in the above embodiment. The specific limitation of the controller can be referred to the limitation of the self-moving equipment abnormal state processing method in the above embodiment, which will not be described here. Each sub-module in the controller can be realized by software, hardware and their combination. Each sub-module 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 operation corresponding to each sub-module.

[0103] In an embodiment, the present application also provides one or more readable storage media storing computer readable instructions, the readable storage media including non-volatile readable storage media and volatile readable storage media; the readable storage media storing computer readable instructions, which, when executed by one or more processors, cause the one or more processors to implement the steps of the self-mobile device exception state processing method described in the above embodiments.

[0104] A person of ordinary skill in the art can understand that all or part of the processes in the above embodiments can be completed by computer readable instructions instructing related hardware, and the computer readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium, and when executed, can include the processes of the above embodiments. Any reference to memory, storage, database or other medium in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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 can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to complete all or part of the above described functions.

[0106] The above described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the above embodiments of the present application have been described in detail, those of ordinary skill in the art should understand that they can modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for handling abnormal states of a self-moving device, characterized in that, The method includes: During the movement of the self-moving device, the parameter information of the self-moving device and the current head-up height information of the snowplow are obtained; The current working state of the self-moving device is determined based on the parameter information and the current head-up height information; When the current working state is determined to be an abnormal snow removal state, the current head height information of the snowplow is adjusted to the target head height information, and the self-moving device is controlled to perform a preset disengagement action according to the target head height information; Determining the current working state of the self-moving device based on the parameter information and the current head-up height information includes: The travel resistance information is determined based on the walking motor current information and encoder information of the self-moving device in the parameter information. The current snow removal amount of the snowplow bucket is determined based on the snowplow motor current information of the self-moving device in the parameter information; The current working status of the self-moving device is determined based on the travel resistance information, the current snow removal amount of the snowplow, and the current head-up height. Determining that the current working state is an abnormal snow removal state includes: Based on the current information of the walking motor in the parameter information, determine whether the current change of the walking motor conforms to the first preset current change. Based on the encoder information in the parameter information, determine whether the walking speed in the self-moving device meets the preset speed condition; Based on the snowplow motor current information in the parameter information, determine whether the current change of the snowplow motor conforms to the second preset current change. When it is determined that the current change of the walking motor conforms to the first preset current change condition, the walking speed of the self-moving device conforms to the preset speed condition, and the current change of the snowplow motor conforms to the second preset current change condition, the current working state is determined to be an abnormal snowplowing state.

2. The method for handling abnormal states of a self-moving device as described in claim 1, characterized in that, The step of obtaining the current head-up height information of the snowplow in the self-moving device includes: Obtain the push rod position value reflected by the lifting structure in the self-moving device; The current head-up height of the snowplow in the self-moving device is obtained based on the push rod position value.

3. The method for handling abnormal states of a self-moving device as described in claim 1, characterized in that, The step of adjusting the current head-up height of the snowplow to the target head-up height, and controlling the self-moving device to perform a preset disengagement action based on the target head-up height, includes: At the checkpoint location corresponding to the abnormal snow removal state, after controlling the self-moving device to perform a backward action, the current head-up height information of the snowplow bucket is adjusted to the target head-up height information; The self-moving device is controlled to perform a forward snow-shoveling action based on the target head-up height information.

4. The method for handling abnormal states of a self-moving device as described in claim 3, characterized in that, Before adjusting the current head-up height of the snowplow bucket to the target head-up height after controlling the self-moving device to perform a backward movement at the checkpoint location corresponding to the abnormal snow removal state, the method further includes: At the checkpoint location corresponding to the abnormal snow removal state, the self-moving device is controlled to perform a backward action, and the walking motor in the self-moving device is controlled to increase the walking speed. The self-moving device is controlled to perform a forward snow-shoveling action based on the increased walking speed; After the number of times the self-moving device performs backward and forward actions reaches a preset threshold, it is determined that the current working state is still an abnormal snow removal state. Then, at the checkpoint position corresponding to the abnormal snow removal state, the self-moving device is controlled to perform a backward action, and the current head height information of the snowplow bucket is adjusted to the target head height information.

5. The method for handling abnormal states of a self-moving device as described in claim 1 or 3, characterized in that, Adjusting the current head-up height information of the snowplow bucket to the target head-up height information includes: The current head-up height of the snowplow is adjusted according to a preset height adjustment rule to obtain the adjusted height information; When the current working state corresponding to the adjusted height information is normal snow sweeping, the adjusted height information is determined as the target head-up height information; or when the current working state corresponding to the adjusted height information is abnormal snow sweeping, the adjusted height information is further adjusted according to the preset height adjustment rule until a new adjusted height information that can make the current working state normal snow sweeping is obtained, and the new adjusted height information is determined as the target head-up height information.

6. The method for handling abnormal states of a self-moving device as described in claim 1 or 3, characterized in that, Adjusting the current head-up height information of the snowplow bucket to the target head-up height information includes: The vertical height information of the checkpoint corresponding to the abnormal snow sweeping state is identified by the preset identification sensor in the self-moving device, and the target head-up height information is determined based on the vertical height information; Adjust the current head-up height information of the snowplow bucket to the target head-up height information.

7. The method for handling abnormal states of a self-moving device as described in claim 1, characterized in that, Determining the current working state of the self-moving device based on the parameter information and the current head-up height information includes: Location information is obtained from a preset positioning device in the self-moving device; The current working state of the self-moving device is determined based on the positioning information, parameter information, and current head-up height information.

8. A self-moving device, characterized in that, The device includes a walking wheel, a walking motor and an encoder connected to the walking wheel, a snowplow, a snowplow motor connected to the snowplow, and a controller. The controller controls the walking wheel, the walking motor, the encoder, the snowplow, and the snowplow motor to implement the steps of the self-moving device abnormal state handling method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the self-moving device abnormal state handling method as described in any one of claims 1 to 7.

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