Ground material identification method and device, control method and device and storage medium

Abstract

The invention belongs to the technical field of smart home, and particularly relates to a ground material identification method, a control method, a device and a storage medium. The invention aims to solve the problem of low working efficiency of autonomous mobile equipment caused by different moving speeds of the autonomous mobile equipment on materials with different resistances. The identification method for identifying the ground material by the autonomous mobile device comprises the following steps: sending a control instruction to the autonomous mobile device, wherein the control instruction comprises the step of commanding the autonomous mobile device to rotate by a preset rotation angle in situ; acquiring an actual rotation angle of the autonomous mobile device; and determining the ground material according to the preset rotation angle and the actual rotation angle. According to the invention, the autonomous mobile device can automatically identify the grounds of different materials, and execute different functions or working modes based on the grounds of different materials, or automatically set different set speeds based on the grounds of different materials, so that the autonomous mobile device can reach a basically consistent actual advancing speed no matter what kind of material grounds operate. Therefore, the working efficiency of the autonomous mobile equipment is ensured.

Description

[0001] This application is a divisional application. The application number of the original application is 202110806534.3, and the original application date is July 16, 2021. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0002] Embodiments of the present invention relate to the field of smart home technology, and in particular to a ground material recognition method, control method, device and storage medium. Background Art

[0003] Autonomous mobile devices refer to intelligent mobile devices that autonomously perform preset tasks within a set area. Currently, autonomous mobile devices usually include but are not limited to cleaning robots (such as intelligent sweepers, intelligent floor scrubbers, and window cleaning robots), companion mobile robots (such as intelligent electronic pets and nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent equipment (such as power inspection robots, intelligent forklifts, etc.), and security robots (such as household or commercial intelligent guard robots). These service robots have the advantages of saving time and effort and being easy to operate, freeing people from tedious labor, giving people more time for rest and entertainment, and improving people's living comfort.

[0004] However, while existing autonomous mobile devices provide convenience to people, they also have some problems. For example, indoor floor materials are diverse, some are wooden floors, some are marble or tile floors, some are covered with hard or soft, long-haired or short-haired carpets, and some are a mixture of multiple materials. Different floor materials have different resistances to the motion units (such as wheels) of autonomous mobile devices, which will affect the travel speed of the autonomous mobile devices, causing calculation deviations in sensors such as encoders, gyroscopes, and accelerometers that measure motion parameters, resulting in large errors between the measured values ​​of their displacement, angle, speed, angular velocity, acceleration, etc. and the actual values, resulting in the autonomous mobile device being unable to reach the predetermined position according to the predetermined instructions, affecting the working efficiency of the autonomous mobile device, and even affecting the accuracy of the positioning, mapping, navigation and other functions of the autonomous mobile device operating in indoor spaces. Summary of the invention

[0005] In view of this, embodiments of the present invention provide a ground material recognition method, control method, device and storage medium to solve the technical problem that the autonomous mobile device has low working efficiency due to different moving speeds on different resistance materials.

[0006] The embodiment of the present invention provides a method for identifying ground material by an autonomous mobile device, comprising: issuing a control instruction to the autonomous mobile device, the control instruction comprising commanding the autonomous mobile device to rotate a preset rotation angle in situ; obtaining the actual rotation angle of the autonomous mobile device; comparing the actual rotation angle with the preset rotation angle, and if the actual rotation angle is less than the preset rotation angle, and the actual rotation angle is greater than a first preset angle, determining that the ground material is a low-resistance material; and / or if the actual rotation angle is less than the first preset angle, determining that the ground material is a high-resistance material; wherein the first preset angle is less than the preset rotation angle.

[0007] An embodiment of the present invention also provides a method for an autonomous mobile device to identify ground material, comprising: issuing a control instruction to the autonomous mobile device, the control instruction comprising commanding the autonomous mobile device to rotate a preset rotation angle in place; obtaining the actual rotation angle of the autonomous mobile device; comparing the actual rotation angle with the preset rotation angle, if the actual rotation angle is less than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than a first preset angle difference, determining that the ground material is a high-resistance material; and / or, if the actual rotation angle is less than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is less than the first preset angle difference, determining that the ground material is a low-resistance material.

[0008] In some embodiments that may include the above embodiments, the identification method further includes: if the ground material is a high-resistance material, setting the set speed of the autonomous mobile device to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; and, if the actual rotation angle is greater than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), α is the preset rotation angle, β is the actual rotation angle; A is a constant; or, if the actual rotation angle is less than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, wherein Δ2 is the second preset angle difference; A is a constant; wherein the second preset angle is less than the first preset angle; the second preset angle difference is greater than the first preset angle difference; the target speed is the running speed required by the control instruction for the autonomous mobile device to reach on the ground; the set speed is the speed commanded by the motion unit of the autonomous mobile device in the control instruction to reach the target speed on the ground.

[0009] In some embodiments that may include the above-mentioned embodiments, the identification method also includes: if the ground material is determined to be a high-resistance material, increasing the working power of the autonomous mobile device and / or setting the working mode to a strong working mode; and / or, if the ground material is determined to be a low-resistance material, maintaining the working power of the autonomous mobile device and / or setting the working mode to a normal or silent working mode.

[0010] The embodiment of the present invention also provides a method for controlling the travel speed of an autonomous mobile device, comprising: issuing a control instruction to the autonomous mobile device, the control instruction comprising commanding the autonomous mobile device to rotate at a preset rotation angle in situ; obtaining an actual rotation angle of the autonomous mobile device; comparing the actual rotation angle with the preset rotation angle, and if the actual rotation angle is less than a first preset angle, or, if the actual rotation angle is less than the preset rotation angle and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference, setting the set speed of the autonomous mobile device to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; the target speed is the running speed required by the control instruction for the autonomous mobile device to reach on the ground; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground; and if the actual rotation angle is greater than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), wherein α is the preset rotation angle, and β is the actual rotation angle; A is a constant; if the actual rotation angle is less than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, wherein Δ2 is the second preset angle difference; A is a constant; wherein the first preset angle is less than the preset rotation angle; the second preset angle is less than the first preset angle; the second preset angle difference is greater than the first preset angle difference; the control method also includes: controlling the autonomous mobile device to run at the target speed on the ground.

[0011] The embodiment of the present invention further provides an identification device for an autonomous mobile device to identify ground material, comprising: a command module, used to issue a control instruction to the autonomous mobile device, the control instruction comprising commanding the autonomous mobile device to rotate at a preset rotation angle in situ;

[0012] An acquisition module, used to acquire an actual rotation angle of the autonomous mobile device;

[0013] A determination module is used to compare the actual rotation angle with the preset rotation angle. If the actual rotation angle is less than the preset rotation angle and the actual rotation angle is greater than a first preset angle, the ground material is determined to be a low-resistance material; and / or, if the actual rotation angle is less than the first preset angle, the ground material is determined to be a high-resistance material; wherein the first preset angle is less than the preset rotation angle.

[0014] The embodiment of the present invention further provides an identification device for an autonomous mobile device to identify ground material, comprising: a command module, used to issue a control instruction to the autonomous mobile device, the control instruction comprising commanding the autonomous mobile device to rotate at a preset rotation angle in situ;

[0015] An acquisition module, used to acquire an actual rotation angle of the autonomous mobile device;

[0016] A determination module is used to compare the actual rotation angle with the preset rotation angle. If the actual rotation angle is smaller than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than a first preset angle difference, the ground material is determined to be a high-resistance material; and / or, if the actual rotation angle is smaller than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is less than the first preset angle difference, the ground material is determined to be a low-resistance material.

[0017] In some embodiments that may include the above embodiments, the recognition device further includes: a first control module, which is used to set the set speed of the autonomous mobile device to: V if the ground material is a high resistance material 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; and, if the actual rotation angle is greater than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), α is the preset rotation angle, β is the actual rotation angle; A is a constant; or, if the actual rotation angle is less than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, wherein Δ2 is the second preset angle difference; A is a constant; wherein the second preset angle is less than the first preset angle; the second preset angle difference is greater than the first preset angle difference; the target speed is the running speed required by the control instruction for the autonomous mobile device to reach on the ground; the set speed is the speed commanded by the motion unit of the autonomous mobile device in the control instruction to reach the target speed on the ground.

[0018] The embodiment of the present invention also provides a device for controlling the travel speed of an autonomous mobile device, comprising: a command module, used to issue a control instruction to the autonomous mobile device, the control instruction including commanding the autonomous mobile device to rotate at a preset rotation angle in situ;

[0019] An acquisition module, used to acquire an actual rotation angle of the autonomous mobile device;

[0020] The first control module is used to compare the actual rotation angle with the preset rotation angle, and if the actual rotation angle is less than the first preset angle, or if the actual rotation angle is less than the preset rotation angle and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference, then set the set speed of the autonomous mobile device to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; the target speed is the running speed that the autonomous mobile device is required to reach on the ground in the control instruction; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground; and, if the actual rotation angle is greater than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), where α is the preset rotation angle and β is the actual rotation angle; A is a constant; if the actual rotation angle is less than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, where Δ2 is the second preset angle difference; A is a constant; wherein the first preset angle is less than the preset rotation angle; the second preset angle is less than the first preset angle; the second preset angle difference is greater than the first preset angle difference;

[0021] The second control module is used to control the autonomous mobile device to run at a target speed on the ground.

[0022] An embodiment of the present invention also provides a storage medium, which is used to store a computer program. When the computer program is executed by a computer or a processor, it is used to implement the above-mentioned method for identifying ground material by an autonomous mobile device, or the method for controlling the travel speed of the above-mentioned autonomous mobile device.

[0023] The ground material identification method, device and storage medium provided in the embodiments of the present invention provide a method, device and storage medium for automatically identifying the ground material on which an autonomous mobile device is located by the difference between an actual rotation angle and a preset rotation angle, so that the autonomous mobile device automatically identifies ground materials of different materials and executes different functions or working modes based on the ground materials of different materials, thereby increasing the autonomous mobile device's adaptability to the environment and its intelligence level; different set speeds can also be automatically set based on the ground materials of different materials, so that the autonomous mobile device can achieve a basically consistent actual travel speed regardless of the ground material it runs on, thereby ensuring the working efficiency of the autonomous mobile device.

[0024] The control method, device and storage medium for the travel speed of an autonomous mobile device provided in the embodiments of the present invention determine the set speed of the autonomous mobile device according to the difference between a preset rotation angle and an actual rotation angle, so that the autonomous mobile device can achieve a basically consistent actual travel speed regardless of the material of the ground it runs on, thereby ensuring the working efficiency of the autonomous mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0026] Figure 1 Schematic diagram of a method for identifying ground material by an autonomous mobile device provided in an embodiment of the present invention Figure 1 ;

[0027] Figure 2 A schematic diagram showing that the actual rotation angle β of the autonomous mobile device provided by an embodiment of the present invention is less than the preset rotation angle α, and the actual rotation angle β is greater than the first preset angle θ;

[0028] Figure 3 A schematic diagram showing that the actual rotation angle β of the autonomous mobile device provided by an embodiment of the present invention is less than the first preset angle θ, and the actual rotation angle β is greater than the first preset angle γ;

[0029] Figure 4 Schematic diagram of a method for identifying ground material by an autonomous mobile device provided in an embodiment of the present invention Figure 2 ;

[0030] Figure 5aA schematic diagram showing that an actual rotation angle β of an autonomous mobile device provided by an embodiment of the present invention is less than a preset rotation angle α, and an absolute value of a difference between the actual rotation angle β and the preset rotation angle α |β–α| is greater than a first preset angle difference Δ1;

[0031] Figure 5b A schematic diagram showing that an actual rotation angle β of an autonomous mobile device provided by an embodiment of the present invention is smaller than a preset rotation angle α, and an absolute value of a difference between the actual rotation angle β and the preset rotation angle α |β–α| is smaller than a first preset angle difference Δ1;

[0032] Figure 6a A schematic diagram showing that the actual rotation angle β of the autonomous mobile device provided by an embodiment of the present invention is less than the second preset angle γ;

[0033] Figure 6b A schematic diagram showing that the actual rotation angle β of the autonomous mobile device provided by an embodiment of the present invention is less than the preset rotation angle α, and the absolute value of the difference between the actual rotation angle β and the preset rotation angle α |β–α| is greater than the second preset angle difference Δ2;

[0034] Figure 7 A schematic diagram of a method for controlling the travel speed of an autonomous mobile device provided by an embodiment of the present invention;

[0035] Figure 8 A schematic block diagram of a device for identifying ground material using an autonomous mobile device provided by an embodiment of the present invention Figure 1 ;

[0036] Fig. 9 A schematic block diagram of a device for identifying ground material using an autonomous mobile device provided by an embodiment of the present invention Figure 2 ;

[0037] Fig.10 A schematic block diagram of a device for controlling the travel speed of an autonomous mobile device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] First, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0039] Secondly, it should be noted that in the description of the embodiments of the present invention, the terms "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0040] In addition, it should be noted that in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0042] Autonomous mobile devices include transport robots, smart sweepers, etc. Autonomous mobile devices can usually run according to a set route and complete set tasks. For example, a transport robot can carry goods according to a set route, that is, the transport robot can move to the starting point of the set route and load the goods, and then transport the goods to the unloading point according to the set route. For example, it can be a logistics robot or an AGV forklift. The smart sweeper can run on the ground according to the set route. During the operation, the vacuum cleaner installed at the bottom of the smart sweeper absorbs the debris on the ground into the dust box, thereby completing the function of cleaning the ground. The smart sweeper can also run to the charging station according to the set route, and store and charge the smart sweeper at the charging station.

[0043] However, the autonomous mobile device may travel on a variety of different ground surfaces during operation, that is, the ground surface on which it is running may produce different resistances to the autonomous mobile device. For example, floors (such as wooden floors, tiles, marble and other materials) and carpets have different resistances to the autonomous mobile device. Even for carpets alone, there are different types of carpets, such as long hair, short hair, hard hair, soft hair, dense hair, loose hair, etc., according to the different hair qualities of the carpets, and their resistances are also different. At the same set speed, the actual travel speed of the autonomous mobile device on the ground surfaces of different resistance materials is usually different. The set speed in the present invention refers to the speed (which may be an average speed) that the motion unit (such as the wheel set) of the autonomous mobile device reaches, which is contained in the control instruction issued to the autonomous mobile device, so that the autonomous mobile device reaches the required target speed when running on the corresponding ground, such as 1.5 revolutions per second; assuming that the circumference of the wheel set is 0.2 meters, since the autonomous mobile device measures its actual running distance on the ground by the rotation of the motion unit, the above set speed can also be expressed as: 0.2 meters × 1.5 revolutions per second = 0.3 meters per second (m / s), that is, the control instruction commands the wheel set of the autonomous mobile device to reach a set speed of 0.3 m / s. Generally, the set speed is proportional to the output power of the motor, that is, the greater the output power, the greater the set speed, and the control instruction usually controls the set speed by controlling the output power. In the case where the wheel set does not slip, for example, when the autonomous mobile device runs on a low-resistance material ground such as a wooden floor, marble or tile floor, the set speed is equal to the actual travel speed of the autonomous mobile device on the ground, so the set speed of the autonomous mobile device traveling on the low-resistance material ground can be used as the target speed. The target speed of the present invention refers to the running speed that the autonomous mobile device is required to reach on the ground in the control instruction. When the autonomous mobile device is running on a high-resistance material ground (such as a carpet, etc.), the wheel set of the autonomous mobile device will sink into the carpet, causing the wheel set to slip (that is, the number of rotations of the wheel set is inconsistent with the actual running distance of the autonomous mobile device). At the same time, for long-haired carpets, the carpet hair may also hinder the operation of the chassis of the autonomous mobile device to a certain extent. The above factors will affect the actual travel speed of the autonomous mobile device on the carpet, resulting in the set speed being inconsistent with the actual travel speed, that is, at the same set speed (which can be understood as the same output power), the actual travel speed of the autonomous mobile device on the carpet is less than the set speed, which reduces the work efficiency and makes it impossible for the autonomous mobile device to complete the work task as originally planned. In order to make the running speed of the autonomous mobile device on the ground reach the target speed, it is necessary to command the motion unit (such as a wheel set or a crawler) of the autonomous mobile device to reach the set speed in the control instruction so that its running speed on the ground reaches the target speed. According to the above analysis, the set speed on the high-resistance material ground is usually greater than the target speed.

[0044] The ground material identification method, device and storage medium provided in the embodiments of the present invention provide a method and device for automatically identifying the ground material on which an autonomous mobile device is located by using the difference between an actual rotation angle and a preset rotation angle, so that the autonomous mobile device automatically identifies ground materials of different materials and executes different functions or working modes based on the ground materials of different materials, thereby increasing the autonomous mobile device's adaptability to the environment and its intelligence level; different set speeds can also be automatically set based on the ground materials of different materials, so that the autonomous mobile device can achieve a basically consistent actual travel speed regardless of the ground material it runs on, thereby ensuring the working efficiency of the autonomous mobile device.

[0045] The control method, device and storage medium for the travel speed of an autonomous mobile device provided in the embodiments of the present invention determine the set speed of the autonomous mobile device according to the difference between a preset rotation angle and an actual rotation angle, so that the autonomous mobile device can achieve a basically consistent actual travel speed regardless of the material of the ground it runs on, thereby ensuring the working efficiency of the autonomous mobile device.

[0046] It should be understood that the technical solution of the embodiment of the present invention can be applied to various autonomous mobile devices, such as: intelligent sweeping robots, transport robots, medical robots, robots for assisting the disabled and other autonomous mobile devices. The autonomous mobile device includes a body and a motion unit arranged at the bottom of the body, the motion unit may include a wheel set or a crawler, and the motion unit is used to move and rotate the body.

[0047] Figure 1 The present invention shows a method 100 for identifying ground material using an autonomous mobile device provided in an embodiment of the present invention. The method 100 includes:

[0048] S110, issuing a control instruction to the autonomous mobile device, where the control instruction includes instructing the autonomous mobile device to rotate at a preset rotation angle in situ.

[0049] The rotation of the autonomous mobile device is achieved by the rotation of a motion unit such as a wheel set. The preset rotation angle can be any angle greater than 0°, for example, 90°, 180°, 270° or 360°. This embodiment is described by taking the preset rotation angle α as 360° as an example. Figure 2 and Figure 3 shown.

[0050] S120: Acquire the actual rotation angle of the autonomous mobile device.

[0051] After the autonomous mobile device receives and executes the control instruction, the actual rotation angle of the autonomous mobile device is obtained. The preset rotation angle and the actual rotation angle in the present invention include the preset rotation angle and the actual rotation angle within the same set time or unit time. For example, if the control instruction requires the autonomous mobile device to rotate 360° at the preset rotation angle in situ within 20 seconds, the actual rotation angle of the autonomous mobile device obtained is also the actual rotation angle of the autonomous mobile device within the same 20 seconds.

[0052] S130, compare the actual rotation angle with the preset rotation angle. If the actual rotation angle is less than the preset rotation angle and the actual rotation angle is greater than the first preset angle, determine that the ground material is a low-resistance material; and / or, if the actual rotation angle is less than the first preset angle, determine that the ground material is a high-resistance material; wherein the first preset angle is less than the preset rotation angle.

[0053] The first preset angle is greater than 0° and less than the preset rotation angle, so as to eliminate misjudgment caused by errors or sensor errors, such as gyroscope measurement errors, etc. For example, if the preset rotation angle is set to 360°, the range of the first preset angle may be 300° to 330°. This embodiment is described by taking the first preset angle of 330° as an example.

[0054] Specifically, Figure 2 As shown, if the actual rotation angle β of the autonomous mobile device is 350°, the actual rotation angle β is less than the preset rotation angle α=360°, and the actual rotation angle β is greater than the first preset angle θ=330°. It can be considered that the actual rotation angle β is closer to the preset rotation angle α. This angle difference (α-β) may be caused by the gyroscope error rather than the change in the ground material. Therefore, the ground material is still considered to be a low-resistance material at this time.

[0055] If the actual rotation angle β is 320°, Figure 3As shown, at this time, the actual rotation angle β is less than the first preset angle θ=330°, indicating that the actual rotation angle β is far from the preset rotation angle α=360°. It can be considered that the angle difference is caused by the resistance of the ground material to the autonomous mobile device, and at this time it can be determined that the ground material is a high-resistance material. Generally speaking, if the autonomous mobile device runs on a high-resistance material ground, such as a long-haired carpet, its motion unit, such as a wheel set, will usually slip. In other words, in some places, the wheel set will idle due to excessive resistance, which causes the preset speed in the control instruction to be different from its actual travel speed on the ground. It should be noted that in the present invention, the low-resistance material ground refers to the ground material on which the autonomous mobile device does not slip when running, such as floor, hairless carpet, marble, etc.; and the high-resistance material ground refers to the ground material on which the autonomous mobile device will slip from time to time when running, such as a long-haired carpet, etc.; therefore, the low-resistance material ground and the high-resistance material ground in the present invention are only a simple classification of ground materials, rather than a strict division based on resistance values.

[0056] The method for identifying the ground material by the autonomous mobile device in this embodiment determines whether different ground materials have an impact on the running speed of the autonomous mobile device by comparing the actual rotation angle β of the autonomous mobile device with the preset rotation angle α, and the actual rotation angle β with the first preset angle θ, so that the autonomous mobile device automatically identifies the ground of different materials and performs different functions or working modes based on the ground of different materials, thereby increasing the adaptability and intelligence of the autonomous mobile device to the environment; for example, when it is identified that it is running on a floor of low-resistance material, the wet mopping function can be performed, and when it is identified that it is running on a carpet of high-resistance material, the carpet area is bypassed or the wet mopping function is stopped and the mopping board is raised; or, when it is identified that the ground on which it is located is a carpet of high-resistance material, the working power of the autonomous mobile device is increased and / or a strong working mode is executed, and when it is identified that the ground on which it is located is a carpet of low-resistance material, the working power of the autonomous mobile device is maintained and / or the working mode is set to a normal or silent working mode, etc.

[0057] Figure 4 The present invention shows a method 200 for identifying ground material using an autonomous mobile device according to an embodiment of the present invention. The method 200 includes:

[0058] S210, issuing a control instruction to the autonomous mobile device, where the control instruction includes instructing the autonomous mobile device to rotate at a preset rotation angle in situ.

[0059] The rotation of the autonomous mobile device is achieved by the rotation of a motion unit such as a wheel set. The preset rotation angle can be any angle greater than 0°, for example, 90°, 180°, 270° or 360°. This embodiment is described by taking the preset rotation angle α as 360° as an example. Figure 5aand Figure 5b shown.

[0060] S220: Acquire the actual rotation angle of the autonomous mobile device.

[0061] After the autonomous mobile device receives and executes the control instruction, the actual rotation angle of the autonomous mobile device is obtained. The preset rotation angle and the actual rotation angle in the present invention include the preset rotation angle and the actual rotation angle within the same set time or unit time. For example, if the control instruction requires the autonomous mobile device to rotate 360° at the preset rotation angle in situ within 20 seconds, the actual rotation angle of the autonomous mobile device obtained is also the actual rotation angle of the autonomous mobile device within the same 20 seconds.

[0062] S230, compare the actual rotation angle with the preset rotation angle. If the actual rotation angle is smaller than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference, determine that the ground material is a high-resistance material; and / or, if the actual rotation angle is smaller than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is less than the first preset angle difference, determine that the ground material is a low-resistance material.

[0063] Among them, the first preset angle difference can be greater than 0° and less than 360°. Exemplarily, the first preset angle difference can range from 30° to 60°. This embodiment is described by taking the preset rotation angle as 360° and the first preset angle difference as 30° as an example.

[0064] Specifically, Figure 5a As shown, if the actual rotation angle β of the autonomous mobile device is 320°, the actual rotation angle β is less than the preset rotation angle α=360°, and the absolute value of the difference between the actual rotation angle β320° and the preset rotation angle α360° |β–α|=40° is greater than 30° of the first preset angle difference Δ1, indicating that the actual rotation angle β320° is far from the preset rotation angle α360°. It can be considered that the angle difference of 40° between the actual rotation angle β320° and the preset rotation angle α360° is caused by slipping caused by the high-resistance material ground. In this case, it can be determined that the ground material is a high-resistance material.

[0065] If the actual rotation angle β is 350°, Figure 5b As shown, at this time, the actual rotation angle β is smaller than the preset rotation angle α360°, and the absolute value of the difference between the actual rotation angle β350° and the preset rotation angle α360° |β–α|=10° is smaller than 30° of the first preset angle difference Δ1, indicating that the difference between the actual rotation angle β and the preset rotation angle α is small. This angle difference may be caused by the gyroscope error rather than the change in the ground material. Therefore, the ground material is still determined to be a low-resistance material at this time.

[0066] In this embodiment, by comparing the actual rotation angle of the autonomous mobile device with the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle and the first preset angle difference, different ground materials that affect the running speed of the autonomous mobile device are determined.

[0067] The above-mentioned first preset angle or first preset angle difference can be obtained by testing on corresponding low-resistance material ground and high-resistance material ground; it should be noted that the preset rotation angle must be set first, and the first preset angle or the first preset angle difference must be determined based on the preset rotation angle and different material ground. If the preset rotation angle is not the above-mentioned 360°, for example, the preset rotation angle is set to 180°, it is necessary to use different resistance material ground to test at the preset rotation angle to determine the first preset angle or the first preset angle difference.

[0068] In some embodiments, after S130 or S230, the identification method 100 or the identification method 200 further includes:

[0069] If the ground material is a high resistance material, set the speed of the autonomous mobile device to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed, V 目标 is the target speed, K is the coefficient, and K>1; and, if the actual rotation angle is greater than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), α is the preset rotation angle, β is the actual rotation angle, and A is a constant; or, if the actual rotation angle is less than the second preset angle, or, if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, wherein Δ2 is the second preset angle difference and A is a constant.

[0070] Among them, the second preset angle is smaller than the first preset angle; the second preset angle difference is larger than the first preset angle difference; the target speed is the running speed required by the control instruction for the autonomous mobile device to reach on the ground; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground.

[0071] For example, when the autonomous mobile device is traveling on a non-slip low-resistance material ground, the set speed in its control instruction is substantially the same as its actual travel speed on the ground. In this case, the set speed set in the control instruction of the autonomous mobile device is also substantially equal to the target speed at which the autonomous mobile device is expected or required to operate on the ground. If the autonomous mobile device is operating on a high-resistance material ground, and it is determined by the above method that it is on a high-resistance material ground, its set speed can be adjusted so that its actual travel speed on the ground reaches the above target speed while taking into account the slippage on the high-resistance material ground, so as to keep the actual travel speed of the autonomous mobile device on different grounds basically consistent, thereby ensuring the working efficiency of the autonomous mobile device.

[0072] Since autonomous mobile devices usually slip on surfaces made of high-resistance materials, the set speed corresponding to their actual operating speed on surfaces made of high-resistance materials should be greater than the set speed corresponding to the same actual operating speed on surfaces made of low-resistance materials, so that the actual travel speeds of the autonomous mobile devices on different surface materials are basically the same and consistent, thereby ensuring the working efficiency of the autonomous mobile devices.

[0073] If the ground material is a low resistance material, set the set speed to the target speed, that is, V 设定 =V 目标 ; If V is applied 设定 =K×V 目标 The coefficient K here is 1. If the ground material has been determined to be a high resistance material, the set speed is set to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is the coefficient, and K>1. Specifically, for example, based on the test, K is equal to 1.5, and the speed V is set at this time. 设定 1.5 times the target speed V 目标 , so that the actual travel speed of the autonomous mobile device on the high resistance material ground is V 目标 , which is basically consistent with the actual travel speed of autonomous mobile equipment on low-resistance material surfaces.

[0074] Specifically, in some embodiments, the coefficient K can be determined by the following method: For ease of description, it is pre-set that the preset rotation angle is α, the actual rotation angle is β, the first preset angle is θ, the second preset angle is γ, the first preset angle difference is Δ1, and the second preset angle difference is Δ2.

[0075] In the above embodiment where the ground material is determined to be a high resistance material, further, if the actual rotation angle β (for example, 320°) is greater than the second preset angle γ (for example, 300°), Figure 3or, if the absolute value of the difference between the actual rotation angle β (for example, 320°) and the preset rotation angle α (360°) |β-α| (40°) is greater than the first preset angle difference Δ1 (for example, it can be as follows Figure 5a As shown, Δ1 is the difference between the preset rotation angle α and the first preset angle θ, that is, Δ1 = (α-θ); for example, Figure 5a 30°) and is smaller than the second preset angle difference Δ2 (for example, Figure 5a As shown, Δ2 is the difference between the preset rotation angle α and the second preset angle γ (for example, 300°), that is, Δ2=(α-γ). Figure 5a In this case, as the actual rotation angle β increases, the K value will decrease, and V 设定 With V 目标 The closer. The above constant A can be roughly obtained by testing on a high-resistance material ground. The so-called roughly obtained A value means that on a high-resistance material ground, although the ratio K value of the set speed to the target speed is not necessarily linearly related to (α-β), in order to simplify the calculation, the relationship between the K value and (α-β) can be fitted with a linear relationship, so that a coefficient K that is relatively close to the actual situation can be estimated without a large amount of calculation, so that the set speed required for the wheel group to rotate can be estimated relatively easily based on the target speed at which the autonomous mobile device needs to run on the ground. Specifically, for example, multiple A values ​​can be measured on different (α-β) ground materials, and their arithmetic mean or weighted mean (the weight value can be set based on the sales volume share of different types of carpets in the target market of the autonomous mobile device as the main factor to be considered, or multiple weight values ​​can be determined by market data) or the A value measured on a certain most commonly used type of carpet is used as the A value substituted into K=A×(α-β). For example, the actual running speed measured on a certain type of carpet is 100 mm / s (when measuring, the actual running speed on the ground corresponds to the target speed), and the corresponding set speed is 150 mm / s. 设定 =K×V 目标K = 150 ÷ ​​100 = 1.5; (α-β) = 40° is measured during the rotation process, and based on K = A × (α-β), A = 1.5 ÷ 40 = 0.0375 (units omitted). Then the A value is set in the program. In actual operation, when running on a carpet, based on the A value, the difference between the actual rotation angle and the preset rotation angle (α-β), and the target speed that the autonomous mobile device needs to reach (for example, the target speed of the autonomous mobile device on the ground is required to be 250 mm / s during normal operation, and the target speed of the autonomous mobile device on the ground is required to be 150 mm / s during recharging (returning to the charging pile), the set speed can be calculated, and the wheel set is made to reach the set speed through control instructions, so that the autonomous mobile device can reach an actual operating speed (i.e., target speed) on the carpet that is basically consistent with that on the ground of low-resistance materials.

[0076] In some embodiments, if the actual rotation angle β is less than the second preset angle γ, Figure 6a As shown, or, if the absolute value of the difference between the actual rotation angle β and the preset rotation angle α |β–α| is greater than the second preset angle difference Δ2, as Figure 6b As shown, K=A×Δ2. Exemplarily, the second preset angle difference Δ2 may be the difference between the preset rotation angle α and the second preset angle γ, that is, Δ2=(α-γ), where A is a constant.

[0077] As can be seen from the figure, the second preset angle γ is smaller than the first preset angle α; the second preset angle difference Δ2 is larger than the first preset angle difference Δ1. As mentioned above, the target speed is the running speed that the autonomous mobile device is required to reach on the ground in the control instruction; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground.

[0078] In some embodiments, after S130 or S230, the identification method 100 or the identification method 200 further includes:

[0079] If the ground material is determined to be a high-resistance material, the working power of the autonomous mobile device is increased and / or the working mode is set to a strong working mode; and / or, if the ground material is determined to be a low-resistance material, the working power of the autonomous mobile device is maintained and / or the working mode is set to a normal or silent working mode.

[0080] Exemplarily, the autonomous mobile device in this embodiment can be an intelligent sweeper, which includes a main body, a motion unit arranged at the bottom of the main body, and a vacuum cleaner arranged in the main body, the vacuum cleaner includes a dust box, and when the intelligent sweeper is in the sweeping-mopping mode, the motion unit drives the main body to move on the ground, and the vacuum cleaner can suck impurities on the ground into the dust box to clean the ground.

[0081] Since the working resistance of the vacuum cleaner, main brush, chassis and other components of the smart sweeper on the carpet made of high-resistance material is much greater than that on the floor made of low-resistance material, after the above-mentioned judgment of the ground material, the working power of the vacuum cleaner and / or the main brush motor can be adjusted according to the ground material: if the ground material is a high-resistance material, the working power is controlled to be a first power; if the ground material is a low-resistance material, the working power is controlled to be a second power, and the first power is greater than the second power, so that the cleaning efficiency of the smart sweeper on high-resistance materials is equivalent to that on low-resistance materials.

[0082] In other embodiments, the autonomous mobile device is an intelligent cleaning robot capable of integrating sweeping and mopping. If the intelligent cleaning robot determines that the floor material is a carpet of high resistance material according to the above embodiment, the working mode of the intelligent cleaning robot is controlled to be the first sweeping-mopping mode, in which the intelligent cleaning robot only sweeps the floor and the power of its vacuum cleaner is the first power; if the intelligent cleaning robot determines that the floor material is a floor of low resistance material, the working mode of the intelligent cleaning robot is switched to the second sweeping-mopping mode, in which the intelligent cleaning robot can sweep and / or mop the floor, and the working power of its cleaning component is the second power, the first power is greater than the second power, that is, the working power of the autonomous mobile device is increased and / or the working mode is set to a strong working mode; if it is determined that the floor material is a low resistance material, the working power of the autonomous mobile device is maintained and / or the working mode is set to a normal or silent working mode. In this way, the cleaning efficiency of the intelligent sweeper on high resistance materials is equivalent to that on low resistance materials, and the intelligent cleaning robot performs appropriate work content according to the floor material.

[0083] Figure 7 The control method 300 of the traveling speed of an autonomous mobile device provided by an embodiment of the present invention is shown, and the control method 300 includes:

[0084] S310, issuing a control instruction to the autonomous mobile device, where the control instruction includes instructing the autonomous mobile device to rotate at a preset rotation angle in situ.

[0085] The rotation of the autonomous mobile device is achieved by the rotation of a motion unit such as a wheel set. The preset rotation angle can be any angle greater than 0°, for example, 90°, 180°, 270° or 360°. This embodiment is described by taking the preset rotation angle α as 360° as an example. Figure 3 , Figure 5a shown.

[0086] S320: Acquire the actual rotation angle of the autonomous mobile device.

[0087] After the autonomous mobile device receives and executes the control instruction, the actual rotation angle of the autonomous mobile device is obtained. The preset rotation angle and the actual rotation angle in the present invention include the preset rotation angle and the actual rotation angle within the same set time or unit time. For example, if the control instruction requires the autonomous mobile device to rotate 360° at the preset rotation angle in situ within 20 seconds, the actual rotation angle of the autonomous mobile device obtained is also the actual rotation angle of the autonomous mobile device within the same 20 seconds.

[0088] S330, comparing the actual rotation angle with the preset rotation angle, if the actual rotation angle is less than the first preset angle, or if the actual rotation angle is less than the preset rotation angle and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference, setting the set speed of the autonomous mobile device to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; the target speed is the running speed that the autonomous mobile device is required to reach on the ground in the control instruction; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground; and,

[0089] If the actual rotation angle is greater than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), where α is the preset rotation angle, β is the actual rotation angle, and A is a constant;

[0090] If the actual rotation angle is less than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, where Δ2 is the second preset angle difference; A is a constant;

[0091] Among them, the first preset angle is smaller than the preset rotation angle; the second preset angle is smaller than the first preset angle; and the second preset angle difference is greater than the first preset angle difference.

[0092] Specifically, Figure 3 As shown, if the actual rotation angle β is 320°, the actual rotation angle β is less than the first preset angle θ=330°, which means that the actual rotation angle β is far from the preset rotation angle α=360°. It can be considered that the angle difference is caused by the resistance of the ground material to the autonomous mobile device. In this case, it can be determined that the ground material is a high-resistance material.

[0093] like Figure 5aAs shown, if the actual rotation angle β of the autonomous mobile device is 320°, the actual rotation angle β is less than the preset rotation angle α=360°, and the absolute value of the difference between the actual rotation angle β320° and the preset rotation angle α360° |β–α|=40° is greater than 30° of the first preset angle difference Δ1, indicating that the actual rotation angle β320° is far from the preset rotation angle α360°. It can be considered that the angle difference of 40° between the actual rotation angle β320° and the preset rotation angle α360° is caused by slipping caused by the high-resistance material ground. In this case, it can be determined that the ground material is a high-resistance material.

[0094] Generally speaking, if the autonomous mobile device runs on a high-resistance material surface, such as a long-haired carpet, its motion unit, such as a wheel set, will usually slip, that is, the wheel set will idle due to excessive resistance in some places, thereby causing the preset speed in the control command to be different from its actual travel speed on the ground. It should be noted that in the present invention, the high-resistance material surface refers to the surface material on which the autonomous mobile device will occasionally slip when running, such as a long-haired carpet.

[0095] If the ground material is a high resistance material, set the speed of the autonomous mobile device to: V 设定 =K×V 目标 , K>1. Since autonomous mobile devices usually slip on high-resistance material surfaces, the set speed corresponding to their actual running speed on high-resistance material surfaces should be greater than the set speed corresponding to the same actual running speed on low-resistance material surfaces, so that the actual travel speeds of autonomous mobile devices on different ground materials are basically the same and consistent, thereby ensuring the working efficiency of the autonomous mobile devices.

[0096] If the ground material has been determined to be a high resistance material, the set speed is set to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is the coefficient, and K>1. Specifically, for example, based on the test, K is equal to 1.5, and the speed V is set at this time. 设定 1.5 times the target speed V 目标 , so that the actual travel speed of the autonomous mobile device on the high resistance material ground is V 目标 , which is basically consistent with the actual travel speed of autonomous mobile equipment on low-resistance material surfaces.

[0097] Specifically, the coefficient K can be determined by the following method: For the convenience of description, it is pre-set that: the preset rotation angle is α, the actual rotation angle is β, the first preset angle is θ, the second preset angle is γ, the first preset angle difference is Δ1, and the second preset angle difference is Δ2.

[0098] In the above embodiment where the ground material is determined to be a high resistance material, further, if the actual rotation angle β (for example, 320°) is greater than the second preset angle γ (for example, 300°), Figure 3 or, if the absolute value of the difference between the actual rotation angle β (for example, 320°) and the preset rotation angle α (360°) |β-α| (40°) is greater than the first preset angle difference Δ1 (for example, it can be as follows Figure 5a As shown, Δ1 is the difference between the preset rotation angle α and the first preset angle θ, that is, Δ1 = (α-θ); for example, Figure 5a 30°) and is smaller than the second preset angle difference Δ2 (for example, Figure 5a As shown, Δ2 is the difference between the preset rotation angle α and the second preset angle γ (for example, 300°), that is, Δ2=(α-γ). Figure 5a In this case, as the actual rotation angle β increases, the K value will decrease, and V 设定 With V 目标 The closer. The above constant A can be roughly obtained by testing on a high-resistance material ground. The so-called roughly obtained A value means that on a high-resistance material ground, although the ratio of the set speed to the target speed K value and (α-β) may not be a linear relationship, in order to simplify the calculation, the relationship between the K value and (α-β) can be fitted with a linear relationship, so that a coefficient K that is relatively close to the actual situation can be estimated without a large amount of calculation, so that based on the target speed at which the autonomous mobile device needs to run on the ground, the set speed required for the wheel group to rotate can be estimated relatively easily. Specifically, for example, multiple A values ​​can be measured on different (α-β) ground materials, and their arithmetic mean or weighted average (the weight value can be set based on the sales volume share of different types of carpets in the target market of the autonomous mobile device as the main factor to be considered, or multiple weight values ​​can be determined by market data) or the A value measured on a certain type of carpet is used as the A value substituted into K=A×(α-β). For example, the actual running speed measured on a certain type of carpet is 100mm / s, and the corresponding set speed is 150mm / s. Based on V 设定 =K×V 目标K = 150 ÷ ​​100 = 1.5; (α-β) = 40° is measured during the rotation process, and based on K = A × (α-β), A = 1.5 ÷ 40 = 0.0375 (units omitted). Then the A value is set in the program. In actual operation, when running on a carpet, based on the A value, the difference between the actual rotation angle and the preset rotation angle (α-β), and the target speed that the autonomous mobile device needs to reach (for example, the target speed of the autonomous mobile device on the ground is required to be 250 mm / s during normal operation, and the target speed of the autonomous mobile device on the ground is required to be 150 mm / s during recharging (returning to the charging pile), the set speed can be calculated, and the wheel set is made to reach the set speed through control instructions, so that the autonomous mobile device can reach an actual operating speed (i.e., target speed) on the carpet that is basically consistent with that on the ground of low-resistance materials.

[0099] If the actual rotation angle β is less than the second preset angle γ, Figure 6a As shown, or, if the absolute value of the difference between the actual rotation angle β and the preset rotation angle α |β–α| is greater than the second preset angle difference Δ2, as Figure 6b As shown, K=A×Δ2, where, illustratively, the second preset angle difference Δ2 may be the difference between the preset rotation angle α and the second preset angle γ, that is, Δ2=(α-γ); where A is a constant.

[0100] As can be seen from the figure, the second preset angle γ is smaller than the first preset angle α; the second preset angle difference Δ2 is larger than the first preset angle difference Δ1. As mentioned above, the target speed is the running speed that the autonomous mobile device is required to reach on the ground in the control instruction; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground.

[0101] S340, controlling the autonomous mobile device to operate at a target speed on the ground.

[0102] Figure 8 The present invention shows an identification device 400 for identifying ground material using an autonomous mobile device provided in an embodiment of the present invention. The identification device 400 includes:

[0103] The command module 410 is used to issue a control instruction to the autonomous mobile device, where the control instruction includes instructing the autonomous mobile device to rotate at a preset rotation angle in situ.

[0104] The acquisition module 420 is used to acquire the actual rotation angle of the autonomous mobile device.

[0105] Determination module 430 is used to compare the actual rotation angle with the preset rotation angle. If the actual rotation angle is less than the preset rotation angle and the actual rotation angle is greater than the first preset angle, the ground material is determined to be a low-resistance material; and / or, if the actual rotation angle is less than the first preset angle, the ground material is determined to be a high-resistance material; wherein the first preset angle is less than the preset rotation angle.

[0106] The device for identifying the ground material of the autonomous mobile device in this embodiment determines whether different ground materials have an impact on the running speed of the autonomous mobile device by comparing the actual rotation angle of the autonomous mobile device with the preset rotation angle, and the actual rotation angle with the first preset angle, so that the autonomous mobile device automatically identifies the ground of different materials and executes different functions or working modes based on the ground of different materials, thereby increasing the adaptability and intelligence of the autonomous mobile device to the environment; for example, when it is identified that it is running on a floor of low resistance material, the wet mopping function can be executed, and when it is identified that it is running on a carpet of high resistance material, the carpet area is bypassed or the wet mopping function is stopped and the mopping board is raised; or, when it is identified that the ground on which it is located is a carpet of high resistance material, the working power of the autonomous mobile device is increased and / or a strong working mode is executed, and when it is identified that the ground on which it is located is a carpet of low resistance material, the working power of the autonomous mobile device is maintained and / or the working mode is set to a normal or silent working mode, etc.

[0107] Fig. 9 The invention shows an identification device 500 for identifying ground material using an autonomous mobile device provided in an embodiment of the present invention. The identification device 500 includes:

[0108] The command module 510 is used to issue a control instruction to the autonomous mobile device, where the control instruction includes instructing the autonomous mobile device to rotate at a preset rotation angle in situ.

[0109] The acquisition module 520 is used to acquire the actual rotation angle of the autonomous mobile device.

[0110] Determination module 530 is used to compare the actual rotation angle with the preset rotation angle. If the actual rotation angle is smaller than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than a first preset angle difference, the ground material is determined to be a high-resistance material; and / or, if the actual rotation angle is smaller than the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle is less than the first preset angle difference, the ground material is determined to be a low-resistance material.

[0111] The device for identifying ground materials of the autonomous mobile device in this embodiment determines different ground materials that affect the running speed of the autonomous mobile device by comparing the actual rotation angle of the autonomous mobile device with the preset rotation angle, and the absolute value of the difference between the actual rotation angle and the preset rotation angle with the first preset angle difference.

[0112] In some embodiments, the identification device 400 or the identification device 500 further includes:

[0113] The first control module is used to set the set speed of the autonomous mobile device to: V when the ground material is a high resistance material 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is the coefficient, and K>1; and,

[0114] If the actual rotation angle is greater than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), α is the preset rotation angle, β is the actual rotation angle; A is a constant; or,

[0115] If the actual rotation angle is less than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, where Δ2 is the second preset angle difference; A is a constant;

[0116] Among them, the second preset angle is smaller than the first preset angle; the second preset angle difference is larger than the first preset angle difference; the target speed is the running speed required by the control instruction for the autonomous mobile device to reach on the ground; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground.

[0117] In some embodiments, the identification device 400 or the identification device 500 further includes:

[0118] The second control module is used to increase the working power of the autonomous mobile device and / or set the working mode to a strong working mode after determining that the ground material is a high-resistance material; and / or, after determining that the ground material is a low-resistance material, maintain the working power of the autonomous mobile device and / or set the working mode to a normal or silent working mode.

[0119] Fig.10 The control device 600 for the travel speed of an autonomous mobile device provided by an embodiment of the present invention is shown, and the control device 600 includes:

[0120] The command module 610 is used to issue a control instruction to the autonomous mobile device, wherein the control instruction includes commanding the autonomous mobile device to rotate at a preset rotation angle in situ;

[0121] An acquisition module 620 is used to acquire an actual rotation angle of the autonomous mobile device;

[0122] The first control module 630 is used to compare the actual rotation angle with the preset rotation angle, and if the actual rotation angle is less than the first preset angle, or if the actual rotation angle is less than the preset rotation angle and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference, then set the set speed of the autonomous mobile device to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; the target speed is the running speed that the autonomous mobile device is required to reach on the ground in the control instruction; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground; and,

[0123] If the actual rotation angle is greater than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), where α is the preset rotation angle, β is the actual rotation angle, and A is a constant;

[0124] If the actual rotation angle is less than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, where Δ2 is the second preset angle difference; A is a constant;

[0125] Wherein, the first preset angle is smaller than the preset rotation angle; the second preset angle is smaller than the first preset angle; the second preset angle difference is larger than the first preset angle difference;

[0126] The second control module 640 is used to control the autonomous mobile device to run at a target speed on the ground.

[0127] The control device for the travel speed of the autonomous mobile device in this embodiment sets the set speed of the autonomous mobile device to: V 设定 =K×V 目标, K>1. Since autonomous mobile devices usually slip on high-resistance material surfaces, the set speed corresponding to their actual running speed on high-resistance material surfaces should be greater than the set speed corresponding to the same actual running speed on low-resistance material surfaces, so that the actual travel speeds of autonomous mobile devices on different ground materials are basically the same and consistent, thereby ensuring the working efficiency of the autonomous mobile devices.

[0128] An embodiment of the present invention further provides a storage medium, which is used to store a computer program. When the computer program is executed by a computer or a processor, it is used to implement the above-mentioned identification method 100, identification method 200 or control method 300.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the travel speed of an autonomous mobile device, It is characterized in that The control method comprises: Sending a control instruction to the autonomous mobile device, wherein the control instruction includes commanding the autonomous mobile device to rotate at a preset rotation angle in situ; Acquire an actual rotation angle of the autonomous mobile device; comparing the actual rotation angle with the preset rotation angle, If the actual rotation angle is less than the first preset angle, or if the actual rotation angle is less than the preset rotation angle and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference, the set speed of the autonomous mobile device is set to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; the target speed is the running speed that the autonomous mobile device is required to reach on the ground in the control instruction; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground; and, If the actual rotation angle is greater than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), where α is the preset rotation angle, β is the actual rotation angle, and A is a constant; If the actual rotation angle is less than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, where Δ2 is the second preset angle difference; A is a constant; Wherein, the first preset angle is smaller than the preset rotation angle; the second preset angle is smaller than the first preset angle; the second preset angle difference is larger than the first preset angle difference; The control method further includes: controlling the autonomous mobile device to run on the ground at the target speed.

2. A device for controlling the travel speed of an autonomous mobile device, It is characterized in that The control device comprises: A command module, configured to issue a control instruction to the autonomous mobile device, wherein the control instruction includes commanding the autonomous mobile device to rotate at a preset rotation angle in situ; An acquisition module, used to acquire an actual rotation angle of the autonomous mobile device; The first control module is used to compare the actual rotation angle with the preset rotation angle, and if the actual rotation angle is less than the first preset angle, or if the actual rotation angle is less than the preset rotation angle and the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference, then set the set speed of the autonomous mobile device to: V 设定 =K×V 目标 ; Among them, V 设定 is the set speed; V 目标 is the target speed; K is a coefficient, and K>1; the target speed is the running speed that the autonomous mobile device is required to reach on the ground in the control instruction; the set speed is the speed that the motion unit of the autonomous mobile device is commanded to reach in the control instruction in order to make the autonomous mobile device reach the target speed on the ground; and, If the actual rotation angle is greater than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the first preset angle difference and less than the second preset angle difference, then K=A×(α-β), where α is the preset rotation angle, β is the actual rotation angle, and A is a constant; If the actual rotation angle is less than the second preset angle, or if the absolute value of the difference between the actual rotation angle and the preset rotation angle is greater than the second preset angle difference, then K=A×Δ2, where Δ2 is the second preset angle difference; A is a constant; Wherein, the first preset angle is smaller than the preset rotation angle; the second preset angle is smaller than the first preset angle; the second preset angle difference is larger than the first preset angle difference; The second control module is used to control the autonomous mobile device to run at the target speed on the ground.

3. A storage medium, It is characterized in that The storage medium is used to store a computer program, and when the computer program is executed by a computer or a processor, it is used to implement the method for controlling the travel speed of the autonomous mobile device according to claim 1.

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