Blowing control method and system of self-moving equipment, self-moving equipment and medium

Abstract

The invention discloses a blowing control method and system of self-moving equipment, the self-moving equipment and a medium. The method comprises the steps that a wind power expected value issued by an upper computer is acquired; acquiring a current battery output voltage value and a current fan real-time current value in real time; determining a current fan expected current value according to the wind power expected value and the current battery output voltage value; and the current fan wind power value is adjusted according to the current fan expected current value and the current fan real-time current value, and a fan of the self-moving equipment is controlled to execute blowing treatment according to the current fan wind power value. According to the self-moving equipment, the blowing treatment of the fan in the self-moving equipment is automatically controlled, and the blowing treatment can automatically correspond to the blowing strength meeting the condition in the working area of the self-moving equipment, so that the automation degree of the self-moving equipment on the blowing treatment work can be improved, the blowing strength can be automatically controlled, and the working efficiency is improved. And stable blowing strength is ensured under different conditions, and the problem of poor blowing effect or waste of electric quantity is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of air blowing control for self-moving equipment, and in particular to a method and system for controlling air blowing for a self-moving equipment, a self-moving equipment and a medium. Background Art

[0002] In outdoor scenes, various small objects such as leaves and grass are common in the courtyard area. If the above-mentioned accumulated small objects are not cleaned up in time, it will affect the beauty of the area and travel. At present, most commonly used cleaning devices are blowing devices that rely on manual control of the blowing intensity. The blowing intensity is controlled by buttons installed on the equipment. However, the problem is that the degree of automation is not high, and since manual control of the blowing intensity requires rich experience, it is easy to cause inaccurate control of the blowing intensity, resulting in poor blowing effect or waste of electricity;

[0003] Therefore, those skilled in the art are in urgent need of finding a new technical solution to solve the above technical problems. Summary of the invention

[0004] Based on this, it is necessary to provide a blowing control method, system, self-moving device and medium for the above-mentioned technical problems, so as to solve the technical problems in the prior art that the blowing equipment has low self-movement degree, poor blowing effect and waste of electricity.

[0005] To achieve the above object, a method for controlling the blowing of a self-moving device is provided, the method comprising:

[0006] Obtain the current battery output voltage value and the current fan real-time current value in real time;

[0007] Determine the current expected current value of the wind turbine by using the expected wind force value and the current battery output voltage value;

[0008] The current fan wind force value is adjusted by the current fan expected current value and the current fan real-time current value, and the fan of the mobile device is controlled to perform blowing processing with the adjusted target fan wind force value.

[0009] Optionally, the real-time acquisition of the current battery output voltage value and the current wind turbine real-time current value includes:

[0010] Converting the high voltage signal measured at the battery measurement point in the mobile device into a low voltage signal through a voltage divider circuit or a sampling resistor;

[0011] The low voltage signal is converted into a digital signal by a preset converter, and the digital signal is analyzed to obtain the current voltage output voltage value;

[0012] The current real-time current value of the fan in the mobile device is collected through a preset current sensor or sampling resistor.

[0013] Optionally, determining a current expected current value of the wind turbine by using the expected wind force value and the current battery output voltage value includes:

[0014] Determining the expected power value of the wind turbine by using the expected wind force value and the efficiency constant of the wind turbine;

[0015] The current expected current value of the wind turbine is determined by the current battery output voltage value and the expected power value of the wind turbine.

[0016] Optionally, adjusting the current wind force value of the wind turbine according to the current expected current value of the wind turbine and the current real-time current value of the wind turbine includes:

[0017] Determine the current error by using the current expected current value of the wind turbine and the current real-time current value of the wind turbine;

[0018] The fan throttle value corresponding to the current fan wind force value is adjusted according to the current error, so as to adjust the fan throttle value to a target fan wind force value corresponding to the current fan expected current value.

[0019] Optionally, the method further comprises:

[0020] Acquire the current battery output voltage value, and transmit the current battery output voltage value to the voltage loop;

[0021] Determine the voltage error between the current battery output voltage value and the reference voltage value through the voltage loop;

[0022] An adjustment signal is determined by the voltage error, and the input of the current loop is compensated by the adjustment signal to obtain a target wind force value of the wind turbine outputted by the wind turbine.

[0023] Optionally, after controlling the fan of the mobile device to perform the blowing process with the adjusted target fan wind force value, the method further includes:

[0024] After the self-mobile device identifies the object type and object density of the objects to be cleaned in the current working area, the fan is controlled to adjust the current fan wind speed value according to the object type and density, and the fan is controlled to continue to perform the blowing process with the adjusted target fan wind speed value.

[0025] Optionally, after controlling the fan of the mobile device to perform the blowing process with the adjusted target fan wind force value, the method further includes:

[0026] Determining the distance between the object to be cleaned in the self-moving device and the object accumulation area;

[0027] Determine the longest distance that the fan of the self-moving device can blow air to treat the object to be cleaned;

[0028] Determine the number of times the self-moving device performs the blowing treatment according to the distance and the longest distance;

[0029] The blower is controlled to continuously perform the blow processing according to the number of times of the blow processing.

[0030] To achieve the above-mentioned purpose, a fan control system for a self-moving device is also provided, characterized in that it includes a motor modulator and a fan, and the motor modulator controls the motor to implement the steps of the above-mentioned blowing control method for the self-moving device.

[0031] In order to achieve the above-mentioned purpose, a self-moving device is also provided, including a fan control system and a controller of the self-moving device, the motor modulator and the controller in the motor control system are communicatively connected, and the controller controls the motor in the motor control system to implement the steps of the above-mentioned blowing control method of the self-moving device.

[0032] 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 controlling the blowing of the mobile device are implemented.

[0033] The blowing control method of the self-moving device provided by the present invention includes: obtaining the expected wind force value sent by the upper computer; obtaining the current battery output voltage value and the current fan real-time current value in real time; determining the current fan expected current value through the expected wind force value and the current battery output voltage value; adjusting the current fan wind force value through the current fan expected current value and the current fan real-time current value, and controlling the fan of the self-moving device to perform blowing processing with the adjusted target fan wind force value. By automatically controlling the blowing processing of the fan in the self-moving device, the blowing processing can automatically correspond to the blowing intensity that meets the situation in the working area of ​​the self-moving device. In this way, not only can the degree of automation of the self-moving device in the blowing processing work be improved, but also the blowing intensity can be automatically controlled to ensure that there is a stable blowing intensity under different conditions, and will not cause problems such as poor blowing effect or waste of electricity. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained according to these accompanying drawings without paying creative labor.

[0035] Figure 1 It is a flow chart of an embodiment of a method for controlling the blowing of a mobile device according to the present invention.

[0036] Figure 2 It is a schematic block diagram of an embodiment of a fan control system of a self-moving device of the present invention.

[0037] Figure 3 It is a schematic block diagram of an embodiment of a mobile device of the present invention. DETAILED DESCRIPTION

[0038] 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.

[0039] like Figure 1 As shown, a regional working method 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 (microcontrollerUnit) or other devices with the same function, and the method comprises the following steps:

[0040] S10, obtaining the expected wind force value sent by the host computer.

[0041] It can be understood that the host computer refers to a computer or control terminal used to monitor, control and manage the entire system in the self-mobile equipment control system. The controller in the self-mobile equipment can receive instructions from the host computer through the communication interface to perform corresponding processing tasks. For example, this embodiment can obtain the start blowing instruction issued by the host computer and then control the self-mobile equipment to perform blowing processing on a specific area.

[0042] S20, obtaining the current battery output voltage value and the current wind turbine real-time current value in real time.

[0043] It can be understood that the battery is a device used to power the self-moving device, including the function of powering the fan of the self-moving device. When powered by the battery, the current battery output voltage value can be obtained through a special sampling method or real-time communication (measured by a special measuring instrument and then fed back to the controller); the fan is a device used to provide blowing treatment, and the current real-time current value of the fan can be obtained through a current sensor or a current sampling resistor, wherein the current sensor can be a Hall current sensor.

[0044] S30, determining a current expected current value of the wind turbine according to the expected wind force value and the current battery output voltage value.

[0045] It can be understood that the current expected current value of the fan is the current value that the current fan needs to actually reflect. The specific determination method is to first determine the efficiency constant of the current fan, and then determine the expected power value of the fan through the expected wind force value and the efficiency constant of the fan. Finally, the current expected current value of the fan is directly determined through the operational relationship between the expected power value of the fan and the current battery output voltage value.

[0046] S40, adjusting the current wind force value of the fan according to the current expected current value of the fan and the current real-time current value of the fan, and controlling the fan of the mobile device to perform a blowing process according to the adjusted target wind force value of the fan.

[0047] It can be understood that the current fan wind force value is the wind force value that the current fan needs to truly reflect. The current fan wind force value can be used to control the fan through the current motor modulator, so as to finally obtain a speed value (throttle value) corresponding to the target fan wind force value. After determining the speed value of the fan, the corresponding fan is adjusted under the corresponding motor modulator to complete the actual blowing process. The specific determination method can first determine the current error through the difference between the current machine expected current value and the current fan real-time current value, and then increase or decrease the fan speed value through the current error. Finally, the corresponding target fan wind force value is directly determined with the adjusted speed value, and the fan is controlled to perform blowing process with the target fan wind force value, wherein each speed of the fan corresponds to a current fan wind force value; the self-moving device is an intelligent blowing process robot used in the courtyard, which can automatically complete the blowing process in the corresponding working area.

[0048] In the embodiment where steps S10 to S40 are located, the blowing process of the fan in the self-moving device is automatically controlled. In the working area of ​​the self-moving device, the blowing process can automatically correspond to the blowing intensity that suits the situation. In this way, not only the degree of automation of the blowing process of the self-moving device can be improved, but also the blowing intensity can be automatically controlled (by adjusting the current wind force value of the fan) to ensure that the blowing intensity can be stable under different power levels or different working conditions, and the problem of poor blowing effect or waste of power will not be caused; the current current value of the fan and the current battery output voltage value (which is proportional to the power level) are obtained in real time through communication or sampling methods, so that the electric throttle of the fan can be modulated and controlled in real time through the acquired voltage value in the future, to ensure that the fan can stably output the set wind force value.

[0049] Furthermore, the real-time acquisition of the current battery output voltage value and the current wind turbine real-time current value includes:

[0050] Converting the high voltage signal measured at the battery measurement point in the mobile device into a low voltage signal through a voltage divider circuit or a sampling resistor;

[0051] The low voltage signal is converted into a digital signal by a preset converter, and the digital signal is analyzed to obtain the current voltage output voltage value;

[0052] The current real-time current value of the fan in the mobile device is collected through a preset current sensor or sampling resistor.

[0053] It can be understood that the voltage divider circuit is a circuit obtained by dividing the voltage of at least two resistors in series, and the appropriate resistance value is selected so that the voltage at the sampling point is a certain proportion of the target voltage. Specifically, a voltage divider circuit composed of two resistors is used, and the high voltage is divided by the series circuit of the two resistors; the sampling resistors are connected in series to form the same function as the voltage divider circuit; the battery measurement point in the mobile device is the intermediate node of the voltage divider resistor, and a low voltage signal that can be input to the analog-to-digital converter can be obtained through the battery measurement point; the process of converting a high voltage signal into a low voltage signal is to obtain a low voltage signal by reducing the corresponding high voltage signal according to a certain proportion through the resistance value after determining the appropriate resistance value; the preset converter can be an analog-to-digital converter, which can convert the sampled analog voltage signal into a digital signal, and send it to the motor modulator for analysis and processing, and the motor The modulator can obtain the current operating status information of the fan by analyzing the digital signal, wherein the operating status information includes the current voltage output value; the preset current sensor can be a Hall current sensor, which can measure the current by detecting the magnetic field generated by the current; the current sampling resistor calculates the current through the voltage drop across the resistor, and when the current flows through a resistor of a known resistance value, the current is indirectly measured by measuring the voltage across the resistor, such as the current value passing through the resistor according to Ohm's law; in the process of collecting the current real-time current value of the fan passing through the mobile device, since the voltage signal generated by the current sampling resistor is usually small, it needs to be amplified by an operational amplifier to ensure that the signal is suitable for the input range of the ADC, and the amplified voltage signal is converted into a digital signal by the ADC. In addition, signal filtering can also be performed during the amplification process;

[0054] In this embodiment, a high voltage signal is converted into a low voltage signal through a voltage divider circuit, ensuring that the signal processor can safely receive and process the high voltage data of the battery, thereby avoiding damage to the equipment caused by high voltage; through digital signal analysis, the current voltage output value can be accurately measured to improve the reliability of the entire system and the accuracy of the data; through precise monitoring and analysis of voltage and current, the actual operating status of the current fan can be determined in time, which is conducive to the precise control of the current fan by the self-equipped device.

[0055] Further, the determining the current expected current value of the wind turbine by using the expected wind force value and the current battery output voltage value includes:

[0056] Determining the expected power value of the wind turbine by using the expected wind force value and the efficiency constant of the wind turbine;

[0057] The current expected current value of the wind turbine is determined by the current battery output voltage value and the expected power value of the wind turbine.

[0058] Understandably, the fan may correspond to a power model, that is, a correlation model between the wind power output of the fan and its motor power, and the fan power P may be calculated by multiplying the voltage V and the current I. If the expected wind power value that the fan needs to output (which is proportional to the speed or power of the fan) has been determined, the expected power may be determined by the power model of the fan, thereby calculating the current expected current value of the fan according to the current battery voltage;

[0059] The specific determination process is as follows: determine the proportional relationship between the expected wind force and the wind turbine power, such as F = KP. Where k is the efficiency constant of the wind turbine, F is the expected power value of the wind turbine, and P is the wind turbine power; calculate the expected wind force and the efficiency constant of the wind turbine through the above formula to obtain the expected power value of the wind turbine; determine the current expected current value of the wind turbine through the calculation relationship that the wind turbine power is equal to the current battery output voltage and current;

[0060] This embodiment can accurately calculate the expected power value of the fan based on the expected wind force and the efficiency constant of the fan, ensuring that the fan can accurately adjust the power value suitable for the current scenario according to different usage conditions; the expected current value required by the fan is accurately calculated through the current battery output voltage value and the expected power value, which can optimize the distribution of battery current output and enable the fan to operate efficiently.

[0061] Further, the adjusting the current wind force value of the wind turbine by using the current expected current value of the wind turbine and the current real-time current value of the wind turbine includes:

[0062] Determine the current error by using the current expected current value of the wind turbine and the current real-time current value of the wind turbine;

[0063] The fan throttle value corresponding to the current fan wind force value is adjusted according to the current error, so as to adjust the fan throttle value to a target fan wind force value corresponding to the current fan expected current value.

[0064] Understandably, the current error is the difference between two current values, one current value is the current real-time current value of the fan, and the other current value is the current expected current value of the fan (based on the current value obtained after the voltage loop is processed by the reference voltage value); there is a corresponding relationship between the current value and the fan throttle value, and there is a corresponding relationship between the throttle value and the fan wind force value. In this way, the target fan wind force value corresponding to the current expected current value of the fan can be obtained by adjusting the current value through the current error;

[0065] This embodiment monitors the current error in real time and dynamically adjusts the throttle value of the fan to ensure that the wind force output by the fan can accurately match the expected value and improve the control accuracy; it can quickly respond to changes in different working conditions and ensure that the fan has a stable blowing intensity.

[0066] Furthermore, the method further comprises:

[0067] Acquire the current battery output voltage value, and transmit the current battery output voltage value to the voltage loop;

[0068] Determine the voltage error between the current battery output voltage value and the reference voltage value through the voltage loop;

[0069] An adjustment signal is determined by the voltage error, and the input of the current loop is compensated by the adjustment signal to obtain a target wind force value of the wind turbine outputted by the wind turbine.

[0070] Understandably, the voltage loop is an electronic circuit used to monitor and control voltage levels. Its main function is to keep the output voltage within a set range. It is usually used in power management systems. The voltage loop detects the output voltage through a feedback mechanism, compares it with a reference voltage, and then adjusts the input or output to ensure voltage stability (the main task of the voltage loop is to compensate for wind power fluctuations caused by voltage fluctuations); the current loop is an electronic control system that is mainly used to monitor and control current levels. Similar to the voltage loop, the current loop works through a feedback mechanism to ensure that the current remains within a set range;

[0071] Specifically, first, a reference voltage value is set (this value is usually the rated voltage of the battery, that is, the voltage that the battery should output under normal conditions); then, a voltage error is calculated based on the difference between the current battery output voltage value and the set reference voltage value; then, a voltage error is processed by a voltage loop controller to obtain an adjustment signal, wherein the adjustment signal is used to compensate for the input in the current loop, so that the fluctuation of the battery voltage is suppressed and the stability of the fan output is ensured; finally, the adjustment signal output by the voltage loop (that is, the expected current value after voltage compensation) is used to compensate for the input of the current loop. More specifically, the actual current of the fan is monitored by the current loop controller, and the current error is calculated based on the current output by the voltage loop. The drive signal of the fan (such as PWM duty cycle or voltage) is adjusted by the current loop controller to adjust the speed and wind output of the fan to obtain the current wind force value of the fan;

[0072] In this embodiment, by obtaining the current battery output voltage value, the state of the battery can be monitored in real time to ensure that the self-mobile device operates within a safe and efficient voltage range; by using a voltage loop to calculate the error between the current battery output voltage value and the reference voltage value, voltage deviation can be identified and corrected in a timely manner to ensure stability during the operation of the fan; by generating an adjustment signal based on the voltage error, the input of the current loop can be dynamically adjusted to ensure that the output performance of the fan can respond to changes in a timely manner, optimize the working efficiency of the fan, and avoid poor blowing effect or power waste of the fan; by effectively compensating the input of the current loop, the output wind force value of the fan can be increased to ensure that the fan can reach the expected output level under different working conditions.

[0073] Further, after controlling the fan of the self-mobile device to perform blowing processing with the adjusted target fan wind force value, it further includes:

[0074] After the self-mobile device identifies the object type and object density of the objects to be cleaned in the current working area, it controls the fan to adjust the current fan wind force value according to the object type and density, and controls the fan to continue to perform blowing processing with the adjusted target fan wind force value.

[0075] Understandably, the current working area is the working area where the self-mobile device is located, and the self-mobile device can complete blowing work in the working area; the objects to be cleaned are the objects located in the current working area, including but not limited to various fine objects such as leaves, broken grass, and fallen flowers; the object type is the type of objects that need to be cleaned pre-set for the self-mobile device in advance. For example, if the target object type of the objects identified in the current working area is leaves, there may be multiple objects to be cleaned with the identified object types in the current working area; the density is the number of objects to be cleaned in a cleaning area.

[0076] Specifically, after the self-mobile device identifies the object type of the objects to be cleaned in the current working area through an identification sensor (such as one or more of an image sensor, a lidar, and an infrared sensor), it determines the density of the objects to be cleaned in the current working area, and adjusts the current fan wind force value of the fan according to the object type and object density. For example, when the object type is leaves and the object density is A, the current fan wind force value is B; when the object type is grass and the object density is C, the current fan wind force value is D; when the target object type is leaves or grass and the object density is F, the current fan wind force value is G.

[0077] In this embodiment, by identifying the object type and object density of the objects to be cleaned, the objects that need to be cleaned can be accurately judged, thereby improving the cleaning efficiency; the fan wind speed value is automatically adjusted according to the characteristics of the target object to ensure the best cleaning effect and avoid unnecessary impact on the surrounding environment; adjusting the wind speed value can reduce energy consumption and improve overall work efficiency.

[0078] Further, after controlling the fan of the mobile device to perform the blowing process with the adjusted target fan wind force value, the method further includes:

[0079] Determining the distance between the object to be cleaned in the self-moving device and the object accumulation area;

[0080] Determine the longest distance that the fan of the self-moving device can blow air to treat the object to be cleaned;

[0081] Determine the number of times the self-moving device performs the blowing treatment according to the distance and the longest distance;

[0082] The blower is controlled to continuously perform the blow processing according to the number of times of the blow processing.

[0083] Understandably, the object accumulation area is an area where objects to be cleaned are piled (generally located at the boundary area of ​​the current working area). There is a distance between the object accumulation area and the area where the self-moving device is currently located. The fan in the self-moving device has a rated blowing power, so the fan will have a maximum distance for processing the objects to be cleaned. Under the maximum distance, the number of blowing treatments of the self-moving device in the current working area can vary, including how many times the blowing treatment is required to blow the objects to be cleaned to the object accumulation area. For example, the distance between the objects to be cleaned and the object accumulation area determined by the self-moving device is 10m, and the longest distance for the fan to blow the objects to be cleaned is 5m. In this way, the number of blowing treatments determined is 2 times. In addition, the self-moving device can complete the number of blowing treatments corresponding to the number of times together, or it can perform the blowing treatment once after the self-moving device moves to the corresponding area until all the blowing treatments are completed. For example, the objects to be cleaned in area A are first blown to area B. After the mobile device moves to area B, the self-moving device is controlled to complete the blowing treatment of area B, and so on and so forth until the blowing treatments corresponding to all areas are completed.

[0084] Specifically, the position of the self-mobile device is first determined by the positioning sensor in the self-mobile device, and the object to be cleaned is determined by the identification sensor in the self-mobile device. Then, the distance between the position of the self-mobile device and the object accumulation area (pre-set or pre-determined position) is determined. Finally, the number of blowing treatments is determined by the relationship between the longest distance and the multiple of the distance, and the fan in the self-mobile device is controlled to complete the corresponding blowing treatment in the corresponding area according to the number of blowing treatments.

[0085] This embodiment can evaluate the complexity of the cleaning task by determining the distance between the object to be cleaned and the accumulation area, and make corresponding adjustments; by automatically calculating the required number of blowing times, it reduces dependence on manual intervention and improves work efficiency and safety; it ensures that the fan blows within an appropriate distance to improve the blowing effect of the object to be cleaned.

[0086] The present invention provides a method for controlling the blowing of a self-moving device, which belongs to the technical field of blowing control of a self-moving device, and comprises the following steps: obtaining an expected wind force value issued by a host computer; obtaining a current battery output voltage value and a current fan real-time current value in real time; determining a current fan expected current value by the expected wind force value and the current battery output voltage value; adjusting a current fan wind force value by the current fan expected current value and the current fan real-time current value, and controlling the fan of the self-moving device to perform blowing processing with the adjusted target fan wind force value. By automatically controlling the blowing process of the fan in the self-moving device, the blowing process can automatically correspond to the blowing intensity that suits the situation in the working area of ​​the self-moving device. In this way, not only the degree of automation of the blowing process of the self-moving device can be improved, but also the blowing intensity can be automatically controlled (by adjusting the current wind force value of the fan) to ensure that the blowing intensity can be stable under different power levels or different working conditions, and will not cause problems such as poor blowing effect or waste of power; the current current value of the fan and the current battery output voltage value (which is proportional to the power level) are obtained in real time through communication or sampling methods, so that the electric throttle of the fan can be modulated and controlled in real time through the acquired voltage value in the future, to ensure that the fan can stably output the set wind force value.

[0087] 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.

[0088] like Figure 2 As shown, a fan control system for a self-moving device is also provided, including a motor modulator and a fan, wherein the motor modulator controls the fan to implement the steps of the blowing control method for the self-moving device described in the above embodiment.

[0089] like Figure 3 As shown, a self-moving device is also provided, including a fan control system and a controller of the self-moving device, the motor modulator in the motor control system is communicatively connected with the controller, and the controller controls the motor in the motor control system to implement the steps of the motor control method of the self-moving device described in the above embodiment. Among them, the self-moving device is provided with a working motor for working and a walking motor for walking. The controller is electrically connected to the motor modulator, and the motor modulator is also electrically connected to the fan. After the controller controls the motor modulator, the speed and start and stop of the fan are also controlled by the motor modulator.

[0090] The execution function of the controller corresponds one-to-one with the blowing control method of the self-moving device in the above embodiment. For the specific definition of the controller, please refer to the definition of the blowing control method of the self-moving device above, which will not be repeated here. The execution process of each sub-module in the above controller can be referred to the definition of the blowing control method of the self-moving device above, which will not be repeated here. It can be implemented in whole or in part by software, hardware and a combination thereof. Each sub-module can be embedded in or independent of the controller in hardware form, or it can be stored in the memory of the controller in software form, so that the controller can call and execute the operations corresponding to each of the above sub-modules.

[0091] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions, and the readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium; the readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the blowing control method of the self-moving device described in the above embodiment.

[0092] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0093] Technicians in the relevant field can clearly understand that in actual applications, the above functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the mobile device can be divided into different functional units or modules to complete all or part of the functions described above.

[0094] 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 controlling the blowing of a self-moving device, characterized in that: The method comprises: Get the expected wind force value sent by the host computer; Obtain the current battery output voltage value and the current fan current value in real time; Determine the current expected current value of the wind turbine by using the expected wind force value and the current battery output voltage value; The current fan wind force value is adjusted by the current fan expected current value and the current fan real-time current value, and the fan of the mobile device is controlled to perform blowing processing with the adjusted target fan wind force value.

2. The method for controlling the blowing of a self-moving device according to claim 1, characterized in that: The real-time acquisition of the current battery output voltage value and the current wind turbine real-time current value includes: Converting the high voltage signal measured at the battery measurement point in the mobile device into a low voltage signal through a voltage divider circuit or a sampling resistor; Converting the low voltage signal into a digital signal through a preset converter, and analyzing the digital signal to obtain the current voltage output voltage value; The current real-time current value of the fan in the mobile device is collected through a preset current sensor or sampling resistor.

3. The method for controlling the blowing of a self-moving device according to claim 1, characterized in that: The determining the current expected current value of the wind turbine by using the expected wind force value and the current battery output voltage value includes: Determining the expected power value of the wind turbine by using the expected wind force value and the efficiency constant of the wind turbine; The current expected current value of the wind turbine is determined by the current battery output voltage value and the expected power value of the wind turbine.

4. The method for controlling the blowing of a self-moving device according to claim 1, characterized in that: The adjusting the current wind force value of the wind turbine by using the current expected current value of the wind turbine and the current real-time current value of the wind turbine includes: Determine the current error by using the current expected current value of the wind turbine and the current real-time current value of the wind turbine; The fan throttle value corresponding to the current fan wind force value is adjusted according to the current error, so as to adjust the fan throttle value to a target fan wind force value corresponding to the current fan expected current value.

5. The method for controlling the blowing of a self-moving device according to claim 1, characterized in that: The method further comprises: Acquire the current battery output voltage value, and transmit the current battery output voltage value to the voltage loop; Determine the voltage error between the current battery output voltage value and the reference voltage value through the voltage loop; An adjustment signal is determined by the voltage error, and the input of the current loop is compensated by the adjustment signal to obtain a target wind force value of the wind turbine outputted by the wind turbine.

6. The method for controlling the blowing of a self-moving device according to claim 1, characterized in that: After controlling the fan of the mobile device to perform the blowing process with the adjusted target fan wind force value, the method further includes: After the self-mobile device identifies the object type and object density of the objects to be cleaned in the current working area, the fan is controlled to adjust the current fan wind speed value according to the object type and density, and the fan is controlled to continue to perform the blowing process with the adjusted target fan wind speed value.

7. The method for controlling the blowing of a self-moving device according to claim 1, characterized in that: After controlling the fan of the mobile device to perform the blowing process with the adjusted target fan wind force value, the method further includes: Determining the distance between the object to be cleaned in the self-moving device and the object accumulation area; Determine the longest distance that the fan of the self-moving device can blow air to treat the object to be cleaned; Determine the number of times the self-moving device performs the blowing treatment according to the distance and the longest distance; The blower is controlled to continuously perform the blow processing according to the number of times of the blow processing.

8. A fan control system for a self-moving device, characterized in that: It comprises a motor modulator and a fan, wherein the motor modulator controls the fan to implement the blowing control method of the self-moving device as claimed in any one of claims 1 to 7.

9. A self-propelled device, characterized in that: It includes a fan control system and a controller of a self-moving device, wherein a motor modulator in the motor control system is communicatively connected with the controller, and the controller controls the motor in the motor control system to implement the steps of the blowing control method of the self-moving device as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling the blowing of a mobile device as described in any one of claims 1 to 7 are implemented.

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