Control method and device of self-moving equipment, equipment and readable storage medium

Abstract

The invention discloses a control method, device and equipment of self-moving equipment and a readable storage medium. The self-moving equipment is provided with a sensor comprising a first receiving module, a second receiving module and a transmitting module. In the running process of the self-moving device, the emitting module emits a light beam to the detection surface, so that the detection surface reflects the light beam to generate reflected light. And the self-moving device determines the first energy of the first reflected light received by the first receiving module and the second energy of the second reflected light received by the second receiving module, and controls the self-moving device according to the first energy and the second energy. By adopting the scheme, the self-moving equipment judges whether to trigger safety protection or not by comparing the energy intensities received by the different receiving modules of the sensor, so that the aim of accurately and timely performing safety protection is fulfilled. And meanwhile, the influence of the consistency of the sensor and the reflectivity of the detection surface is avoided.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of artificial intelligence technology, and in particular to a control method, device, equipment and readable storage medium for a mobile device. Background Art

[0002] With the rapid development of artificial intelligence (AI), various autonomous devices are increasingly entering people's lives. For example, cleaning robots are very popular because they can independently complete tasks such as sweeping, vacuuming, and mopping.

[0003] Distance detection is often required during the movement of self-moving equipment to ensure safety. For example, a downward-looking sensor is set on the self-moving equipment, and the downward-looking sensor is used to detect the distance to prevent the self-moving equipment from falling from steps, cliffs, etc. For another example, an edge sensor is set on the self-moving equipment, and the edge sensor is used to detect the distance, so that the self-moving equipment can clean the edges as much as possible without collision. After the downward-looking sensor or the edge sensor performs distance detection, the analog signal corresponding to the distance is converted to an analog-to-digital (AD) value, and the AD value is compared with the fixed threshold to determine whether safety protection is triggered, such as anti-fall or anti-wall collision.

[0004] However, the above distance measurement method has poor accuracy and is prone to falsely triggering safety protection or failing to trigger safety protection in time. Summary of the invention

[0005] The embodiments of the present application provide a control method, apparatus, device and readable storage medium for a mobile device, which compares the energy intensity received by different receiving modules of a ranging sensor to determine whether safety protection is triggered, thereby achieving the purpose of accurate and timely safety protection.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a self-moving device, comprising:

[0007] The self-mobile device is provided with a sensor including a first receiving module, a second receiving module and a transmitting module, and the method comprises:

[0008] Controlling the emission module to emit a light beam toward the detection surface, so that the detection surface reflects the light beam to generate reflected light;

[0009] determining a first energy of a first reflected light received by the first receiving module, where the first reflected light is the reflected light generated by the detection surface and received by the first receiving module;

[0010] determining a second energy of a second reflected light received by the second receiving module, where the second reflected light is the reflected light generated by the detection surface and received by the second receiving module;

[0011] controlling the self-moving device according to the first energy and the second energy;

[0012] Among them, the first receiving module and the second receiving module are configured as follows: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the first energy is greater than the second energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the first energy is less than the second energy.

[0013] In a second aspect, an embodiment of the present application provides a control device, wherein the control device is disposed on a self-moving device, wherein a sensor including a first receiving module, a second receiving module and a transmitting module is disposed on the self-moving device, and the control device includes:

[0014] A control module, used for controlling the emission module to emit a light beam to the detection surface, so that the detection surface reflects the light beam to generate reflected light;

[0015] A first determining module, configured to determine a first energy of a first reflected light received by the first receiving module, wherein the first reflected light is the reflected light generated by the detection surface and received by the first receiving module;

[0016] A second determination module, used to determine a second energy of a second reflected light received by the second receiving module, where the second reflected light is the reflected light generated by the detection surface and received by the second receiving module;

[0017] a processing module, configured to control the self-moving device according to the first energy and the second energy;

[0018] Among them, the first receiving module and the second receiving module are configured as follows: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the first energy is greater than the second energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the first energy is less than the second energy.

[0019] In a third aspect, an embodiment of the present application provides a self-moving device, including: a device body;

[0020] A sensor is arranged on the device body, and the sensor includes a first receiving module, a second receiving module and a transmitting module;

[0021] A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the method described in the first aspect or various possible implementation methods of the first aspect based on the data collected by the sensor.

[0022] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method described in the first aspect or various possible implementation methods of the first aspect.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computing program, and when the computer program is executed by a processor, the method described in the first aspect or various possible implementation methods of the first aspect is implemented.

[0024] The control method, device, equipment and readable storage medium of the self-moving device provided in the embodiment of the present application, a sensor including a first receiving module, a second receiving module and a transmitting module is arranged on the self-moving device. During the operation of the self-moving device, the transmitting module transmits a light beam to the detection surface so that the detection surface reflects the light beam to generate reflected light. The self-moving device determines the first energy of the first reflected light received by the first receiving module and the second energy of the second reflected light received by the second receiving module, and controls the self-moving device according to the first energy and the second energy. The first reflected light is the reflected light received by the first receiving module in the reflected light generated by the detection surface, and the second reflected light is the reflected light received by the second receiving module in the reflected light generated by the detection surface. With this scheme, the self-moving device compares the energy intensity received by different receiving modules of the sensor to determine whether to trigger safety protection, thereby achieving the purpose of accurate and timely safety protection. At the same time, it is not affected by the consistency of the sensor and the reflectivity of the detection surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application;

[0027] Figure 2 is a flow chart of a method for controlling a self-moving device provided in an embodiment of the present application;

[0028] Figure 3AIt is a schematic diagram of an optical path of a self-moving device provided in an embodiment of the present application;

[0029] Figure 3B is a schematic diagram of another optical path of a self-moving device provided in an embodiment of the present application;

[0030] Figure 3C is a schematic diagram of another optical path of a self-moving device provided in an embodiment of the present application;

[0031] Figure 4A It is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application;

[0032] Figure 4B yes Figure 4A A partial enlarged view of area A shown;

[0033] Figure 5 This is a simulation diagram of a control method for a mobile device provided in an embodiment of the present application;

[0034] Figure 6 This is a simulation diagram of a control method for a mobile device provided in an embodiment of the present application;

[0035] Figure 7 is another flow chart of a method for controlling a self-moving device provided in an embodiment of the present application;

[0036] Figure 8 A schematic diagram of a control device provided in an embodiment of the present application;

[0037] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] With the rapid development of science and technology, people's living standards have been greatly improved. More and more self-moving devices have entered people's lives to reduce labor intensity and improve the quality of life. Cleaning robots can use roller brushes to clean the floor and use rags to mop the floor, so they are very popular.

[0039] The cleaning robot uses downward-looking sensors to detect the distance between itself and the work surface to prevent falling during operation; it uses edge sensors to detect the distance between itself and the wall to ensure that it is close enough to the wall without hitting it. Traditional distance detection is to detect the AD value corresponding to the distance, compare the AD value with a fixed threshold, and then determine whether to trigger fall protection or edge sweeping and mopping. Among them, the AD value means: the sensor changes the voltage drop at both ends of the sensor according to the received light intensity, and the voltage drop is converted into a 12-bit AD value after signal processing. The size of the AD value corresponds to the size of the received light intensity energy.

[0040] However, due to the influence of sensor consistency and reflectivity differences of reflective surfaces, the distance measurement accuracy varies greatly, and these differences lead to unsatisfactory drop protection and edge control. For example, due to the influence of the consistency of the downward-looking sensor, the position where the drop protection should be triggered, in practice, some self-moving devices trigger the drop protection, while some do not.

[0041] For example, the reflectivity of white walls is relatively high, while that of black walls is low. Affected by the reflectivity, edge cleaning is triggered when the self-moving device is far away from the white wall, resulting in too many blind spots; edge cleaning is triggered only when the self-moving device is very close to the black wall, resulting in easy collisions.

[0042] Obviously, the distance measurement method of comparing the AD value with a fixed threshold has high requirements on sensor consistency and reflectivity of the reflective surface. Poor sensor consistency or different reflection conditions will lead to large distance measurement errors.

[0043] Based on this, the embodiments of the present application provide a control method, device, equipment and readable storage medium for a mobile device, which compares the energy intensity received by different receiving modules of the ranging sensor to determine whether to trigger safety protection, thereby achieving the purpose of accurate and timely safety protection.

[0044] The self-moving device described in the embodiments of the present application refers to an electronic device that can move autonomously and can be intelligently controlled. For example, the self-moving device is a lawn mowing robot that can automatically walk on the lawn to mow the lawn. For another example, the self-moving device is an automatic vacuum cleaner that can automatically walk on the ground and perform vacuuming. For another example, the self-moving device is a sweeping robot that can automatically walk on the ground and sweep and mop the floor while vacuuming.

[0045] It should be noted that the self-moving device described in the embodiments of the present application is not limited to lawn mowing robots, automatic vacuum cleaners or cleaning robots, but may also be other types of devices, such as air purification robots, etc. Through the self-moving device, unattended operation of various tasks can be achieved.

[0046] Below, the self-moving device provided by the embodiment of the present application is described by taking the self-moving device as a sweeping robot as an example. Figure 1 The structure of the self-moving device provided in the embodiment of the present application is illustrated by taking a sweeping robot as an example, but it does not mean that the self-moving device provided in the present application can only be implemented as a sweeping robot.

[0047] Figure 1 This is a schematic diagram of the structure of the self-equipment device provided in the embodiment of the present application. Figure 1The self-moving device 100 at least includes a device body 11, a travel mechanism 12, a side brush assembly 13, a memory and a processor (not shown in the figure) arranged on the device body 11. In addition, the self-moving device 100 also includes a roller brush assembly 14, a wiping assembly 15, a dust box and various sensors arranged on the device body 11. Figure 1 In the figure, the traveling mechanism 12 includes driving wheels, universal wheels, etc., which are mainly used to realize the autonomous movement of the equipment body 11.

[0048] The device body 11 is also provided with a sweeping assembly for sweeping and a mopping assembly for mopping. The sweeping assembly at least includes a fan assembly, a dust box, a side brush assembly 13, and a roller brush assembly 14; the mopping assembly at least includes a wiping assembly 15, a water supply assembly, etc. The wiping assembly 15 includes a rag, a transmission mechanism, etc., and the water supply assembly includes a water pump, a pipeline, a valve, a water tank, etc.

[0049] The mobile device 100 can control the sweeping component to perform the sweeping task alone, or control the mopping component to perform the mopping task alone, or control the sweeping component and the mopping component to perform the sweeping and mopping tasks simultaneously. Figure 1 In the embodiment, the side brush assembly 13, the roller brush assembly 14 and the wiping assembly 15 are all arranged at the bottom of the device body 11, and the roller brush assembly 14 and the side brush assembly 13 are arranged in front of the wiping assembly 15 relative to the forward direction of the device body 11. Based on this arrangement structure, when the mobile device 100 performs sweeping tasks and mopping tasks at the same time, the effect of sweeping first and then mopping can be achieved.

[0050] The above-mentioned self-moving device 100 is also provided with at least one downward-looking sensor 16, at least one edge sensor 17 and other sensors. Among them, the downward-looking sensor 16 is arranged at the bottom of the self-moving device 100, and the edge sensor 17 is arranged on the side of the self-moving device 100. Both the downward-looking sensor 16 and the edge sensor 17 include at least a first receiving module, a second receiving module and a transmitting module; or, include at least two transmitting modules and one receiving module. The following is an example in which the sensor includes at least a first receiving module, a second receiving module and a transmitting module to illustrate the embodiments of the present application. Unless otherwise specified below, the sensor can be the above-mentioned downward-looking sensor 16 or the edge sensor 17.

[0051] It should be noted that the self-moving device described in the embodiment of the present application may include other sensors, such as laser radar, ultrasonic sensor, mechanical collision plate, etc., in addition to the above-mentioned downward sensor 16 and edge sensor 17. The laser radar includes laser direct structuring (LDS) sensor, time of flight (TOF) sensor, etc.

[0052] In the embodiment of the present application, during the operation of the self-moving device, the transmitting module transmits a light beam to the detection surface, so that the detection surface reflects the light beam to generate reflected light. Each receiving module receives the reflected light and determines the energy. The self-moving device determines whether to trigger fall protection, edge cleaning, etc. according to the energy of different receiving modules.

[0053] It should be noted that although the above Figure 1 The device body 11 of the self-moving device 100 is circular. However, the embodiment of the present application is not limited thereto, and in other feasible implementations, the device body 11 may also be circular, square, or irregular.

[0054] Figure 2 Flowchart of a method for controlling a self-moving device provided by an embodiment of the present application. This embodiment includes:

[0055] 201. Control the emission module to emit a light beam toward a detection surface, so that the detection surface reflects the light beam to generate reflected light.

[0056] In the embodiment of the present application, the sensor is, for example, a downward-looking sensor for anti-fall protection, an edge sensor for edge control, etc. When the sensor is a downward-looking sensor, the detection surface is the support surface below the self-moving device; when the sensor is an edge sensor, the detection surface is the wall on the side of the self-moving device, etc.

[0057] When the self-mobile device is moving, the transmitting module is controlled to emit a light beam, such as infrared light, to the detection surface. After the light beam hits the detection surface, it is reflected by the detection surface to generate reflected light. The detection surface can be a detection surface with any reflectivity, such as glass, wooden floor, tile, white wall, fabric surface, etc.

[0058] 202. Determine first energy of first reflected light received by the first receiving module, where the first reflected light is reflected light generated by the detection surface and received by the first receiving module.

[0059] In the embodiment of the present application, the shape of the light beam emitted by the transmitting module is similar to a cone, just like the light emitted by a flashlight. The light beam hits the detection surface to form an emitted light, and the self-mobile device determines the first energy based on the first reflected light received by the first receiving module in the reflected light. When the horizon envelope of the first receiving module and the spot envelope of the light beam emitted by the transmitting module have an overlapping area, the self-mobile device calculates the first energy according to the area.

[0060] Taking drop protection as an example, assuming that the drop protection is triggered when the distance between the self-moving device and the detection surface is greater than 60 mm, when the distance between the self-moving device and the detection surface is greater than 60 mm, after the light beam hits the detection surface, the detection surface is equivalent to a reflection surface, and the reflection surface is used to cut the cone to obtain section 1; the reflection surface is used to cut the horizon envelope of the first receiving module to obtain section 2. The ratio of section 2 to section 1 is multiplied by the total energy emitted by the transmitting module to obtain the first energy of the first receiving module.

[0061] When the field of view envelope of the first receiving module and the spot envelope of the light beam emitted by the transmitting module have no overlapping area, the self-mobile device determines that the first energy is 0.

[0062] 203. Determine second energy of second reflected light received by the second receiving module, where the second reflected light is reflected light generated by the detection surface and received by the second receiving module.

[0063] The calculation method of the second energy is similar to the calculation method of the first energy. For details, please refer to the description of step 202 above, which will not be repeated here.

[0064] The first receiving module and the second receiving module are configured as follows: when the distance between the self-moving device and the detection surface is greater than a preset distance, the first energy generated by the first reflected light received by the first receiving module is greater than the second energy obtained by the second receiving module when the second reflected light is received; when the distance between the self-moving device and the detection surface is less than the preset distance, the first energy generated by the first reflected light received by the first receiving module is less than the second energy obtained by the second receiving module when the second reflected light is received, the first reflected light is the reflected light generated by the detection surface and received by the first receiving module, and the second reflected light is the reflected light generated by the detection surface and received by the second receiving module.

[0065] Exemplarily, the first receiving module and the second receiving module are components with the same parameters and performance, or components with different performance and parameters. By placing the first receiving module, the second receiving module and the transmitting module in appropriate positions; or using a lens to deflect the light path, it is achieved that when the distance between the self-moving device and the detection surface is less than a preset distance, the first energy is less than the second energy; when the distance between the self-moving device and the detection surface is greater than the preset distance, the first energy is greater than the second energy. When the distance between the self-moving device and the detection surface is the preset distance, the first energy is equal to the second energy.

[0066] The preset distance is equivalent to a critical distance. In anti-drop protection, when the distance between the self-moving device and the detection surface is greater than the preset distance, the anti-drop protection is triggered; when the distance between the self-moving device and the detection surface is less than the preset distance, the anti-drop protection is not triggered. In edge control, when the distance between the self-moving device and the detection surface is greater than the preset distance, the self-moving device can continue to approach the detection surface without triggering edge cleaning; when the distance between the self-moving device and the detection surface is less than the preset distance, the self-moving device cannot continue to approach the detection surface to avoid collision. At this time, it is necessary to trigger edge cleaning to ensure that there are no dead corners in the cleaning but no collision.

[0067] In actual implementation, the positions of the first receiving module, the second receiving module and the transmitting module may be set according to a preset distance; or, the position of the lens may be set.

[0068] 204. Control the self-moving device according to the first energy and the second energy.

[0069] After the self-mobile device determines the first energy and the second energy, the first energy and the second energy are compared, and the self-mobile device is controlled according to the comparison result.

[0070] The control method of a self-moving device provided in an embodiment of the present application is provided on the self-moving device, and a sensor including a first receiving module, a second receiving module and a transmitting module is arranged. During the operation of the self-moving device, the transmitting module transmits a light beam to the detection surface so that the detection surface reflects the light beam to generate reflected light. The self-moving device determines the first energy of the first reflected light received by the first receiving module and the second energy of the second reflected light received by the second receiving module, and controls the self-moving device according to the first energy and the second energy. The first reflected light is the reflected light received by the first receiving module in the reflected light generated by the detection surface, and the second reflected light is the reflected light received by the second receiving module in the reflected light generated by the detection surface. With this scheme, the self-moving device compares the energy intensity received by different receiving modules of the sensor to determine whether to trigger safety protection, thereby achieving the purpose of accurate and timely safety protection. At the same time, it is not affected by the consistency of the sensor and the reflectivity of the detection surface.

[0071] Optionally, in the above embodiment, when the self-moving device controls the self-moving device according to the first energy and the second energy, the magnitude relationship between the current distance between the detection surface and the self-moving device and the preset distance is first determined according to the first energy and the second energy. Thereafter, the self-moving device controls the self-moving device according to the magnitude relationship.

[0072] After the mobile device determines the first energy and the second energy, the current distance and the preset distance can be determined by comparing the first energy and the second energy. According to the size relationship, it is determined whether the mobile device is currently within the preset distance or outside the preset distance. If it is within the preset distance, it means that the current distance between the mobile device and the detection surface is less than the preset distance; if it is outside the preset distance, it means that the current distance between the mobile device and the detection surface is greater than the preset distance. Afterwards, the mobile device controls the mobile device according to the size relationship, such as continuing to move forward or backward.

[0073] By adopting this solution, the self-moving device compares the first energy and the second energy to obtain the size relationship between the current distance and the preset distance, and then controls the behavior of the self-moving device according to the size relationship, thereby achieving the purpose of accurately controlling the self-moving device.

[0074] The self-moving device can flexibly compare the first energy and the second energy. In one method, the self-moving device determines the ratio of the first energy and the second energy. When the ratio is greater than a preset ratio, it is determined that the current distance is greater than the preset distance; when the ratio is less than the preset ratio, it is determined that the current distance is less than the preset distance. When the ratio is equal to the preset ratio, the current distance between the self-moving device and the detection surface is equal to the preset distance.

[0075] In another manner, the self-moving device determines an energy difference between the first energy and the second energy, and when the energy difference indicates that the first energy is greater than the second energy, that is, when the energy difference is greater than 0, the self-moving device determines that the current distance is greater than the preset distance. When the energy difference is less than 0, the self-moving device determines that the current distance is less than the preset distance. When the energy difference is 0, the current distance between the detection surfaces of the self-moving device is equal to the preset distance.

[0076] By adopting this scheme, the self-mobile device determines the size relationship between the current distance and the preset distance by determining the ratio or energy difference between the first energy and the second energy, and then determines whether the self-mobile device is within or outside the preset distance, thereby achieving the purpose of accurately judging the size relationship between the current distance and the preset distance.

[0077] Optionally, in the above embodiment, when the sensor is a downward-looking sensor for anti-fall protection, the preset distance is the critical distance for triggering the anti-fall protection. If the first energy is greater than the second energy, that is, the magnitude relationship indicates that the current distance is greater than the preset distance, then it means that the self-moving device is outside the preset distance and the distance between it and the detection surface is large. At this time, the self-moving device triggers the anti-fall protection. If the first energy is less than the second energy, that is, the magnitude relationship indicates that the current distance is less than the preset distance, then it means that the self-moving device is within the preset distance and the distance between it and the detection surface is relatively small. At this time, the self-moving device operates normally.

[0078] By adopting this solution, whether to trigger the anti-fall protection is determined according to the magnitude relationship between the first energy and the second energy, the accuracy is high, and the safety of the self-moving device is guaranteed to a great extent.

[0079] Optionally, in the above embodiment, when the sensor is an edge sensor for edge control, if the first energy is less than the second energy, that is, the above magnitude relationship indicates that the current distance is less than the preset distance, it means that the distance between the self-moving device and the detection surface is relatively small, and the self-moving device needs to be driven away from the detection surface. If the first energy is greater than the second energy, that is, the above magnitude relationship indicates that the current distance is greater than the preset distance, it means that the current distance between the self-moving device and the detection surface is relatively large, and in order to avoid leaving blind spots, the self-moving device is controlled to approach the detection surface.

[0080] By adopting this solution, whether to trigger edge cleaning is determined based on the relationship between the first energy and the second energy, with high accuracy. While ensuring the safety of the self-moving equipment, it leaves no blind spots as much as possible, thereby achieving the purpose of improving the quality of work.

[0081] Optionally, in the above embodiment, in order to enable the self-moving device to determine the size relationship between the current distance and the preset distance based on the size relationship between the first energy and the second energy, the position relationship, angle, position of the lens with light deflection function, etc. of the first receiving module, the second receiving module and the transmitting module are pre-set, so that the size relationship between the current distance between the self-moving device and the detection surface and the preset distance is consistent with the size relationship between the first energy of the first receiving module and the second energy of the second receiving module. That is, when the current distance is greater than the preset distance, the first energy is greater than the second energy; when the current distance is less than the preset distance, the first energy is less than the second energy; when the current distance is equal to the preset distance, the first energy is equal to the second energy. Below, how to ensure that the size relationship between the current distance and the preset distance is consistent with the size relationship between the first energy and the second energy is described in detail.

[0082] In one embodiment, when the first receiving module, the transmitting module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: a third distance is equal to the preset distance, and the third distance is the distance between the intersection of the field of view envelope of the first receiving module, the spot envelope of the transmitting module, the field of view envelope of the second receiving module and the sensor.

[0083] Figure 3A This is a schematic diagram of an optical path of a self-equipping device provided in an embodiment of the present application. Figure 3AIn the three-dimensional space, the shape formed by the horizon envelope of the first receiving module 31, the horizon envelope of the second receiving module 32 and the horizon envelope of the transmitting module 33 is a cone, but in the two-dimensional projection plane, only two horizon envelopes of each cone can be seen. S11 and S12 are the horizon envelopes of the first receiving module 31, S21 and S22 are the horizon envelopes of the second receiving module 32, and E1 and E2 are the spot envelopes of the transmitting module 33.

[0084] The third distance between the intersection point J1 of the horizon envelope S12 of the first receiving module 31, the spot envelope E1 of the transmitting module 33, and the horizon envelope S22 of the second receiving module 32 and the sensor is a preset distance, such as the distance A0 in the figure. In other words, the preset distance is defined as: the plane where the intersection point J1 of the horizon envelope S22 of the second receiving module, the horizon envelope S12 of the first receiving module 31, and the spot envelope E1 of the transmitting module 33 is located, that is, the distance between the reflective surface A and the sensor.

[0085] Figure 3A In the figure, the gray filled area D1 is the enclosing volume of S21, E1, S22 and E2, and the dot filled area D2 is the enclosing volume of E1, S12 and the reflecting surface C.

[0086] When the distance between the reflection surface and the self-moving device is less than A0, for example, when the detection surface is the reflection surface B and the distance between the self-moving device and the detection surface is B0, the field of view of the second receiving module 32 includes S21 and S22, which intersects with the light spot envelopes E1 and E2 of the transmitting module 33, so the second receiving module 32 can see the light spot of the transmitting module 33. However, the field of view envelopes S11 and S12 of the first receiving module 31 do not intersect with the light spot envelopes E1 and E2 of the transmitting module 33, so the first receiving module 31 cannot see the light spot of the transmitting module 33. At this time, the second energy is greater than the first energy.

[0087] When the distance between the reflection surface and the self-moving device is greater than A0, for example, when the detection surface is the reflection surface C and the distance between the self-moving device and the detection surface is C0, the horizon envelope S12 of the first receiving module 31 intersects with the light spot envelope E1 of the transmitting module 33, and the first receiving module 31 can see the light spot of the transmitting module 33. However, the horizon envelopes S21 and S22 of the second receiving module 32 do not intersect with the light spot envelopes E1 and E2 of the transmitting module 33, so the second receiving module 32 cannot see the light spot of the transmitting module 33. At this time, the second energy is less than the first energy.

[0088] The distance between the reflection surface F and the sensor housing surface is F0, and the area between the reflection surface F and the sensor housing surface is a blind area, so F0 is also called the blind area distance. L1 represents the distance between the first receiving module 31, the second receiving module 32 and the transmitting module 33 and the lower edge of the sensor, that is, the housing surface of the sensor. Figure 3A In the figure, the horizon envelope S21 of the second receiving module 32 and the spot envelope E2 of the transmitting module 33 intersect at J2, and the plane where the intersection J2 is located and is parallel to the lower edge of the sensor is the reflection surface F. The distance between the reflection surface F and the sensor shell surface is F0, which is the distance between the intersection J2 and the sensor shell surface. With this solution, the blind area can be minimized by setting the intersection of the horizon envelope of the second receiving module and the spot envelope of the transmitting module, thereby improving the control quality of the self-moving device.

[0089] By adopting this solution, the distance between the intersection of the field of view envelope of the first receiving module, the spot envelope of the transmitting module, the field of view envelope of the second receiving module and the sensor is configured as a preset distance, so as to meet the size relationship between the current distance and the preset distance, which is consistent with the size relationship between the first energy and the second energy, and the setting method is simple.

[0090] In another embodiment, when the first receiving module, the transmitting module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: the first distance is less than the preset distance, and the second distance is equal to the preset distance, wherein the first distance is the distance between the intersection of the field of view envelope of the first receiving module and the light spot envelope of the transmitting module and the sensor, and the second distance is the distance between the intersection of the field of view envelope of the second receiving module and the field of view envelope of the first receiving module and the sensor.

[0091] Figure 3B Schematic diagram of another optical path of a self-moving device provided in an embodiment of the present application. Figure 3A The difference is: Figure 3B In the figure, the field of view envelope S12 of the first receiving module 31, the spot envelope E1 of the transmitting module 33, and the field of view envelope S22 of the second receiving module 32 do not intersect at the same point, but the field of view envelope S11 of the first receiving module 31 intersects with the spot envelope E2 of the transmitting module 33, as shown in the intersection J3 in the figure, and the first distance between the intersection J3 and the sensor is less than the preset distance A0; at the same time, the field of view envelope S21 of the second receiving module 32 intersects with the field of view envelope S11 of the first receiving module 31 at the intersection J4, and the distance between the intersection J4 and the sensor is the preset distance A0.

[0092] Figure 3B In the figure, S21 intersects with E1, and S22 intersects with both E1 and E2. Based on this design, the first receiving module 31 intervenes in advance, that is, when the distance between the self-moving device and the detection surface is less than A0, the horizon envelope of the first receiving module 31 intersects with the spot envelope of the transmitting module 33. Figure 3AWhen the distance between the mobile device and the detection surface is greater than A0, the horizon envelope of the first receiving module 31 intersects with the horizon envelope of the transmitting module 33.

[0093] Please refer to Figure 3A and Figure 3B The first receiving module 31 is mainly used for: when the distance between the self-moving device and the detection surface is greater than the preset distance, receiving the first reflected light to generate the first energy. Therefore, the first receiving module 31 is also called the far-point receiving module; conversely, the second receiving module 32 is also called the near-point receiving module. Figure 3A In the embodiment, when the distance between the self-moving device and the detection surface is less than the preset distance, the first energy obtained by the first receiving module 31 is 0. In order to avoid misjudgment that the first energy obtained by the first receiving module 31 is 0 when the reflectivity of the detection surface is too low, when the distance between the self-moving device and the detection surface is greater than the preset distance, Figure 3B When the distance between the self-moving device and the detection surface is less than the preset distance, the field of view envelope of the first receiving module 31 and the spot envelope of the transmitting module 33 produce an overlapping area, thereby solving the problem of weak signal on the low-reflectivity detection surface.

[0094] Figure 3B In the figure, the area D6 filled with squares and the area D5 filled with vertical lines are common areas. When the distance between the self-moving device and the detection surface is less than A0, the area where the field of view envelope of the first receiving module 31 overlaps with the light spot envelope of the transmitting module 33 is part or all of area D6, and the area where the field of view envelope of the second receiving module 32 overlaps with the light spot envelope of the transmitting module 33 includes area D3 and area D6. Compared with the first receiving module 31, there is more area D3, so the second energy is greater than the first energy.

[0095] When the distance between the self-moving device and the detection surface is greater than A0, the area where the field of view envelope of the first receiving module 31 overlaps with the light spot envelope of the transmitting module 33 includes area D4 and area D5, while the area where the field of view envelope of the second receiving module 32 overlaps with the light spot envelope of the transmitting module 33 only includes area D5, which is less than area D4 in comparison with the first receiving module 31. Therefore, the second energy is less than the first energy.

[0096] When the distance between the self-moving device and the detection surface is equal to A0, at this time, the areas D3 and D4 do not exist, and the first energy is equal to the second energy.

[0097] Figure 3B In the figure, L2 represents the installation height of the sensor, for example, 23 mm, etc., which is not limited in the present embodiment. For the description of L1, F0, etc., please refer to the above Figure 3A The description is not repeated here.

[0098] By adopting this solution, when the distance between the self-moving device and the detection surface is less than the preset distance, the field of view envelope of the first receiving module and the light spot envelope of the transmitting module produce an overlapping area, thereby enhancing the far-point signal and solving the problem of weak detection surface signal when the reflectivity of the detection surface is low.

[0099] Please refer to Figure 3B , the horizon envelope S22 of the second receiving module 32 intersects with the spot envelope E1 of the transmitting module 33 at the intersection J5, the plane where the intersection J5 is located and parallel to the lower edge of the sensor is the reflection surface F, and the distance between the reflection surface F and the sensor shell surface is F0, which is the distance between the intersection J5 and the sensor shell surface. With this solution, the blind area can be minimized by setting the intersection of the horizon envelope of the second receiving module and the spot envelope of the transmitting module, thereby improving the control quality of the self-moving device.

[0100] Optionally, in the above embodiment, the intersection of the field of view envelope of the second receiving module and the field of view envelope of the first receiving module is located on the symmetry axis of the transmitting module.

[0101] Please refer to Figure 3B , the intersection point J4 of the horizon envelope S21 of the second receiving module 32 and the horizon envelope S11 of the first receiving module 31 is located on the symmetry axis of the transmitting module 33. The light beam emitted by the transmitting module 33 is a cone, and the intensity of the light on the symmetry axis is the largest. Setting the intersection point J4 on the symmetry axis can ensure that the first energy and the second energy have sufficient distinction, thereby facilitating accurate control of the self-moving device.

[0102] In another embodiment, when the transmitting module, the first receiving module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: the area corresponding to the third distance is a blind area, and the third distance is the distance between the sensor and the intersection of the field of view envelope of the first receiving module, the light spot envelope of the transmitting module, and the field of view envelope of the second receiving module; the first distance and the fourth distance are less than the installation height of the sensor, the first distance is the distance between the sensor and the intersection of the field of view envelope of the first receiving module and the light spot envelope of the transmitting module, and the fourth distance is the distance between the sensor and the intersection of the field of view envelope of the second receiving module and the light spot envelope of the transmitting module.

[0103] Figure 3C Schematic diagram of another optical path of a self-moving device provided in an embodiment of the present application. Figure 3A and Figure 3B In the embodiment, the transmitting module 33 is located between the first receiving module 31 and the second receiving module 32. In the embodiment, the first receiving module 31 and the second receiving module 32 are located on the same side of the transmitting module 33. Figure 3C, the distance between the intersection point J6 of the field of view envelope S11 of the first receiving module 31, the spot envelope E2 of the transmitting module 33, and the field of view envelope S22 of the second receiving module 32 and the sensor is the third distance, the plane where the intersection point J6 is located is the reflection surface F, and the area between the reflection surface F and the sensor is the blind area, that is, the area corresponding to the third distance is the blind area. The first distance and the fourth distance are less than the installation height L2 of the sensor. The first distance is the distance between the intersection point J7 of the field of view envelope S12 of the first receiving module 31 and the spot envelope E2 of the transmitting module 33 and the sensor; the fourth distance is the distance between the intersection point J8 of the field of view envelope S22 of the second receiving module 32 and the spot envelope E1 of the transmitting module 33 and the sensor.

[0104] Figure 3C When the distance between the self-moving device and the detection surface is less than the preset distance, the field of view envelope of the first receiving module 31 and the spot envelope of the transmitting module 33 produce an overlapping area, thereby solving the problem of weak signal on the low-reflectivity detection surface.

[0105] Figure 3C In the figure, the area D7 filled with horizontal lines and the area D10 filled with squares are common areas. When the distance between the self-moving device and the detection surface is less than A0, the area where the field of view envelope of the first receiving module 31 overlaps with the light spot envelope of the transmitting module 33 is part or all of area D7, and the area where the field of view envelope of the second receiving module 32 overlaps with the light spot envelope of the transmitting module 33 includes: the area D7 filled with horizontal lines, the area D8 filled with oblique lines, and the area D9 filled with vertical lines. Compared with the first receiving module 31 with multiple areas D8 and D9, the second energy is greater than the first energy.

[0106] When the distance between the self-moving device and the detection surface is greater than A0, the area where the field of view envelope of the first receiving module 31 overlaps with the spot envelope of the transmitting module 33 includes the square-filled area D10 and the dot-filled area D11, while the area where the field of view envelope of the second receiving module 32 overlaps with the spot envelope of the transmitting module 33 only includes the area D10. At this time, the second energy is less than the first energy.

[0107] When the distance between the self-moving device and the detection surface is equal to A0, at this time, the areas D8, D9 and D11 do not exist, and the first energy is equal to the second energy.

[0108] Figure 3CIn the figure, L1 represents the distance between the first receiving module 31, the second receiving module 32 and the transmitting module 33 and the lower edge of the sensor, that is, the outer shell surface of the sensor. F0 represents the width or height of the blind spot. L2 represents the installation height of the sensor, that is, the distance from the lower edge of the sensor to the ground. A0 represents the preset distance. When the sensor is a downward-looking sensor, the preset distance A0 is, for example, 60 mm to 83 mm; when the sensor is an edge sensor, the preset distance A0 is, for example, 4 mm to 10 mm.

[0109] By adopting this solution, by setting the first receiving module and the second receiving module on the same side of the transmitting module, the size relationship between the current distance and the preset distance is satisfied, which is consistent with the size relationship between the first energy and the second energy. The setting method is simple and flexible.

[0110] Optionally, in the above embodiment, the self-moving device further includes a guide wheel arranged on the device body, for controlling the minimum distance between the sensor and the supporting surface, and the minimum distance is greater than the distance corresponding to the blind spot of the sensor.

[0111] Figure 4A It is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. Figure 4B yes Figure 4A A partial enlarged view of area A is shown. Please refer to Figure 4A and Figure 4B The minimum distance E0 between the sensor 41 and the ground is limited by the guide wheel 42 to ensure that E0 is greater than the blind spot distance F0. In this way, even if the self-moving device is tilted due to climbing, the minimum distance E0 between the sensor 41 and the ground is greater than the blind spot F0, and effective data can be collected.

[0112] With this solution, the guide wheel is used to limit the minimum distance between the sensor and the ground, ensuring that when the distance between the sensor and the ground is the minimum distance, the sensor can already collect valid data, thereby achieving precise control of the self-moving device.

[0113] Optionally, in the above embodiment, a light shielding sheet is provided between any two adjacent modules among the first receiving module 31 , the transmitting module 33 and the second receiving module 32 .

[0114] In the embodiment of the present application, in order to prevent the internal light interference of the sensor, a light shielding sheet can be arranged between adjacent modules. Figure 3A and Figure 3B In the embodiment, a light shielding sheet is arranged between the first receiving module 31 and the transmitting module 33 , and a light shielding sheet is arranged between the transmitting module 33 and the second receiving module 32 . Figure 3C In the embodiment, a light shielding sheet is arranged between the transmitting module 33 and the first receiving module 31 , and a light shielding sheet is arranged between the first receiving module 31 and the second transmitting module 33 .

[0115] This solution is adopted to prevent the interference of internal light in the sensor by setting light shielding sheets between adjacent modules in the sensor, so as to achieve the purpose of accurately controlling the self-moving device.

[0116] Below, two simulation diagrams are used to illustrate that the control method of the self-moving device described in the embodiment of the present application is not affected by the reflectivity of the detection surface.

[0117] Figure 5 This is a simulation diagram of the control method of the self-moving device provided in the embodiment of the present application. Figure 5 , A~Q represents the distance between the detection surface and the self-moving device, and A~Q increases in sequence. Curve ① and curve ③ respectively represent the second energy of the second receiving module and the first energy of the first receiving module when the detection surface is a 10% reflective detection surface. When the distance between the self-moving device and the detection surface is M, the first energy and the second energy are reversed. That is, when the distance between the self-moving device and the detection surface is less than M, the second energy is greater than the first energy; when the distance between the self-moving device and the detection surface is greater than M, the second energy is less than the first energy.

[0118] Curve ② and curve ④ represent the second energy of the second receiving module and the first energy of the first receiving module respectively when the detection surface is a 95% scattering detection surface. When the distance between the self-moving device and the detection surface is L, the first energy and the second energy are reversed. That is, when the distance between the self-moving device and the detection surface is less than L, the second energy is greater than the first energy; when the distance between the self-moving device and the detection surface is greater than L, the second energy is less than the first energy.

[0119] Curve ⑤ and curve ⑥ represent the second energy of the second receiving module and the first energy of the first receiving module respectively when the detection surface is a detection surface with 5% scattering. When the distance between the self-moving device and the detection surface is M, the first energy and the second energy are reversed. That is, when the distance between the self-moving device and the detection surface is less than M, the second energy is greater than the first energy; when the distance between the self-moving device and the detection surface is greater than M, the second energy is less than the first energy.

[0120] according to Figure 5 It can be concluded that no matter what kind of reflectivity or scattering rate of the detection surface, the inversion position of the first energy and the second energy is roughly near M. That is, within the range of M, the second energy is greater than the first energy; outside the range of M, the first energy is greater than the second energy, ensuring that sensors with different receiving sensitivities have high trigger consistency, further reducing the requirements for sensor consistency. Moreover, no matter what type of detection surface is used, when the scheme described in the embodiment of the present application is used to control the self-moving device, the safety protection or edge cleaning is triggered when the distance between the self-moving device and the detection surface is approximately M, and is little affected by the reflectivity or scattering rate of the detection surface. The distance M is, for example, the preset distance A0 mentioned above.

[0121] Figure 6 This is a simulation diagram of the control method of the self-moving device provided in the embodiment of the present application. Figure 6 , A~Q represent the distance between the detection surface and the self-moving device, A~Q increase successively, and the ratio of the first energy to the second energy increases as the distance between the detection surface and the self-moving device increases. That is to say, when the distance between the detection surface and the self-moving device gradually changes from A to Q, the ratio of the first energy to the second energy gradually increases.

[0122] Curve ⑦ represents the ratio of the first energy to the second energy when the detection surface is a 10% reflective detection surface. Curve ⑧ and curve ⑨ are almost overlapped, representing the ratio of the first energy to the second energy when the detection surface is a 95% scattering detection surface and a 5% scattering detection surface, respectively.

[0123] As can be seen from the figure, from B to M, that is, when the distance between the self-moving device and the detection surface is less than M, the ratio is less than 1. When the distance between the self-moving device and the detection surface is greater than M, the ratio is greater than 1. In other words, regardless of the type of detection surface, when the scheme described in the embodiment of the present application is used to control the self-moving device, the safety protection or edge cleaning is triggered when the distance between the self-moving device and the detection surface is approximately M, and the reflectivity or scattering rate of the detection surface is little affected.

[0124] When the above sensor is a downward-looking sensor, it can ensure that the drop trigger distance of detection surfaces with different scattering rates is consistent. When the above sensor is an edge sensor, it can ensure that the edge trigger of detection surfaces with different scattering rates is consistent.

[0125] It should be noted that although the above Figure 3A to Figure 3C The control method of the self-moving device described in the embodiments of the present application is described in detail by taking the example that the sensor includes two receiving modules and one transmitting module. However, the embodiments of the present application are not limited thereto. In other feasible implementations, the sensor may also include two transmitting modules and one receiving module. For example, please refer to Figure 7 .

[0126] Figure 7 is another flow chart of the control method of the self-moving device provided in the embodiment of the present application. Figure 2 The difference between the above embodiments is that: Figure 7 The embodiment is applicable to a mobile device that is provided with a sensor including a first transmitting module, a second transmitting module and a receiving module. Figure 7 The steps include:

[0127] 701. Control the first emitting module to emit a first light beam to a detection surface in a first time period, so that the detection surface emits the first light beam to generate reflected light.

[0128] 702. Control the second emission module to emit a second light beam to the detection surface in a second time period, so that the detection surface reflects the second light beam to generate reflected light, and the first time period and the second time period are adjacent.

[0129] 703. Determine that the third energy generated by the receiving module receiving the third reflected light, and determine that the fourth energy generated by the receiving module receiving the fourth reflected light.

[0130] The third reflected light is the reflected light generated by the detection surface reflecting the first light beam and received by the receiving module, and the fourth reflected light is the reflected light generated by the detection surface reflecting the second light beam and received by the receiving module.

[0131] 704. Control the self-moving device according to the third energy and the fourth energy. ;

[0132] Among them, the first transmitting module and the second transmitting module are configured as follows: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the third energy is greater than the fourth energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the third energy is less than the fourth energy.

[0133] Figure 7 In the embodiment, two emission modules of the self-mobile device, namely the first emission module and the second emission module, emit light beams at the same time, namely, emit light beams in different time periods. Afterwards, the self-mobile device compares the magnitudes of the energies generated in the two time periods, namely, the magnitudes of the third energy and the fourth energy. For example, the self-mobile device determines the ratio or difference between the third energy and the fourth energy, etc. For details, please refer to the comparison method of the first energy and the second energy mentioned above, which will not be repeated here.

[0134] The first time period and the second time period are adjacent time periods, and the length is in milliseconds. For example, the first time period and the second time period are equal in length, and the length is 2 milliseconds to 40 milliseconds.

[0135] The self-moving device controls the self-moving device according to the energy of the reflected light received by the receiving module at different times.

[0136] The control method of the self-moving device provided in the embodiment of the present application is provided on the self-moving device, and a sensor including a first transmitting module, a second transmitting module and a receiving module is arranged. During the operation of the self-moving device, the two transmitting modules sequentially transmit light beams to the detection surface in two adjacent time periods, so that the detection surface reflects the light beam to generate reflected light. The receiving module receives the third reflected light to generate the third energy, receives the fourth reflected light to generate the fourth energy, and controls the self-moving device according to the third energy and the fourth energy, wherein the third reflected light is the reflected light received by the receiving module in the reflected light generated by the detection surface reflecting the first light beam, and the fourth reflected light is the reflected light received by the receiving module in the reflected light generated by the detection surface reflecting the second light beam. With this scheme, the self-moving device compares the energy intensity received by the receiving module of the sensor in different time periods to determine whether to trigger safety protection, thereby achieving the purpose of accurate and timely safety protection. At the same time, it is not affected by the consistency of the sensor and the reflectivity of the detection surface. The following is a detailed description of the above-mentioned escape method in combination with specific application scenarios.

[0137] Application scenario 1:

[0138] When the above-mentioned sensor is used for anti-fall protection, the preset drop protection trigger cliff height is 40-60 mm, the sensor installation height is 20-23 mm, and the preset distance A0 is 60-83 mm. When the self-moving device performs a task on a detection surface with a scattering rate of a, and the detection surface is a flat ground, when the distance between the self-moving device and the detection surface is 20-23 mm, the ratio of the first energy obtained by the first receiving module of the sensor to the second energy obtained by the second receiving module is less than 1, that is, the second energy is stronger than the first energy. At this time, the software logic does not trigger the anti-fall protection. When a cliff appears on the detection surface, such as stairs, the distance between the self-moving device and the detection surface is greater than 40-60 mm. At this time, the first energy obtained by the first receiving module of the sensor and the second energy obtained by the second receiving module are greater than 1, that is, the first energy is stronger than the second energy.

[0139] When the self-moving device performs a task on a detection surface with a scattering rate of b, even if the difference between the scattering rate b and the scattering rate a is large, for example, a is 95% scattering and b is 5% scattering. When the detection surface is a flat ground, when the distance between the self-moving device and the detection surface is 20-23 mm, the ratio of the first energy obtained by the first receiving module of the sensor to the second energy obtained by the second receiving module is less than 1, that is, the second energy is stronger than the first energy. At this time, the software logic does not trigger the anti-fall protection. When a cliff appears on the detection surface, such as stairs, the distance between the self-moving device and the detection surface is greater than 40-60 mm. At this time, the ratio of the first energy obtained by the first receiving module of the sensor to the second energy obtained by the second receiving module is greater than 1, that is, the first energy is stronger than the second energy.

[0140] Furthermore, by controlling the emission angle of the transmitting module, the diameter of the light spot at a normal ground position of 20 to 23 mm is controlled to 4 to 8 mm, ensuring that the light spot can cover the floor joints or tile joints of about 0 to 3 mm, and preventing the light spot from being too small to enter the gap and not return, resulting in the inability to correctly compare the first energy of the first receiving module and the second energy of the second receiving module, ultimately leading to software misjudgment.

[0141] In addition, when the self-moving device moves from a detection surface of one reflectivity to a detection surface of another reflectivity, after crossing the boundary, the self-moving device reduces misjudgment by delaying re-measurement.

[0142] Application scenario 2:

[0143] When the above-mentioned sensor is an edge sensor and the above-mentioned control scheme is used for edge control, in order to ensure that there are no blind spots in the cleaning, the self-moving device needs to be as close to the detection surface as possible, while not colliding with the detection surface. The preset distance A0 is set to 4 to 10 mm, that is, the distance between the self-moving device and the detection surface is between 4 and 10 mm. When the self-moving device performs a task near the detection surface with a scattering rate of a, when the distance between the self-moving device and the detection surface is less than A0, the second energy is higher than the first energy, and the software logic controls the self-moving device to stay away from the detection surface; when the distance between the self-moving device and the detection surface is greater than A0, the first energy is higher than the second energy, and the software logic controls the self-moving device to approach the detection surface.

[0144] When the self-moving device performs a task on a detection surface with a scattering rate of b, even if the scattering rate b is very different from the scattering rate a, for example, a is 95% scattering and b is 5% scattering. When the distance between the self-moving device and the detection surface is less than A0, the second energy is higher than the first energy, and the software logic controls the self-moving device to move away from the detection surface; when the distance between the self-moving device and the detection surface is greater than A0, the first energy is higher than the second energy, and the software logic controls the self-moving device to move closer to the detection surface.

[0145] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0146] Figure 8 A schematic diagram of a control device provided in an embodiment of the present application. The control device 800 is arranged on a self-moving device. The control device 800 comprises: a control module 81 , a first determination module 82 , a second determination module 83 and a processing module 84 .

[0147] Optionally, when a sensor including a first receiving module, a second receiving module and a transmitting module is provided on the self-moving device, the control module 81 is used to control the transmitting module to transmit a light beam to the detection surface so that the detection surface reflects the light beam to generate reflected light;

[0148] A first determining module 82, configured to determine a first energy of a first reflected light received by the first receiving module, where the first reflected light is the reflected light generated by the detection surface and received by the first receiving module;

[0149] A second determination module 83, configured to determine a second energy of a second reflected light received by the second receiving module, where the second reflected light is the reflected light generated by the detection surface and received by the second receiving module;

[0150] A processing module 84, configured to control the self-moving device according to the first energy and the second energy;

[0151] Among them, the first receiving module and the second receiving module are configured as follows: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the first energy is greater than the second energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the first energy is less than the second energy.

[0152] In a feasible implementation, the processing module 84 is used to trigger the anti-fall protection if the first energy is greater than the second energy when the sensor is a downward-looking sensor for anti-fall protection.

[0153] In a feasible implementation, the processing module 84 is used to control the self-moving device to move away from the detection surface if the first energy is less than the second energy when the sensor is an edge sensor for edge control; and to control the self-moving device to move closer to the detection surface if the first energy is greater than the second energy.

[0154] In a feasible implementation, before the processing module 84 controls the self-moving device according to the first energy and the second energy, it is also used to determine the ratio of the first energy to the second energy, and when the ratio is greater than a preset ratio, it is determined that the current distance is greater than the preset distance; or, determine the energy difference between the first energy and the second energy, and when the energy difference indicates that the first energy is greater than the second energy, it is determined that the current distance is greater than the preset distance.

[0155] In a feasible implementation, when the first receiving module, the transmitting module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: the first distance is less than the preset distance, and the second distance is equal to the preset distance, wherein the first distance is the distance between the intersection of the field of view envelope of the first receiving module and the light spot envelope of the transmitting module and the sensor, and the second distance is the distance between the intersection of the field of view envelope of the second receiving module and the field of view envelope of the first receiving module and the sensor.

[0156] In a feasible implementation, the intersection of the field of view envelope of the second receiving module and the field of view envelope of the first receiving module is located on the symmetry axis of the transmitting module.

[0157] In a feasible implementation, when the first receiving module, the transmitting module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: the third distance is equal to the preset distance, and the third distance is the distance between the intersection of the field of view envelope of the first receiving module, the spot envelope of the transmitting module, the field of view envelope of the second receiving module and the sensor.

[0158] In a feasible implementation, the space between the intersection of the field of view envelope of the second receiving module and the light spot envelope of the transmitting module and the outer shell surface of the sensor is a blind area.

[0159] In a feasible implementation, when the transmitting module, the first receiving module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: the area corresponding to the third distance is a blind area, and the third distance is the distance between the intersection of the field of view envelope of the first receiving module, the spot envelope of the transmitting module, and the field of view envelope of the second receiving module and the sensor;

[0160] The first distance and the fourth distance are smaller than the installation height of the sensor. The first distance is the distance between the sensor and the intersection of the field of view envelope of the first receiving module and the light spot envelope of the transmitting module. The fourth distance is the distance between the sensor and the intersection of the field of view envelope of the second receiving module and the light spot envelope of the transmitting module.

[0161] Optionally, when a sensor including a first reflection module, a second reflection module and a transmission module is provided on the self-moving device, the control module 81 is used to control the first transmission module to transmit a first light beam to the detection surface in a first time period, so that the detection surface transmits the first light beam to generate reflected light; control the second transmission module to transmit a second light beam to the detection surface in a second time period, so that the detection surface reflects the second light beam to generate reflected light, and the first time period and the second time period are adjacent;

[0162] A first determination module 82 is used to determine a third energy generated by the receiving module receiving a third reflected light, where the third reflected light is the reflected light generated by the detection surface reflecting the first light beam and received by the receiving module;

[0163] A second determination module 83 is used to determine a fourth energy generated by the receiving module receiving a fourth reflected light, where the fourth reflected light is the reflected light generated by the detection surface reflecting the second light beam and received by the receiving module;

[0164] A processing module 84, configured to control the self-moving device according to the third energy and the fourth energy;

[0165] The first transmitting module and the second transmitting module are configured such that: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the third energy is greater than the fourth energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the third energy is less than the fourth energy. The control device provided in the embodiment of the present application can perform the actions of the self-moving device in the above embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0166] Fig. 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 900 is, for example, the above-mentioned self-moving device, and the electronic device 900 includes:

[0167] Processor 91, memory 92 and sensor 93;

[0168] The memory 92 stores computer instructions;

[0169] The sensor 93 includes a first receiving module 931, a second receiving module 932 and a transmitting module 933;

[0170] The processor 91 executes the computer instructions stored in the memory 92 and executes the control method of the self-moving device as described above according to the data collected by the sensor.

[0171] Optionally, the electronic device 900 further includes a communication component 94 , wherein the processor 91 , the memory 92 , the sensor 93 and the communication component 94 may be connected via a bus 94 .

[0172] Fig. 9 The description is made by taking the example that the sensor 93 includes a first receiving module 931, a second receiving module 932 and a transmitting module 933. However, the embodiment of the present application is not limited thereto, and in other feasible implementations, the sensor 93 includes two reflecting modules and one receiving module.

[0173] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the control method of the self-moving device as described above.

[0174] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the control method of the self-mobile device as described above is implemented.

[0175] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0176] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A control method for a self-moving device, characterized in that: The self-mobile device is provided with a sensor including a first receiving module, a second receiving module and a transmitting module, and the method comprises: Controlling the emission module to emit a light beam toward the detection surface, so that the detection surface reflects the light beam to generate reflected light; determining a first energy of a first reflected light received by the first receiving module, where the first reflected light is the reflected light generated by the detection surface and received by the first receiving module; determining a second energy of a second reflected light received by the second receiving module, where the second reflected light is the reflected light generated by the detection surface and received by the second receiving module; controlling the self-moving device according to the first energy and the second energy; Among them, the first receiving module and the second receiving module are configured as follows: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the first energy is greater than the second energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the first energy is less than the second energy.

2. The method according to claim 1, characterized in that The controlling the self-moving device according to the first energy and the second energy includes: When the sensor is a downward-looking sensor for anti-fall protection, if the first energy is greater than the second energy, the anti-fall protection is triggered.

3. The method according to claim 1, characterized in that The controlling the self-moving device according to the first energy and the second energy includes: When the sensor is an edge sensor for edge control, if the first energy is less than the second energy, the self-moving device is controlled to move away from the detection surface; if the first energy is greater than the second energy, the self-moving device is controlled to move closer to the detection surface.

4. The method according to any one of claims 1 to 3, characterized in that: Before controlling the self-moving device according to the first energy and the second energy, the method further includes: determining a ratio of the first energy to the second energy, and when the ratio is greater than a preset ratio, determining that the current distance is greater than the preset distance; or, An energy difference between the first energy and the second energy is determined, and when the energy difference indicates that the first energy is greater than the second energy, it is determined that the current distance is greater than the preset distance.

5. The method according to claim 1, characterized in that When the first receiving module, the transmitting module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: the first distance is less than the preset distance, and the second distance is equal to the preset distance, wherein the first distance is the distance between the intersection of the field of view envelope of the first receiving module and the light spot envelope of the transmitting module and the sensor, and the second distance is the distance between the intersection of the field of view envelope of the second receiving module and the field of view envelope of the first receiving module and the sensor.

6. The method according to claim 5, characterized in that The intersection point of the field of view envelope of the second receiving module and the field of view envelope of the first receiving module is located on the symmetry axis of the transmitting module.

7. The method according to claim 5, characterized in that When the first receiving module, the transmitting module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured as follows: a third distance is equal to the preset distance, and the third distance is the distance between the intersection of the field of view envelope of the first receiving module, the spot envelope of the transmitting module, the field of view envelope of the second receiving module and the sensor.

8. The method according to any one of claims 5 to 7, characterized in that: The space between the intersection of the field of view envelope of the second receiving module and the light spot envelope of the transmitting module and the outer shell surface of the sensor is a blind area.

9. The method according to claim 1, characterized in that: When the transmitting module, the first receiving module and the second receiving module are arranged in sequence, the first receiving module and the second receiving module are configured such that: the area corresponding to the third distance is a blind area, and the third distance is the distance between the intersection of the visual field envelope of the first receiving module, the light spot envelope of the transmitting module, the visual field envelope of the second receiving module and the sensor; The first distance and the fourth distance are smaller than the installation height of the sensor. The first distance is the distance between the sensor and the intersection of the field of view envelope of the first receiving module and the light spot envelope of the transmitting module. The fourth distance is the distance between the sensor and the intersection of the field of view envelope of the second receiving module and the light spot envelope of the transmitting module.

10. A method for controlling a self-moving device, characterized in that: The self-mobile device is provided with a sensor including a first transmitting module, a second transmitting module and a receiving module, and the method comprises: Controlling the first emission module to emit a first light beam to the detection surface in a first time period, so that the detection surface emits the first light beam to generate reflected light; Controlling the second emission module to emit a second light beam to the detection surface in a second time period, so that the detection surface reflects the second light beam to generate reflected light, and the first time period and the second time period are adjacent; Determine a third energy generated by the receiving module receiving a third reflected light, and determine a fourth energy generated by the receiving module receiving a fourth reflected light, wherein the third reflected light is the reflected light generated by the detection surface reflecting the first light beam and received by the receiving module, and the fourth reflected light is the reflected light generated by the detection surface reflecting the second light beam and received by the receiving module; controlling the self-moving device according to the third energy and the fourth energy; Among them, the first transmitting module and the second transmitting module are configured as follows: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the third energy is greater than the fourth energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the third energy is less than the fourth energy.

11. A self-propelled device, characterized in that: include: Equipment body; A sensor is arranged on the device body, and the sensor includes a first receiving module, a second receiving module and a transmitting module; A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the mobile device executes the method according to any one of claims 1 to 9 based on the data collected by the sensor.

12. The device according to claim 11, characterized in that Also includes: A guide wheel is arranged on the device body and is used to control the minimum distance between the sensor and the supporting surface, and the minimum distance is greater than the distance corresponding to the blind area of ​​the sensor.

13. The device according to claim 11, characterized in that Among the first receiving module, the transmitting module and the second receiving module, a light shielding sheet is arranged between any two adjacent modules.

14. A control device, characterized in that: The control device is arranged on a self-moving device, and a sensor including a first receiving module, a second receiving module and a transmitting module is arranged on the self-moving device. The control device includes: A control module, used for controlling the emission module to emit a light beam to the detection surface, so that the detection surface reflects the light beam to generate reflected light; a first determining module, configured to determine a first energy of a first reflected light received by the first receiving module, wherein the first reflected light is the reflected light generated by the detection surface and received by the first receiving module; A second determination module, used to determine a second energy of a second reflected light received by the second receiving module, where the second reflected light is the reflected light generated by the detection surface and received by the second receiving module; a processing module, configured to control the self-moving device according to the first energy and the second energy; Among them, the first receiving module and the second receiving module are configured as follows: when the current distance between the self-moving device and the detection surface is greater than a preset distance, the first energy is greater than the second energy; when the distance between the self-moving device and the detection surface is less than a preset distance, the first energy is less than the second energy.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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