Intelligent control method, mobile device and computer readable medium

Abstract

The invention relates to an intelligent control method, a mobile device and a computer readable medium, whether safety operation is triggered or not is determined according to position information and time information of a movable obstacle, the process is low in complexity, and the requirement for the computing power of a self-moving device is small; furthermore, safe operation is determined according to the time and the moving information of the movable obstacle, an animal-friendly working mode under different time and scenes is effectively achieved, the personalized use requirements of the user are met, and the use experience of the user is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent obstacle avoidance, and particularly to an intelligent control method, a movable device and a computer-readable medium. Background Art

[0002] With the popularization of smart home devices, intelligent lawn mowing robots have gradually become an important tool for garden maintenance in European and American families. However, due to ecological protection needs, many European countries have introduced policies to restrict the use of such devices at night. For example, the city of Cologne, Germany, has clearly stipulated that intelligent lawn mowing robots need to disable their automatic functions at night to avoid harming wild animals (such as hedgehogs, birds, etc.). This regulation has led to a surge in the market demand for intelligent lawn mowing robots with animal protection functions, but the existing technologies have not fully met such demands.

[0003] Currently, most intelligent lawn mowing robots on the market rely on time presetting or basic obstacle avoidance functions and lack a dynamic response mechanism for animal protection. The current mainstream products avoid regulatory risks by simply restricting the operating time at night, but their functions are relatively single and their versatility is poor. For example, they only restrict night operations through a time lock and cannot dynamically adjust according to the actual environment, nor can they identify areas with frequent animal activities and actively avoid them. At the same time, the existing technologies lack a simple and effective movable obstacle recognition mechanism.

[0004] In view of this, it is necessary to provide an improved intelligent control solution to overcome the defects of the existing technologies. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technologies, the purpose of the present invention is to provide a simple and effective movable obstacle recognition and intelligent control method applied to self-movable devices.

[0006] The present invention provides an intelligent control method, which is applied to a self-movable device, and the intelligent control method includes:

[0007] Detecting movable obstacle information and triggering a safety operation according to the movable obstacle information; wherein, detecting the movable obstacle information includes: obtaining the first position information and the second position information of the movable obstacle and the time T1 for the movable obstacle to move from the first position to the second position.

[0008] A further improvement solution is that the control method further includes:

[0009] Obtaining the distance D between the movable obstacle and the self-movable device; and triggering a safety operation according to the movable obstacle information and the distance D.

[0010] A further improvement solution is as follows: The movable obstacle information includes: obtaining the attribute information of the movable obstacle, and determining the type of the movable obstacle according to the attribute information. The types of the movable obstacles include temporary movable obstacles and fixed movable obstacles.

[0011] A further improvement solution is as follows: The attribute information of the movable obstacle includes at least one of the identifier of the movable obstacle and the activity area of the movable obstacle.

[0012] A further improvement solution is as follows: The intelligent control method further includes: obtaining the third position information and the fourth position information of the self - moving device, and the time T2 for the self - moving device to move from the third position to the fourth position, where T2 = T1;

[0013] Determine the first position deviation D1 according to the first position information and the third position information;

[0014] Determine the second position deviation D2 according to the second position information and the fourth position information;

[0015] Determine to trigger a safety operation according to the first position deviation D1 and the second position deviation D2.

[0016] A further improvement solution is as follows: The determining to trigger a safety operation according to the first position deviation D1 and the second position deviation D2 includes:

[0017] When D1 is not less than D2, the self - moving device enters a temporary shutdown state;

[0018] When D1 is less than D2, the self - moving device issues a warning message.

[0019] A further improvement solution is as follows: The control method further includes: obtaining the fifth position information of the self - moving device and the sixth position information of the movable obstacle, and determining the third position deviation D3 according to the fifth position information and the sixth position information;

[0020] Determine to trigger a safety operation according to the first position deviation D1, the second position deviation D2 and the third position deviation D3.

[0021] A further improvement solution is as follows: When both the first position deviation D1 and the second position deviation D2 are less than a first preset threshold, trigger a safety operation.

[0022] A further improvement solution is as follows: When the number N of the movable obstacles exceeds a predetermined number, trigger a safety operation.

[0023] A further improvement solution is as follows: Determine the distances Di from N movable obstacles to the self-moving device. When at least one of the distances Di from the N movable obstacles to the self-moving device is less than a preset distance, a safety operation is triggered.

[0024] A further improvement solution is as follows: The self-moving device receives a control instruction from a user terminal and sets a prohibited working area and / or prohibited working time according to the control instruction.

[0025] The present invention also provides a movable device, including a memory and a processor. A computer program that can run on the processor is stored on the memory. When the processor executes the computer program, the method described above is implemented.

[0026] The present invention also provides a computer-readable medium, which has non-volatile program code executable by a processor. The program code causes the processor to execute the method.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention provides a simple and effective method for identifying and intelligently controlling movable obstacles applied to a self-moving device. According to the position information and time information of the movable obstacles, it is determined whether to trigger a safety operation. The above process has low complexity and requires little computing power for the self-moving device; further, the present invention also determines the safety operation through time and the movement information of the movable obstacles, effectively realizing a "pet-friendly" working mode at different times and scenarios, meeting the personalized usage needs of users, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is the method flow of the preferred embodiment of the present invention Figure 1 ;

[0030] Figure 2 is the method flow of the preferred embodiment of the present invention Figure 2 ;

[0031] Figure 3 is the schematic diagram of the device of the preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0033] With the development of self - moving technology, devices with cleaning functions have emerged, greatly facilitating people's daily cleaning. In particular, self - moving devices such as intelligent lawn mowers and floor sweepers have provided great convenience for users' cleaning. However, whether it is indoor cleaning or lawn cleaning, there are movable obstacles such as small animals and balls in the working environment. The existence of movable obstacles not only affects the working efficiency of self - moving devices, but also the self - moving devices may cause damage to the movable obstacles. For this reason, some European countries have even introduced a series of safety regulations, such as prohibiting night operations, to ensure the safety of movable obstacles such as small animals. However, the current solutions are relatively single and have poor versatility, and cannot cope with complex and changeable working environments. At the same time, existing detection solutions mostly require a series of processes. For example, for image recognition, images of movable obstacles need to be collected, and the amount of data required for image processing is large, which requires high computing power for the self - moving device. Therefore, aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a simple and effective method for identifying movable obstacles and intelligent control applied to self - moving devices.

[0034] The present invention provides an intelligent control method, and the control method is applied to a self - moving device, such as Figure 1 as shown, the intelligent control method includes:

[0035] Detecting movable obstacle information and triggering a safety operation according to the movable obstacle information; wherein, detecting the movable obstacle information includes: obtaining the first position information, the second position information of the movable obstacle, and the time T1 for the movable obstacle to move from the first position to the second position.

[0036] The detection of movable obstacle information in the present invention mainly relies on the position information and time information of the movable obstacle, and determines whether to trigger a safety operation through the two. The above - mentioned solution requires a small amount of data and has a low computational complexity, which can effectively relieve the computing power burden of the self - moving device, reduce the risk of downtime, and improve the user experience.

[0037] In a specific embodiment: the intelligent control method further includes: obtaining the third position information and the fourth position information of the self - moving device, and the time T2 for the self - moving device to move from the third position to the fourth position, wherein, T2 = T1;

[0038] Determining a first position deviation D1 according to the first position information and the third position information;

[0039] Determining a second position deviation D2 according to the second position information and the fourth position information;

[0040] Determining to trigger a safety operation according to the first position deviation D1 and the second position deviation D2.

[0041] Among them, the acquisition times of the first position information and the third position information are the same, and the acquisition times of the second position information and the fourth position information are the same; according to the above first position deviation D1 and the second position deviation D2, the distance change between the self-moving device and the self-moving obstacle can be determined, and the safe operation can be determined according to the distance change.

[0042] In a further embodiment, the determining to trigger a safe operation according to the first position deviation D1 and the second position deviation D2 includes:

[0043] When D1 is not less than D2, the self-moving device enters a temporary shutdown state; wherein, entering the temporary shutdown state means that when the self-moving device detects the above conditions, it directly shuts down and works after the conditions are lifted or a new instruction from the user is received.

[0044] When D1 is less than D2, the self-moving device issues a warning message.

[0045] When the distance between the self-moving device and the movable obstacle is gradually increasing, it indicates that the possibility of collision between the two is decreasing, but there is still a possibility of collision. At this time, a warning message is issued; on the contrary, it indicates that the distance between the self-moving device and the self-moving obstacle is decreasing, and the possibility of collision is increasing, and the self-moving device enters a temporary shutdown state. In a further alternative embodiment, when both the first position deviation D1 and the second position deviation D2 are less than a first preset threshold, a safe operation is triggered. When it is determined through the position deviation that the distance between the self-moving device and the movable obstacle continuously is less than a certain value, at this time, the self-moving device enters a temporary shutdown state.

[0046] In a further embodiment, the control method further includes: when D1 is greater than D2, according to the first position information and the second position information of the movable obstacle and the time T1 for the movable obstacle to move from the first position to the second position, the moving speed V1 of the movable obstacle is determined. When the moving speed V1 is greater than a preset speed value, a safe operation is triggered, and the safe operation includes entering an emergency stop state; on the contrary, the self-moving device issues a warning message. When it is detected that the movable obstacle is moving fast and the distance from the self-moving device is decreasing, enter the emergency stop state, that is, the self-moving device performs an emergency shutdown to prevent a collision. Among them, entering the emergency stop state means that the self-moving device stops after retreating a preset distance. Thus, in a crisis situation, the self-moving device first retreats to increase the distance from the movable obstacle, then stops working, and notifies the user terminal.

[0047] In a further embodiment, the control method further includes: obtaining fifth position information of the self-moving device and sixth position information of the movable obstacle, determining a third position deviation D3 according to the fifth position information and the sixth position information; determining a trigger for a safety operation according to the first position deviation D1, the second position deviation D2, and the third position deviation D3. The acquisition times of the fifth position information and the sixth position information are the same; wherein, the time for the self-moving device to move from the fourth position to the fifth position is T3, and / or the time for the movable obstacle to move from the second position to the sixth position is T3, where T3 = a * T1, and a is a value between 0.5 and 1, preferably 0.5, 0.6, 0.7, 0.8, 0.9, 1; that is, the time interval for acquiring the position information for the third time is less than or equal to the time intervals for acquiring the positions in the previous two times. By adjusting the time interval, the accuracy of deviation confirmation can be improved. Especially for the case where the deviation continuously becomes smaller, the moving trend of the movable obstacle can be significantly improved, and the collision probability can be reduced.

[0048] When the distance between the self-moving device and the movable obstacle can be determined by continuously determining the distance, the distance change fluctuation between the self-moving device and the movable obstacle can be determined. When the distance continuously becomes smaller, the self-moving device enters a temporary stop state and / or performs a bypass operation (an action to automatically avoid the area) and / or an emergency stop state; wherein, the specific implementation of the bypass operation is that the self-moving device retreats a certain distance so that the distance between the self-moving device and the movable obstacle is greater than a preset value, and then the self-moving device bypasses the activity area and continues to work; when the distance continuously becomes larger, it indicates that the probability of collision between the two is getting smaller, then the self-moving device operates normally and / or issues a warning message; when the distance changes greatly and fluctuates, if the third position deviation D3 is greater than the first position deviation D1, the self-moving device issues a warning message; otherwise, it enters a temporary stop state. In a further embodiment, the first position deviation, the second position deviation, and the third position deviation are the distances between two positions of the self-moving device and / or the movable device.

[0049] In a preferred embodiment, the control method further includes: obtaining the distance D between the movable obstacle and the self-moving device according to the position information of the movable obstacle and the self-moving device; triggering a safety operation according to the movable obstacle information and the distance D.

[0050] The distance between the movable obstacle and the self-moving device can be determined through the position information of the movable obstacle; based on this, it can be identified whether the movable obstacle is within the working area. For example, it can be judged whether the movable obstacle is far from the self-moving device or close to the self-moving device. Different safety operations can be set based on different distances.

[0051] To identify movable obstacles more quickly, the movable obstacle information involved in the above method may further include: obtaining the attribute information of the movable obstacle, and determining the type of the movable obstacle according to the attribute information. The types of the movable obstacles include temporary movable obstacles and fixed movable obstacles. The attribute information of the movable obstacle includes at least one of the identifier of the movable obstacle and the activity area of the movable obstacle.

[0052] The present invention classifies movable obstacles, adds attribute information to fixed movable obstacles in the working area, such as setting identification modules such as radio frequency tags on the fixed movable obstacles. When the self - moving device detects the identification module, it can determine that the type of the obstacle is a fixed movable obstacle. For fixed movable obstacles, the user can set a fixed safety operation mode, such as reminding the fixed movable obstacle to perform an evasion operation through a warning sound, etc. Further, the activity area of the fixed movable obstacle can add area tags on the map when establishing the working map or after establishing the working map, so that when the self - moving device works in the activity area, it can directly enter the set safety operation mode, thereby reducing the recognition of the working scenario of the self - moving device and the recognition process of the movable obstacle, and improving work efficiency. In a specific embodiment, the user can set a tag for their pet for identification and / or mark the activity area of their pet on the map. When the self - moving device determines that it has entered the activity area of the fixed movable obstacle, that is, the pet, through the pet tag or the map mark, the self - moving device directly enters the safety operation mode set by the user. The safety operation mode can be to emit a voice warning while working to prompt the pet to evade; among them, the user can train their pet in advance so that it can automatically evade when hearing the corresponding voice. Through the above method, not only can the work of the self - moving device be more friendly to animals, but also the user experience can be improved.

[0053] In the present invention, the self - moving device can also detect the type of the movable obstacle. The movable obstacle that appears in the working area of the self - moving device may enter temporarily from the outside or may be fixedly active in the working area. For example, a pet at home is fixedly active in a certain area of the working area, and other small animals may break into the working area. In order to facilitate the distinction of movable obstacles and formulate targeted safety operations for the self - moving device, that is, the self - moving device identifies the type of the movable obstacle and determines the safety operation according to the type of the movable obstacle. Among them, the types of the movable obstacles include temporarily movable obstacles and fixedly movable obstacles. If the movable obstacle has a pre - set label, then the movable obstacle is a fixed obstacle; if there is no pre - set label, then the movable obstacle is a temporarily movable obstacle.

[0054] When the movable obstacle is a temporarily movable obstacle, determine the distance from the self - moving device to the movable obstacle. When the distance is greater than a preset value, the movable device issues a warning message and / or enters a shutdown state and / or operates normally; when the distance is not greater than the preset value, the movable obstacle enters a temporary shutdown state.

[0055] During the process of the self - moving device continuing to work, it continuously detects the distance. When the distance is not greater than the preset value, the movable obstacle enters a temporary shutdown state. Since the distance between the self - moving device and the movable obstacle is relatively close at this time, the movable obstacle stops moving to allow the movable obstacle to pass. In a preferred embodiment, when the movable obstacle enters the temporary shutdown state, it emits a sound and / or a light warning to remind the movable obstacle. In a further embodiment, when the number of times the self - moving device enters the temporary shutdown state exceeds a preset value within a preset duration, such as entering the temporary shutdown state 3 times in half an hour, etc., which can be specifically adjusted according to actual needs, then the self - moving device enters a shutdown state. Among them, the entering of the shutdown state includes: returning to the charging pile or docking at a temporary docking point.

[0056] When the movable obstacle is a fixed movable obstacle, determine the distance from the self - moving device to the movable obstacle. When the distance is greater than a preset value, the self - moving device issues a warning message; when the distance is not greater than the preset value, the movable obstacle enters a temporary shutdown state. For a fixed movable obstacle, since its activity area is relatively fixed, when the self - moving device operates within the activity area of the fixed movable obstacle, the fixed movable obstacle will not disappear. Therefore, the self - moving device needs to keep working while ensuring not to collide with the movable obstacle. For this purpose, when the distance is greater than the preset value, the self - moving device sends a warning message to remind the movable obstacle. When the distance is close, it enters a temporary shutdown state and continuously detects the distance. When the distance meets the preset condition, that is, is greater than the preset value, the self - moving device starts working again. When the distance between the movable obstacle and the self - moving device is always less than the preset value within a continuous time period, the self - moving device performs a bypass operation, which specifically includes: the self - moving device retreats a certain distance so that the distance between the self - moving device and the movable obstacle is greater than the preset value, and then the self - moving device bypasses the activity area and continues to work; in an alternative embodiment, the self - moving device can also send a warning message to the user so as to perform operations according to the user's feedback information. This ensures the operational safety of the movable device.

[0057] In a further embodiment, due to the uncertainty of the number of movable obstacles in the working area, to ensure the normal operation of the self - moving device, the control method further includes: when the number N of movable obstacles exceeds a predetermined number, a safety operation is triggered. When the self - moving device detects multiple movable obstacles in the area, such as multiple small animals, a safety operation is triggered. The safety operation is preferably to issue a warning message. In a further embodiment, determine the distances Di from the N movable obstacles to the self - moving device. When at least one of the distances Di from the N movable obstacles to the self - moving device is less than a preset distance, a safety operation is triggered. For the case where there are multiple movable obstacles, that is, multiple small animals exist simultaneously, when the distance of the closest small animal to the self - moving device is less than the set safety distance, that is, the preset distance, a safety operation is triggered. Due to the complexity of this scenario, the safety operation is preferably to enter a temporary shutdown state or a shutdown state.

[0058] In the present invention, the self - moving device has an interaction function with the user terminal, and the self - moving device can execute corresponding functions according to the instructions of the user terminal. The self - moving device can upload its own status data, warning information, etc. to the user terminal so that the user can timely understand the status of the self - moving device. In the solution of the present invention, the self - moving device receives the control instructions of the user terminal and sets a prohibited working area and / or a prohibited working time according to the control instructions. Since the working area of the self - moving device may be temporarily occupied by the user, the user is allowed to set a temporary prohibited working area and a prohibited working time. The self - moving device is prohibited from passing and / or working within the prohibited working area and the prohibited working time. When the self - moving device enters the prohibited working area and / or the prohibited working time, the self - moving device enters a shutdown or temporary shutdown state; in an alternative embodiment, the self - moving device automatically bypasses the prohibited working area and continues to work; or works in the re - entry area during non - prohibited working hours. Through the above - mentioned method, the work coordination of the self - moving device can be improved, and the user experience can be enhanced.

[0059] In a further embodiment, the present invention further includes, after recognizing the moving trend of the movable obstacle based on the position and time information of the movable obstacle, the above - mentioned method further includes safety control based on time management and movable obstacle information; as Figure 2 shown, specifically including: the detection of movable obstacle information includes: obtaining the operation mode of the self - moving device and the detection information of the self - moving device;

[0060] The triggering of the safety operation according to the movable obstacle information includes: triggering a safety operation corresponding to the operation mode in response to the detection information of the self-moving device satisfying the safety triggering condition; wherein, the detection information of the self-moving device includes the running time of the self-moving device and / or movable obstacle information; the safety triggering condition includes: the running time satisfying the restricted travel time and / or detecting movable obstacle information; wherein, the restricted travel time allows for custom setting. The restricted travel time refers to the time when it is not recommended for the self-moving device to operate, that is, generally the self-moving device is not allowed to operate. This time refers to a time period, such as from 6:30 pm to 6:00 am the next day, dinner time: 10:00 - 14:00, etc. The above time periods can be a fixed cycle or a temporarily arranged time, and users can set them through the mobile phone APP and / or the operation interface of the self-moving device. In a further embodiment, after the self-moving device receives a forced operation instruction from the user, that is, when the user determines that there are no movable obstacles in the working environment or that no damage will be caused to the movable obstacles during operation, the self-moving device can operate within the restricted travel time. In an even further embodiment, when the self-moving device receives an instruction to operate within the restricted travel time, it feeds back a running confirmation message to the user to inform the user that it is currently within the restricted travel time and requests the user to confirm whether to operate; after the self-moving device receives an instruction to confirm operation, the self-moving device starts to operate, thereby avoiding inappropriate startups caused by user misoperations and preventing potential safety hazards to movable obstacles. Among them, the step of determining that the running time satisfies the restricted travel time can be before or after the step of detecting movable obstacle information, thereby meeting personalized detection settings and improving the control efficiency of the self-moving device.

[0061] The further solution of the present invention also considers determining whether to trigger a safety operation based on the information of the movable obstacle. In a further embodiment, the information of the movable obstacle may include one or more combinations of the position of the movable obstacle, the distance to the self-moving device, the moving direction, the moving speed, the fixed activity area, the identifier of the movable obstacle, etc. Based on the above information, such as the position of the movable obstacle and / or the distance to the self-moving device, it can be determined whether to trigger safety operations such as emergency stop; according to the moving direction and / or moving speed of the movable obstacle, it can be used to evaluate the probability of collision, that is, the probability that the self-moving device causes damage to the movable obstacle, so as to trigger safety operations such as early warning and temporary shutdown; according to the fixed activity area and / or identifier of the movable obstacle, it can be determined whether the movable obstacle is a temporarily appearing movable obstacle. If it is not a temporarily appearing movable obstacle, the self-moving device can judge the fixed activity area of the movable obstacle to determine whether it is necessary to bypass the fixed activity area for work, that is, set the fixed activity area as a fixed prohibited work area or a temporary prohibited work area. When set as a fixed prohibited work area, the self-moving device will automatically avoid this area during operation until the fixed prohibited work area is cancelled; if it is a temporary prohibited work area, the self-moving device will avoid this area during the current work process; in addition to the above examples, it can also be combined according to the scenario of the movable obstacle to determine safety operations such as early warning, temporary stop, emergency stop, and bypassing the area for work based on multiple information of the movable obstacle.

[0062] In order to cope with the complex and changeable working environment, the prohibited restriction time and the stationary working area involved in the present invention can be adjusted or reset by the user. This improves the flexibility of the solution; further, in the solution of the present invention, within the prohibited restriction time, if a forced instruction from the user is received, that is, when it is ensured that there is no safety hazard, the self-moving device can continue to operate within the prohibited restriction time. Thus, while being friendly to animals, the user experience is improved. Further, in the friendly solution, the scenario information of the movable obstacle can also be determined according to the information of the movable obstacle, so as to adopt appropriate safety operations, thereby improving the flexibility of the work of the self-moving device and effectively enhancing the user experience.

[0063] In a preferred embodiment of the present invention, the response to the detection information of the self-moving device satisfying the safety trigger condition and triggering the safety operation corresponding to the operation mode includes:

[0064] When the operating time of the self - moving device meets the restricted operation time and the operating mode of the self - moving device indicates that the self - moving device is working, the safety operation includes entering a shutdown state; wherein, entering the shutdown state includes: returning to the charging pile or docking at a temporary docking point.

[0065] The self - moving device, such as an intelligent lawn mower, starts working according to the work task and detects time during the work process. When it detects that the current operating time enters the prohibited restricted time and the lawn mower is in the working state. For example, if the intelligent lawn mower is required not to work after 18:30, and when the time reaches 18:30 and the intelligent lawn mower has not completed the work task yet, in order to meet the requirements of the prohibited restricted time, the intelligent lawn mower needs to stop working; in this scenario, to prevent the intelligent lawn mower from damaging the grass when parked on the lawn, the intelligent lawn mower needs to be parked in a grass - safe area, such as a charging pile or a set temporary docking point. In a preferred embodiment, when the intelligent lawn mower enters the shutdown state, it plans a path to the nearest docking point, and the docking point can be a temporary docking point or a charging pile. In a further embodiment, when the intelligent lawn mower enters the shutdown state, the intelligent lawn mower determines the remaining power. When the remaining power is lower than the recharge threshold, the intelligent lawn mower performs the operation of returning to the charging pile and then returns to the charging pile for charging; otherwise, it means that the intelligent lawn mower has sufficient power, and it selects the nearest docking point to dock. In an alternative embodiment, the intelligent lawn mower evaluates the power Q1 required for the remaining workload and determines the current remaining power Q2 of the intelligent lawn mower. When Q2>Q1 + N, the intelligent lawn mower can meet the next work task, and it selects the nearest docking point to dock; otherwise, when the condition Q2>Q1 + N is not met, the intelligent lawn mower performs the operation of returning to the charging pile for charging; wherein, N is a redundant power value, which is a value greater than or equal to 0. Preferably, the value of N exceeds the power value required for the intelligent lawn mower to standby for 12 hours. Wherein, the temporary docking point refers to an area set around the lawn area where the intelligent lawn mower is allowed to dock. In a preferred embodiment, to facilitate the intelligent lawn mower to enter the lawn area for cutting, multiple lawn entry points are set around the lawn. To reduce the number of surrounding temporary entry points / temporary docking points, the temporary docking point and the lawn entry point are set as one point, thereby reducing the complexity of setting temporary docking points for the intelligent lawn mower.

[0066] In a preferred embodiment, the control method further includes: obtaining the expiration time of the restricted operation time. When the expiration time is less than a preset duration, the entering the shutdown state instructs the self - moving device to dock at a temporary docking point. Since the length of the restricted operation time is set by the user, it can be the time from after sunset to before sunrise the next day, or a certain period during the day. For example, when the user arranges activities such as a party on the lawn in the afternoon of a certain day, the time period such as 14:00 - 15:30 is set as the restricted operation time. Since the restricted operation time is short, when the running time of the intelligent lawn mower meets the restricted operation time, obtain the expiration time of the restricted operation time, and enter the shutdown state when the expiration time is less than the preset duration, where the preset duration can be set according to actual needs, such as a value between 0 - 3H.

[0067] In a further embodiment, when the safety operation is to return to the charging pile, the intelligent control method further includes: the self - moving device records the current position information, and takes the current position as the starting point for the next work, so that the intelligent lawn mower can perform continuous mowing from the breakpoint. In a further embodiment, the self - moving device also records the path to return to the charging pile, so that when starting work next time, it walks along the path to return to the charging pile to the starting point, so as to reduce the complexity of the path planning of the intelligent lawn mower.

[0068] In a preferred embodiment of the present invention, the triggering of the safety operation corresponding to the operation mode in response to the detection information of the self - moving device meeting the safety trigger condition includes:

[0069] When the running time of the self - moving device meets the restricted operation time and the information of a movable obstacle is detected, the self - moving device estimates the traveling route of the movable obstacle according to the information of the movable obstacle, and plans a moving route according to the traveling route of the movable obstacle, where the moving route does not coincide with the traveling route of the movable obstacle.

[0070] In the present invention, a no-go restriction time is set to restrict the operation of the self-mobile device, thereby improving friendliness to animals. However, in special scenarios, it is necessary for the self-mobile device to work within the no-go restriction time. For example, due to a party requirement the next morning, the lawn needs to be cut in advance. But by the no-go restriction time, the lawn cutting is not yet complete. At this time, under the forced operation of the user, the self-mobile device is allowed to continue working within the no-go restriction time. At this time, if a movable obstacle is detected, the self-mobile device needs to determine the travel route based on the information of the movable obstacle, so that the movement route of the self-mobile device does not coincide with the travel route of the obstacle, that is, the self-mobile device will not collide with the movable obstacle. In a further embodiment, the self-mobile device estimates the travel route of the movable obstacle based on the information of the movable obstacle. Planning the movement route according to the travel route of the movable obstacle includes:

[0071] Determine the distance between the movable obstacle and the self-mobile device according to the information of the movable obstacle. When the distance is greater than a preset value, the self-mobile device enters the shutdown state detection and issues a warning message; when the distance is not greater than the preset value, the movable obstacle enters the temporary shutdown state.

[0072] Among them, the self-mobile device entering the shutdown state detection specifically includes: the self-mobile device continues to work according to the original mode and continues to detect the distance between the movable obstacle and the self-mobile device. In a further embodiment, the self-mobile device detects the distance between the movable obstacle and the self-mobile device at a high frequency. Exemplarily, when no information of the movable obstacle is detected, it is detected at a fixed period, and this period can be 1 s, 2 s, etc., and specifically can be adjusted and set according to the area size, detection accuracy, etc. When the movable obstacle enters the detection range of the self-mobile device but the distance is far, that is, the distance is greater than the preset value, the detection period is reduced. For example, the distance can be detected by selecting 0.1-1 times of the above fixed period. Further preferably, 0.1, 0.3, 0.4, 0.5, etc. can be selected. Among them, the detection period can also be a value that changes with time, thereby being able to more effectively reduce the probability of collision between the self-mobile device and the movable obstacle.

[0073] During the continuous operation of the self - moving device, distance detection is continuously carried out. When the distance is not greater than the preset value, the movable obstacle enters the temporary shutdown state; since the distance between the self - moving device and the movable obstacle is relatively close at this time, the movable obstacle stops moving to allow the self - moving device to pass. In a preferred embodiment, when the movable obstacle enters the temporary shutdown state, a sound and / or light warning is issued to remind the movable obstacle. In a further embodiment, when the number of times the self - moving device enters the temporary shutdown state exceeds the preset value within a preset duration, such as 3 times of temporary shutdown in half an hour, etc., which can be specifically adjusted according to actual needs, the self - moving device enters the shutdown state, where entering the shutdown state includes: returning to the charging pile or docking at a temporary docking point.

[0074] After the self - moving device enters the temporary shutdown state, the self - moving device continues to detect the distance between the self - moving device and the movable obstacle. When the detected distance to the obstacle is greater than the preset value or there is no obstacle, it starts working again.

[0075] In the present invention, the operation mode of the self - moving device can be any operation mode supported by the self - moving device. Due to the configuration differences of different self - moving devices, the operation modes include: executing a cycle plan, edge cutting, partition cutting, preset pattern cutting, global cutting, etc., one or more of them; in order to be friendly to animals and prevent abnormal collisions between the self - moving device and the movable obstacle, the safety operations include but are not limited to: entering the shutdown state, entering the temporary shutdown state, normal operation, planning obstacle avoidance, emergency stop state, etc., one or more of them. For different scenarios, the self - moving device can have different safety operation methods, where the preset value corresponding to the distance can be the same or different in different scenarios and can be personalized according to actual needs. An exemplary safety operation method is shown in the table.

[0076]

[0077] Through the above method, the present invention effectively avoids the intelligent lawn mower from accidentally cutting small animals and causing unnecessary harm. At the same time, for the small animals recognized by the machine, the user can be prompted through the APP. Whether it is a pet at home or a stray animal, the owner can also know the location where the animal is found. If the small animal appears in a place where it should not be, the owner can take some intervention measures. In order not to work during the restricted time, such as not performing cutting tasks at night, the present invention obtains the specific location of the self-moving device; obtains the local sunset time according to the location information; according to the sunset time, the machine is not allowed to perform cutting tasks starting from 30 minutes before sunset. Generally speaking, 30 minutes before sunset and 30 minutes after sunrise the next day are the default times of the system. The user can modify the two default times through the APP, but in the morning it cannot be earlier than 30 minutes after sunrise, and in the evening it cannot be later than 30 minutes before sunset.

[0078] At the same time, in order to improve the user experience, the present invention also comprehensively considers the information of movable obstacles to prevent the singularity of time control. By combining the information of movable obstacles, the movable device can work according to the user's needs, thus enhancing the user experience.

[0079] In a further aspect of the present invention, after the self-moving device recognizes a small animal, it can also capture a frame of the image and upload it to the cloud, and then transmit it to the user terminal through the cloud, or transmit it to the user terminal through the home network. The user terminal displays the image of the small animal and its position relationship with the self-moving device through the APP, thereby realizing the function of informing the user of the recognized small animal, so that the user can feedback the corresponding operation instructions. In order to further improve the controllability of the self-moving device and enhance the friendliness of the self-moving device to the movable obstacles, the method further includes: sending the detection information to the user terminal and receiving the control information feedback by the user terminal;

[0080] The response and the detection information of the self - moving device meet the security trigger condition. Triggering the security operation corresponding to the operation mode further includes: performing a security operation according to the control information. Among them, the security operation includes forced shutdown, that is, when the self - moving device receives a forced shutdown instruction from the user, the self - moving device performs a forced shutdown operation. For example, when the user terminal receives the detection information from the self - moving device, the user determines the positional relationship between the self - moving device and the movable obstacle according to the detection information, or the positional relationship within a certain time period. For example, if the distance between the self - moving device and the movable obstacle is always less than a preset value within 15 minutes, the user determines whether to perform a forced shutdown or a forced return to the charging pile according to the above information. The specific operation method can be personalized by the user to ensure friendliness to the movable obstacle, such as small animals. In a further embodiment, for the forced shutdown operation, the self - moving device will feedback a confirmation instruction to the user. The user performs a confirmation operation according to the confirmation instruction, and the self - moving device performs a forced shutdown according to the user's confirmation operation. The user's re - confirmation can prevent shutdown caused by the user's accidental touch and improve the accuracy of the user's instruction.

[0081] In a further embodiment, when the user is not at home, the self - moving device can use sensors such as a visual camera or a radar to scan the information of the working area to obtain spatial environment information and feedback it to the user terminal, so that when the user determines that the environment is safe, the user can remotely control the self - moving device to work, which can further improve the working safety of the self - moving device.

[0082] The present invention also provides a self - moving device, which implements the control method as described above, so as to be able to achieve automatic obstacle avoidance when encountering movable obstacles such as small animals, such as Figure 3As shown, the mobile device includes a robot body, a sensor module, and a control module. The sensor module may include an infrared sensor, an image sensor (camera), a 3D lidar, a millimeter-wave radar, and a microphone array. The control module is integrated with a processor that runs various sensor information fusion algorithms, comprehensively utilizes various sensor information such as images and infrared rays, and improves the accuracy of small animal detection. At the same time, the control module can also predict the future movement direction of small animals based on their historical trajectories and plan an obstacle avoidance path in advance. The system also includes a communication module, which uses communication modules such as 4G and 5G for data interaction with the cloud / remote control center, uploads the small animal position information to the user terminal, and receives the instructions issued by the user terminal. In a specific embodiment, the control module is also integrated with a positioning and navigation module such as Beidou / GPS to obtain the real-time position and attitude information of the robot body and perform path planning in combination with the small animal position information. As shown in Table 2, the objects and attributes detected by different sensors are listed exemplarily, and the user can configure the self-mobile device according to actual needs.

[0083] Table 2

[0084]

[0085] The present invention also provides a mobile device, including a memory and a processor. A computer program that can run on the processor is stored on the memory. When the processor executes the computer program, the above method is implemented.

[0086] The present invention also provides a computer-readable medium, which has non-volatile program code executable by a processor, and the program code enables the processor to execute the above method.

[0087] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the foregoing method embodiments. Various preset values or preset duration and other similar threshold concepts involved in the present invention can be set according to actual needs and will not be elaborated herein.

[0088] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0089] Finally, it should be noted that: the above-mentioned embodiments are only specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments or easily conceive of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An intelligent control method, characterized in that, The described control method is applied to a self - moving device. The intelligent control method includes: Detecting information of a movable obstacle and triggering a safety operation according to the information of the movable obstacle. Among them, detecting the information of the movable obstacle includes: obtaining the first position information, the second position information of the movable obstacle, and the time T1 for the movable obstacle to move from the first position to the second position.

2. The control method according to claim 1, wherein The control method further includes: Obtaining the distance D between the movable obstacle and the self - moving device; triggering a safety operation according to the information of the movable obstacle and the distance D.

3. The control method according to claim 1, wherein The information of the movable obstacle includes: obtaining the attribute information of the movable obstacle and determining the type of the movable obstacle according to the attribute information. The types of the movable obstacle include a temporary movable obstacle and a fixed movable obstacle.

4. The control method according to claim 3, characterized in that The attribute information of the movable obstacle includes at least one of the identifier of the movable obstacle and the activity area of the movable obstacle.

5. The control method according to claim 1, wherein The intelligent control method further includes: obtaining the third position information and the fourth position information of the self - moving device, and the time T2 for the self - moving device to move from the third position to the fourth position, where T2 = T1; Determining a first position deviation D1 according to the first position information and the third position information; Determining a second position deviation D2 according to the second position information and the fourth position information; Determining to trigger a safety operation according to the first position deviation D1 and the second position deviation D2.

6. The control method according to claim 5, wherein The determining to trigger a safety operation according to the first position deviation D1 and the second position deviation D2 includes: When D1 is not less than D2, the self - moving device enters a temporary shutdown state; When D1 is less than D2, the self - moving device issues a warning message.

7. The control method according to claim 5, characterized in that The control method further includes: obtaining the fifth position information of the self - moving device and the sixth position information of the movable obstacle, and determining a third position deviation D3 according to the fifth position information and the sixth position information; Determining to trigger a safety operation according to the first position deviation D1, the second position deviation D2, and the third position deviation D3.

8. The control method according to claim 5, characterized in that, When both the first position deviation D1 and the second position deviation D2 are less than a first preset threshold, trigger a safety operation.

9. The control method according to claim 1, characterized in that When the number N of the movable obstacles exceeds a predetermined number, trigger a safety operation.

10. The control method according to claim 9, characterized in that Determining the distances Di from the N movable obstacles to the self - moving device. When at least one of the distances Di from the N movable obstacles to the self - moving device is less than a preset distance, trigger a safety operation.

11. The control method according to any one of claims 1-10, characterized in that, The self - moving device receives a control instruction from a user terminal and sets a prohibited working area and / or a prohibited working time according to the control instruction.

12. A mobile device, comprising a memory and a processor, where a computer program that can run on the processor is stored on the memory, and is characterized in that, When the processor executes the computer program, it implements the method described in any one of claims 1 - 11 above.

13. A computer-readable medium having non-volatile program code executable by a processor, characterized in that, The program code causes the processor to execute the method described in any one of claims 1 - 11.

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