Control method, self-moving device and storage medium

Abstract

The invention provides a control method, self-moving equipment and a storage medium, and the control method comprises the steps: detecting equipment in a protection range in a process of executing a job task; and under the condition that the self-moving equipment is in the first protection mode, if first terminal equipment is detected, stopping executing the job task. According to the method, the safety protection efficiency of the self-moving equipment in the operation process can be improved, and damage is avoided.

Description

Technical Field

[0001] This application relates to the field of self - moving devices, and particularly to a control method, a self - moving device, and a storage medium. Background Art

[0002] A self - moving device is a device that can control its own movement and work, such as a lawn mowing robot. The lawn mowing robot can automatically mow grass according to a pre - set weeding plan. However, during operation, the high - speed rotating blades in the lawn mowing robot pose serious safety hazards. Especially when a child enters the weeding area, it may cause physical contact injuries due to obstacle avoidance failure, etc. Related safety protection schemes rely on a vision recognition system via a network to trigger shutdown protection by detecting people in real - time. However, the vision recognition system may cause obstacle avoidance failure due to environmental interference or insufficient algorithm generalization ability, increasing the risk of physical contact and unable to meet the real - time obstacle avoidance requirements, resulting in low safety protection efficiency. Summary of the Invention

[0003] Embodiments of this application disclose a control method, a self - moving device, and a storage medium, which solve the technical problem of low safety protection efficiency caused by current self - moving devices.

[0004] This application provides a control method applied to a self - moving device. The method includes: detecting devices within the protection range during the execution of an operation task; and stopping the execution of the operation task if a first terminal device is detected when the self - moving device is in the first protection mode.

[0005] In some embodiments of this application, the method further includes: stopping the execution of the operation task if the first terminal device is detected and the second terminal device is not detected when the self - moving device is in the second protection mode, where the first terminal device is associated with a preset protected object, and the second terminal device is a preset control device.

[0006] In some embodiments of this application, the method further includes: broadcasting a Bluetooth signal based on a preset transmission frequency; receiving a response signal to the Bluetooth signal, where the response signal includes the Bluetooth address of the device that sends the response signal; and if the Bluetooth address matches a first preset address, determining that the device that sends the response signal is the first terminal device, and then stopping the execution of the operation task.

[0007] In some embodiments of this application, after stopping the execution of the operation task, the method further includes: if the Bluetooth address matches a second preset address corresponding to a second terminal device, determining that the second terminal device enters the protection range, and then continuing to execute the operation task; or if a restart instruction sent by the second terminal device is received, continuing to execute the operation task.

[0008] In some embodiments of the present application, if a restart instruction sent by the second terminal device is received and the operation task is continued, it includes: when the restart instruction is received and the self - moving device is in the first protection mode, output a prompt message to prompt the user to turn off the first protection mode; in response to the mode - off instruction sent by the second terminal device, turn off the first protection mode and continue to execute the operation task.

[0009] In some embodiments of the present application, the method further includes: in response to a mode - on instruction sent by the second terminal device, controlling the self - moving device to enter the first protection mode.

[0010] In some embodiments of the present application, the method further includes: when the self - moving device is in the non - protection mode and reaches a preset time, controlling the self - moving device to enter the first protection mode, and the non - protection mode includes a second protection mode.

[0011] In some embodiments of the present application, detecting the devices within the protection range includes: based on the received position signal, determining the devices located within the protection range; obtaining the device information of the devices located within the protection range; if the device information matches the first preset information, determining that the device located within the protection range is the first terminal device; if the device information matches the second preset information, determining that the device located within the protection range is the second terminal device.

[0012] The present application also provides a self - moving device, which includes a processor and a memory. When the processor executes the computer program stored in the memory, the control method described above is implemented.

[0013] The present application also provides a computer - readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the control method described above is implemented.

[0014] In the control method provided by the present application, during the process of the self - moving device executing an operation task, it detects the devices within the protection range, improving the safety within the protection range. When the self - moving device is in the first protection mode, if the first terminal device is detected, stopping the execution of the operation task can effectively avoid harm to the target object carrying the first terminal device. To a certain extent, it improves the equipment maintenance efficiency of the self - moving device and avoids the situation of equipment damage. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the application scenario of the control method provided by the embodiments of the present application.

[0016] Figure 2 It is a flowchart of the control method provided by an embodiment of the present application.

[0017] Figure 3 It is a schematic diagram of the protection scope provided by an embodiment of the present application.

[0018] Figure 4 It is a flowchart of the control method provided by another embodiment of the present application.

[0019] Figure 5 It is a flowchart of the control method provided by another embodiment of the present application.

[0020] Figure 6 It is a flowchart for detecting devices within the protection scope provided by an embodiment of the present application.

[0021] Figure 7 It is a schematic diagram of the structure of the self - moving device provided by an embodiment of the present application. Detailed implementation manners

[0022] For the convenience of understanding, some descriptions of concepts related to the embodiments of the present application are exemplarily given for reference.

[0023] It should be noted that, in the present application, "at least one" means one or more, and "a plurality" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0024] A self - moving device is a device that can control its own movement and work autonomously, such as a lawn mowing robot. The user can preset the weeding plan of the lawn mowing robot, and the weeding plan can include the time of mowing, the area to be mowed, etc. The lawn mowing robot can automatically execute the weeding operation according to the weeding plan. For example, it can automatically move to the designated mowing area at a fixed time every day to start mowing. Since the lawn mowing robot is equipped with a high - speed rotating blade, there are serious safety hazards during the mowing process. When a child enters the weeding area, due to the low risk awareness of the child or the malfunction problems of the lawn mowing robot itself, physical contact injuries may occur.

[0025] In the related art, a vision recognition system is usually adopted to recognize whether there are children in the mowing area, so as to avoid physical contact injuries. However, the vision recognition system is easily affected by environmental interference, which affects the recognition accuracy. In addition, the insufficient algorithm generalization ability of the vision recognition system will also affect the recognition accuracy, resulting in the failure of obstacle avoidance and increasing the risk of physical contact. The vision recognition system cannot meet the real-time obstacle avoidance requirement, and the safety protection efficiency is relatively low.

[0026] To solve the technical problem of low safety protection efficiency caused by current self-moving devices, the embodiments of the present application provide a control method, a self-moving device and a storage medium, which can determine whether there is a specific object, such as a special group like children or the elderly, in the protection range by detecting whether there is a first terminal device in the protection range, so as to automatically trigger the suspension of the execution of the operation task when it is determined that there is a specific object in the protection range, and improve the safety protection efficiency for specific objects such as children. First, the application scenario of the control method of the present application will be described below.

[0027] Figure 1 is a schematic diagram of the application scenario of the control method provided by the embodiments of the present application. As Figure 1 shown, the self-moving device 10 can be communicatively connected to the first terminal device 20 and the second terminal device 30. Among them, the number of the first terminal device 20 and the second terminal device 30 in the present application is not limited.

[0028] The communication connection method may include a wireless communication connection method. The wireless communication connection method may include one or more of wireless communication connection methods such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR). The communication connection method between the self-moving device 10 and the second terminal device 30 may also include a wired communication connection method. The wired communication connection method may include one or more of wired communication connection methods such as Universal Serial Bus (USB) and Controller Area Network (CAN).

[0029] The self-moving device 10 may be a semi-self-moving device or a fully autonomous moving device, and may be any one of devices with self-moving functions such as a lawn mowing robot, a sweeping robot, a snow sweeper, and a cleaning robot.

[0030] The first terminal device 20 and the second terminal device 30 may be electronic devices such as mobile phones, tablet computers, smart wearable devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, and netbooks. The embodiments of the present application do not impose any restrictions on the specific types of the first terminal device 20 and the second terminal device 30.

[0031] Among them, the first terminal device 20 may be an electronic device carried by a protected object (such as a child). The second terminal device 30 may be a pre-set control device that can control the working mode, device operation, etc. of the self-moving device 10. The second terminal device 30 can remotely control the automatic device 10 through wireless communication.

[0032] The illustration Figure 1 is merely an example of the application scenario and does not constitute a limitation on the application scenario. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the application scenario may also include more terminal devices than shown in the figure.

[0033] Figure 2 is a flowchart of the control method provided by the embodiments of the present application, which is applied to a self-moving device (such as Figure 1 the self-moving device 10). According to different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0034] Step S201, during the execution of the operation task, detect the devices within the protection range.

[0035] In some embodiments of the present application, the self-moving device may include a touchable touch screen, and the user can set the operation task through touch control. The user can also set the operation task through the hardware buttons on the self-moving device. The user can also set the operation task for the self-moving device through the control device. The present application does not limit the setting method of the operation task. The operation task may include operation time, operation area, operation path, operation mode, and operation method, etc. The present application does not limit the operation task.

[0036] When the operation time arrives, the self-moving device can automatically start and operate on the operation area along the operation path. In an example, taking the self-moving device as a lawn mowing robot. When the lawn mowing time arrives, the lawn mowing robot automatically turns on the lawn mowing mode and plans the path to reach the lawn mowing area. After reaching the lawn mowing area along this path, it mows the grass in the lawn mowing area according to the lawn mowing mode and lawn mowing method.

[0037] In some embodiments of the present application, the protection scope may be the operation scope corresponding to the operation area preset by the user and the activity scope of the self - moving device (such as the driving path between the storage location of the self - moving device and the operation area). Such a scope can be dynamically adjusted according to the actual needs of the user. For example, Figure 3 as shown in (a). The protection scope can also be a dynamic protection scope centered on the self - moving device with a preset safety distance as the radius (such as the broadcast range of Bluetooth). Such a scope can change dynamically with the position of the self - moving device. For example, Figure 3 as shown in (b). The protection scope can also include the operation scope, the activity scope, and the dynamic protection scope at the same time. For example, Figure 3 as shown in (c). The present application does not limit the protection scope, which can be set according to actual needs.

[0038] Within the protection scope, there may be one or more devices. For example, terminal devices, other self - moving devices, control devices, charging piles, and other fixed devices. To avoid collisions, the self - moving device can detect the devices within the protection scope in real time, thereby avoiding equipment damage and avoiding harming the users carrying terminal devices. The ways for the self - moving device to detect the devices within the protection scope can include Bluetooth broadcasting and position detection. Among them, detecting the devices within the protection scope in the form of Bluetooth broadcasting can refer to the following embodiments as shown in Figure 5 and detecting the devices within the protection scope by position detection can refer to the following embodiments as shown in Figure 6 shown.

[0039] Step S202, when the self - moving device is in the first protection mode, if the first terminal device is detected, stop executing the operation task.

[0040] In some embodiments of the present application, the self - moving device can support multiple modes. For example, safety protection mode, cruise mode, boundary recognition mode, obstacle avoidance mode, remote control mode, charging mode, remote control mode, and operation mode. When the self - moving device is in a specific mode and a preset trigger condition is detected, it will automatically execute the operation logic bound to the trigger condition to achieve intelligent response driven by the mode. By dynamically associating the mode, trigger condition, and operation, it is ensured that the behavior of the self - moving device precisely matches the scenario requirements.

[0041] The first protection mode is a mode in the security protection mode, which is used to stop executing the job task when a first terminal device is detected within the protection range. Then the trigger condition of the first protection mode can be that a first terminal device is detected within the protection range, and the job task is stopped. When the self - moving device is in the first protection mode, if a first terminal device is detected within the protection range, the job task is stopped. In one example, if the lawn mowing robot is in the first protection mode, when the lawn mowing robot detects a first terminal device within the protection range, it stops mowing the lawn.

[0042] Among them, the carrying objects of the first terminal device can include specific objects, such as special groups like children or the elderly. By detecting the first terminal device within the protection range, it is possible to avoid hurting children to a certain extent. Moreover, the method of detecting the first terminal device is not affected by environmental factors, which can improve the detection efficiency and accuracy.

[0043] Through the above - mentioned embodiments, during the process of the self - moving device executing the job task, it detects the devices within the protection range to improve the safety within the protection range. When the self - moving device is in the first protection mode, if a first terminal device is detected, stopping the execution of the job task can effectively avoid hurting the target object carrying the first terminal device. To a certain extent, it improves the equipment maintenance efficiency of the self - moving device and avoids the situation of equipment damage.

[0044] Figure 4 It is a flowchart of the control method provided by another embodiment of the present application. The self - moving device can include a first protection mode and a second protection mode, and different protection modes correspond to different trigger conditions. The mode of the self - moving device can be controlled by a second terminal device, and the second terminal device can be a control device. As Figure 4 shown, it includes the following steps.

[0045] Step S401, during the process of executing the job task, detect the devices within the protection range.

[0046] Step S402, determine whether the self - moving device is in the first protection mode.

[0047] In some embodiments of the present application, if the self - moving device receives a mode - opening instruction sent by the second terminal device, and the mode - opening instruction is used to indicate the self - moving device to turn on the first protection mode, then the self - moving device enters the first protection mode.

[0048] If the self - moving device is in the first protection mode, then continue to execute step S403. If the self - moving device is not in the first protection mode, execute step S404.

[0049] Step S403, if a first terminal device is detected, stop executing the job task.

[0050] In some embodiments of the present application, for the specific descriptions of step S401 and step S403, reference may be made to steps S201 to S202 in the provided embodiments, which will not be described repeatedly here. Figure 2 For steps S201 to S202 in the provided embodiments, which will not be described repeatedly here.

[0051] Step S404, determine whether the self - moving device is in the second protection mode.

[0052] In some embodiments of the present application, the second protection mode may be a mode in the security protection mode, which is used to stop executing the job task when the first terminal device is detected and the second terminal device is not detected. Therefore, its triggering condition may include that when the self - moving device detects the first terminal device and does not detect the second terminal device, it stops executing the job task. In one embodiment, if the self - moving device receives a mode - opening instruction sent by the second terminal device, and the mode - opening instruction is used to instruct the self - moving device to open the second protection mode, then the self - moving device enters the second protection mode.

[0053] If the self - moving device is in the second protection mode, then continue to execute step S405. If the self - moving device is not in the second protection mode, then return to execute step S401.

[0054] Step S405, determine whether the first terminal device is detected.

[0055] In some embodiments of the present application, if the first terminal device is not detected, then continue to execute step S406. If the first terminal device is detected, then continue to execute step S407.

[0056] Step S406, continue to execute the job task.

[0057] In some embodiments of the present application, if the job task is mowing the lawn, then the self - moving device continues to mow the lawn.

[0058] Step S407, determine whether the second terminal device is detected.

[0059] In some embodiments of the present application, if the second terminal device is detected when the first terminal device is detected, it indicates that there is an object carrying the second terminal device within the protection range. When there is an object carrying the second terminal device, it indicates that the probability of the object carrying the first terminal device touching the self-moving device is relatively low, and the self-moving device can operate normally. In the case where the safety factor of the protection range is relatively high, frequently triggering the operation of stopping the execution of the operation task is avoided, which can reduce the damage to the self-moving device to a certain extent. If the second terminal device is not detected when the first terminal device is detected, it indicates that there is no object carrying the second terminal device within the protection range. In order to avoid contact injuries to the object carrying the first terminal device within the protection range, the execution of the operation task can be stopped.

[0060] Therefore, if the second terminal device is detected, step S406 is returned for execution. If the second terminal device is not detected, step S408 is continued for execution.

[0061] In other embodiments of the present application, if the second terminal device is detected within the protection range and the first terminal device is not detected, normal operation is performed.

[0062] Step S408, stop executing the operation task.

[0063] In some embodiments of the present application, if the operation task is mowing the lawn, the self-moving device stops mowing.

[0064] In other embodiments of the present application, after stopping the execution of the operation task, if the user needs to restart the operation of the self-moving device, the self-moving device can be controlled to restart through the second terminal device. When the self-moving device receives the restart instruction and is in the first protection mode, the self-moving device outputs a prompt message for prompting the user to turn off the first protection mode. Among them, the second terminal device may include an application program for controlling the self-moving device, and the self-moving device can send a prompt message to the user through the application program. For example, a prompt tone, a prompt term, etc. are sent through the application program.

[0065] When the self-moving device receives the mode closing instruction sent by the second terminal device, it turns off the first protection mode and continues to execute the operation task according to the operation plan. Similarly, when the self-moving device receives the restart instruction and is in the second protection mode, the self-moving device outputs a prompt message for prompting the user to turn off the second protection mode. When the self-moving device receives the mode closing instruction sent by the second terminal device, it turns off the second protection mode and continues to execute the operation task according to the operation plan.

[0066] Through the above embodiments, the self - moving device can include a first protection mode and a second protection mode. By setting different protection modes to form different protection mechanisms, the safety factor for protecting the object carrying the first terminal device can be improved, and the lifespan of the self - moving device can also be extended.

[0067] In other embodiments of the present application, the self - moving device has a function of automatically switching the operating mode according to a preset time. For example, the user can set the working hours as the preset time to avoid potential safety hazards caused by the presence of an object carrying the first terminal device within the protection range during the working period. When the self - moving device operates in a non - protection mode and reaches the preset time, the self - moving device automatically switches the non - protection mode to the first protection mode. Among them, the non - protection mode includes the second protection mode. In one example, when the self - moving device operates in the second protection mode, it automatically switches the second protection mode to the first protection mode at the preset time. In another example, when the self - moving device operates in a general mode, it automatically switches the general mode to the first protection mode at the preset time.

[0068] Figure 5 It is a flowchart of a control method provided by another embodiment of the present application. After the self - moving device automatically enters the first protection mode, in the case of not detecting the first terminal device, the self - moving device can actively broadcast a Bluetooth signal, and determine whether there is a first terminal device or a second terminal device within the protection range by receiving the feedback signal of the Bluetooth signal within the protection range. As Figure 5 shown, it includes the following steps.

[0069] Step S501, broadcast a Bluetooth signal based on a preset transmission frequency.

[0070] In some embodiments of the present application, the transmission frequency can be between 2.400 GHz and 2.4835 GHz, and the broadcast range can be between 10 cm and 20 meters. The above are only examples, and the present application does not limit the transmission frequency and the broadcast range. The self - moving device can pre - store the Bluetooth addresses of multiple devices. For example, the first preset address of the first terminal device and the second preset address of the second terminal device. The self - moving device can broadcast a Bluetooth signal within the broadcast range according to the preset transmission frequency to attempt to establish a Bluetooth connection with the first terminal device, so as to determine whether there is a first terminal device within the broadcast range through the Bluetooth connection. Among them, the broadcast range belongs to the protection range.

[0071] Step S502, receive the response signal to the Bluetooth signal.

[0072] In some embodiments of the present application, the response signal includes the Bluetooth address of the device that sends the response signal. After the self - moving device receives the response signal, it can parse the response signal to obtain the Bluetooth address of the device that sends the response signal.

[0073] Step S503: Determine whether the Bluetooth address matches the first preset address.

[0074] In some embodiments of the present application, if the Bluetooth address matches the first preset address, indicating successful Bluetooth connection, then proceed to step S504. If the Bluetooth address does not match the first preset address, indicating a failed Bluetooth connection, then return to step S502.

[0075] Step S504: If it is determined that the device sending the response signal is the first terminal device, then stop executing the job task.

[0076] In some embodiments of the present application, when the Bluetooth address matches the first preset address and it is determined that the first terminal device is within the protection range, then stop executing the job task.

[0077] In other embodiments of the present application, after stopping the execution of the job task, the self - moving device can continue to broadcast Bluetooth signals. If the Bluetooth address of another device is received, then match the Bluetooth address of the other device with the second preset address corresponding to the second terminal. If the Bluetooth address of the other device successfully matches the second preset address, it is determined that the second terminal device has entered the protection range. When the self - moving device determines that there is a second terminal device within the protection range, it can automatically restart and continue to execute the job task.

[0078] In addition, after stopping the execution of the job task, if the self - moving device receives a restart instruction sent by the second terminal device, it can respond to the restart instruction and continue to execute the job task. Specifically, when the self - moving device receives the restart instruction and is in the first protection mode, the self - moving device outputs a prompt message for prompting the user to turn off the first protection mode. When the self - moving device receives a mode - off instruction sent by the second terminal device, it turns off the first protection mode and continues to execute the job task according to the job plan. Similarly, when the self - moving device receives the restart instruction and is in the second protection mode, the self - moving device outputs a prompt message for prompting the user to turn off the second protection mode. When the self - moving device receives a mode - off instruction sent by the second terminal device, it turns off the second protection mode and continues to execute the job task according to the job plan.

[0079] In another example, the self - moving device can respond to voice instructions issued by the user. Specifically, keyword entries are preset in the self - moving device, such as "Please turn off the current operating mode" and "Please continue working". When the self - moving device detects the keyword entries, it automatically triggers the corresponding operation. For example, when the self - moving device responds to the voice instruction "Please turn off the current operating mode", it turns off the current operating mode. When the self - moving device responds to the voice instruction "Please continue working", it automatically starts and executes the job task.

[0080] Figure 6 This is a flowchart for detecting devices within the protected range provided by an embodiment of the present application. The mobile device pre - establishes associations with the first terminal device and the second terminal device in advance. The mobile device can determine the locations of the first terminal device and the second terminal device by receiving the position signals sent by the first terminal device and the second terminal device.

[0081] Step S601: Based on the received position signals, determine the devices located within the protected range.

[0082] In some embodiments of the present application, during the operation process, the mobile device can receive in real - time the position signals sent by the devices with which pre - established connection relationships are made. The position signals can indicate the distance between the device sending the position signal and the mobile device, as well as the orientation of the device sending the position signal relative to the mobile device, etc. Screen out the devices located within the protected range from multiple position signals.

[0083] Step S602: Obtain the device information of the devices located within the protected range.

[0084] In some embodiments of the present application, after determining the devices located within the protected range, obtain the corresponding device information. The device information can include information such as device identifiers that can characterize the identity of the devices.

[0085] Step S603: If the device information matches the first preset information, determine that the device located within the protected range is the first terminal device.

[0086] In some embodiments of the present application, the first preset information is the device information corresponding to the first terminal device pre - stored in the mobile device. If the device information of the device located within the protected range matches the first preset information, it indicates that the first terminal device is within the protected range. When it is determined that there is a first terminal device within the protected range, the operation task can be stopped.

[0087] Step S604: If the device information matches the second preset information, determine that the device located within the protected range is the second terminal device.

[0088] In some embodiments of the present application, the second preset information is the device information corresponding to the second terminal device pre - stored in the mobile device. If the device information of the device located within the protected range matches the second preset information, it indicates that the second terminal device is within the protected range.

[0089] In some embodiments of the present application, detecting a device within the protection range triggers corresponding mechanisms, including: when the device information does not match the first preset information and the device information matches the second preset information, the self - moving device continues to execute the operation task. When the device information does not match the first preset information and the device information does not match the second preset information, the self - moving device continues to execute the operation task. When the device information matches the first preset information, the self - moving device stops executing the operation task. When the device information matches the first preset information and the device information does not match the second preset information, the self - moving device stops executing the operation task. When the device information matches the first preset information and the device information matches the second preset information, the self - moving device continues to execute the operation task.

[0090] Through the above - mentioned embodiments, it is possible to determine whether there is a first terminal device within the protection range through the position signal, reduce the interference of environmental factors, and thus improve the safety factor within the protection range.

[0091] Figure 7 It is a schematic structural diagram of the self - moving device provided by the embodiments of the present application. As Figure 7 shown, in the embodiments of the present application, the self - moving device 10 may include a body and a memory 110, a processor 120, a power supply 130, a control device 140, a sensor 150, an operation device 160, a communication module 170, a positioning module 180, a driving wheel 190, and a bus 100 provided on the body. The processor 120 is respectively coupled to the memory 110, the power supply 130, the control device 140, the sensor 150, the operation device 160, the communication module 170, the positioning module 180, and the driving wheel 190 through the bus 100.

[0092] The memory 110 can be used to store the operating system, computer programs, and various types of data, images, etc. For example, the memory 110 stores the program corresponding to the control method provided by the embodiments of the present application.

[0093] The processor 120 provides computing and control capabilities to support the operation of the entire self - moving device. For example, the processor 120 is used to execute the computer program stored in the memory 110 to implement the steps in the control method provided by the embodiments of the present application, such as Figures 2 to 6 the method flow shown.

[0094] The power supply 130 is used to supply power to the self - moving device 10. In an embodiment of the present application, the power supply 130 may include a battery pack composed of several battery cells, etc.

[0095] The control device 140 is used to control the movement and behavior of the self - moving device 10. In an embodiment of the present application, the control device 140 can implement functions such as a motion controller and a logic controller.

[0096] The sensor 150 is used to obtain data for the self - moving device 10, such as obtaining environmental data and data related to the self - moving device 10. In an embodiment of the present application, the sensor 150 may include one or more of a collision sensor, a current sensor, a voltage sensor, a rain detection sensor, a lidar, a camera, and an ultrasonic sensor.

[0097] The working device 160 is used to implement corresponding working functions, such as mowing, cleaning, spraying pesticides, etc. In an embodiment of the present application, the working device 160 may include driving mechanisms such as a motor and a hydraulic cylinder, and devices such as a cutter head including blades. In an embodiment of the present application, the motor can drive the blades to move to complete the mowing operation. The motor can adjust the mowing height and speed by controlling the movement of the blades.

[0098] The communication module 170 is used to implement the communication between the self - moving device 10 and other devices. In an embodiment of the present application, the communication module 170 can perform data interaction with other devices based on wired communication and / or wireless communication. The above - mentioned wireless communication may include one or more combinations of communication methods such as Bluetooth communication, Wi - Fi communication, and Near Field Communication (NFC).

[0099] The positioning module 180 is used to determine the position and moving direction of the self - moving device 10. In an embodiment of the present application, the positioning module 180 may include a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), etc.

[0100] The driving wheel 190 is used to enable the self - moving device 10 to move. In an embodiment of the present application, the driving wheel 190 can, according to the control of the control device 140, enable the self - moving device 10 to move on the target planned trajectory. In an embodiment of the present application, the self - moving device 10 may include driving wheels and passive wheels, and the driving wheels may also include a left driving wheel and a right driving wheel.

[0101] The bus 100 is at least used to provide a communication channel for mutual communication between the memory 110, the processor 120, the power supply 130, the control device 140, the sensor 150, the working device 160, the communication module 170, the positioning module 180, and the driving wheel 190 in the self - moving device 10.

[0102] In this embodiment, the memory 110 may be the internal memory of the self-mobile device 10, that is, the memory built into the self-mobile device 10. In other embodiments, the memory 110 may also be the external memory of the self-mobile device 10, that is, the memory externally connected to the self-mobile device 10.

[0103] It should be understood that the memory 110 may include a program storage area and a data storage area. Among them, the program storage area may be used to store an operating system, application programs required by at least one method (such as a control method, etc.); the data storage area may store data created according to the use of the self-mobile device 10. In addition, the memory 110 may include volatile memory and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one magnetic disk storage device, flash memory device, or other storage devices.

[0104] In some embodiments of the present application, the memory 110 is used to store program codes and various data, and realizes the high-speed and automatic access of programs or data during the operation of the self-mobile device 10.

[0105] In some embodiments of the present application, the processor 120 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or a processor, or any other conventional processor, etc.

[0106] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions, and the method implemented when the program instructions are executed may refer to each embodiment of the control method of the present application.

[0107] Among them, the computer-readable storage medium may be the internal storage unit of the self-mobile device described in the foregoing embodiments, such as the hard disk or memory of the self-mobile device. The computer-readable storage medium may also be an external storage device of the self-mobile device, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the self-mobile device.

[0108] Furthermore, the computer-readable storage medium may mainly include a storage program area and a storage data area. Among them, the storage program area may store an operating system, application programs required for at least one function, etc.; the storage data area may store data created according to the use of the self-mobile device.

[0109] For the self-mobile device and the computer-readable storage medium provided in the foregoing embodiments, when the self-mobile device is in a skidding state, the motion compensation information of the self-mobile device can be determined according to the expected position information and the actual position information of the self-mobile device, and the actual speed information of the self-mobile device can be determined according to the motion compensation information, and the self-mobile device can be controlled to move according to the actual speed information, which provides a basis for the self-mobile device to continue to execute subsequent operations.

[0110] It should also be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in the specification of this application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0111] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations. It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including the element.

[0112] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments. The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method, applied to a self-moving device, characterized in that The method includes: During the execution of a job task, detecting devices within the protection range; When the self - moving device is in the first protection mode, if a first terminal device is detected, stop executing the job task.

2. The control method according to claim 1, wherein The method further includes: When the self - moving device is in the second protection mode, if the first terminal device is detected and the second terminal device is not detected, stop executing the job task, where the first terminal device is associated with a preset protection object, and the second terminal device is a preset control device.

3. The control method according to claim 1, wherein The method further includes: Broadcasting a Bluetooth signal based on a preset transmission frequency; Receiving a response signal to the Bluetooth signal, where the response signal includes the Bluetooth address of the device that sent the response signal; If the Bluetooth address matches a first preset address, determine that the device that sent the response signal is the first terminal device, and then stop executing the job task.

4. The control method according to any one of claims 1 to 3, characterized in that, After stopping the execution of the job task, the method further includes: If the Bluetooth address matches a second preset address corresponding to a second terminal device, determine that the second terminal device has entered the protection range, and then continue to execute the job task; or, If a restart instruction sent by the second terminal device is received, continue to execute the job task.

5. The control method according to claim 4, wherein The step of if a restart instruction sent by the second terminal device is received, continue to execute the job task includes: When the restart instruction is received and the self - moving device is in the first protection mode, output a prompt message to prompt the user to turn off the first protection mode; Respond to the mode - off instruction sent by the second terminal device, turn off the first protection mode and continue to execute the job task.

6. The control method according to claim 1, wherein The method further includes: Respond to a mode - on instruction sent by the second terminal device, and control the self - moving device to enter the first protection mode.

7. The control method according to claim 1, wherein The method further includes: When the self - moving device is in a non - protection mode and reaches a preset time, control the self - moving device to enter the first protection mode, where the non - protection mode includes the second protection mode.

8. The control method according to claim 1, characterized in that The step of detecting devices within the protection range includes: Based on the received position signal, determine the devices located within the protection range; Obtain the device information of the devices located within the protection range; If the device information matches the first preset information, determine that the device located within the protection range is the first terminal device; If the device information matches the second preset information, determine that the device located within the protection range is the second terminal device.

9. A self - moving device, characterized in that, The self - moving device includes a processor and a memory, the memory stores a computer program, and the processor implements the control method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer - readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, it implements the control method according to any one of claims 1 to 8.

Images