Device control method, self-moving device, control device and storage medium

Abstract

The invention provides a device control method, a self-moving device, a control device and a storage medium. A control device is in communication connection with a self-moving device, and the method comprises the following steps: responding to a trapped signal sent by the self-moving device, and generating a de-trapping request; displaying a control interface and unlocking a target control of the control interface in response to a confirmation operation of the user on the escape request; acquiring an environment image acquired by the self-moving equipment, and displaying the environment image on the control interface, so that the user operates the target control based on the environment image; and based on the operation of the user on the target control, controlling the self-moving device to move and escape. By means of the method, the remote control permission of the user to the self-moving device is opened when the self-moving device is trapped, it can be ensured that the self-moving device safely and rapidly gets out of the trapped, and the experience feeling of the user to the self-moving device can be improved.

Description

Technical Field

[0001] The present application relates to the field of device control technology, and in particular to a device control method, a self-moving device, a control device, and a storage medium. Background Art

[0002] In the field of self-mobile device control, remote control technology faces the challenge of balancing security and ease of use.

[0003] While enabling remote control can improve user experience, potential risks should not be ignored. Network delays or operational errors could cause the device to accidentally enter dangerous areas such as ponds and puddles, resulting in damage. If remote control is used maliciously, it could lead to social problems such as voyeurism and the transportation of dangerous goods. However, disabling remote control can mitigate some security risks, but at the expense of user experience. For example, if a lawn mower becomes stuck while operating in complex terrain and the user is unable to intervene on-site in a timely manner, the lack of remote control will not only interrupt the operation but also exacerbate user problems due to prolonged equipment stagnation, and may even cause secondary failures. Summary of the Invention

[0004] In view of the above, it is necessary to provide a device control method, a self-moving device, a control device and a storage medium, which can solve the technical problem of being unable to balance the security of the self-moving device and the user experience.

[0005] On the one hand, the present application provides a device control method, which is applied to a control device, wherein the control device is communicatively connected to a self-mobile device, and the method includes: responding to a distress signal sent from the self-mobile device, generating an escape request, responding to a user's confirmation operation on the escape request, displaying a control interface and unlocking a target control on the control interface, obtaining an environmental image captured by the self-mobile device, and displaying the environmental image on the control interface, so that the user manipulates the target control based on the environmental image, and controlling the self-mobile device to move and escape based on the user's operation on the target control.

[0006] In some embodiments of the present application, controlling the self-mobile device to move out of trouble based on the user's operation of the target control includes: receiving a signal strength sent from the self-mobile device; if the signal strength is less than or equal to a first preset value, determining first movement information in response to the user's operation of the target control; generating a movement instruction based on the first movement information and a preset first speed limit value, wherein the first movement information includes a movement operation and a movement speed; if the signal strength is greater than the first preset value and less than or equal to a second preset value, determining second movement information in response to the user's operation of the target control based on a preset speed limit ratio; generating a movement instruction based on the preset second speed limit value and the second movement information, wherein the second movement information includes a movement operation and a movement speed; if the signal strength is greater than the second preset value and less than or equal to a third preset value, determining third movement information in response to the user's operation of the target control; generating a movement instruction based on a backward operation, a preset third speed limit value, and the third movement information, wherein the third movement information includes a movement speed; and controlling the self-mobile device to move out of trouble by sending the movement instruction to the self-mobile device.

[0007] In some embodiments of the present application, the method further includes: if the signal strength is greater than the third preset value, performing one or more of the following operations: locking the target control, displaying a network connection request, executing an alarm, controlling the control device and the self-mobile device to execute preset protection measures.

[0008] In some embodiments of the present application, controlling the self-mobile device to move out of trouble based on the user's operation of the target control includes: receiving signal quality and obstacle information sent from the self-mobile device, wherein the obstacle information is obtained based on the recognition of the environmental image, and the obstacle information includes obstacle density, determining an initial moving speed based on a preset speed limit ratio and the maximum moving speed of the self-mobile device under a preset control state, wherein the preset control state includes controlling the self-mobile device to perform mobile mapping, determining a speed limit value based on the initial moving speed, the obstacle information and the signal quality using a preset speed constraint model, determining movement information in response to the user's operation of the target control, wherein the movement information includes movement operation and movement speed, generating a movement instruction based on the movement information and the speed limit value, and controlling the self-mobile device to move out of trouble by sending the movement instruction to the self-mobile device.

[0009] In some embodiments of the present application, controlling the self-mobile device to move out of trouble based on the user's operation of the target control includes: responding to the user's operation of the target control, determining movement information, wherein the movement information includes movement operation and movement speed, generating a movement instruction according to a preset speed increment constraint and the movement information, and controlling the self-mobile device to move out of trouble by sending the movement instruction to the self-mobile device.

[0010] In some embodiments of the present application, the method further includes: exiting the control interface in response to an escape signal received from the mobile device.

[0011] In the device control method provided in the embodiment of the present application, the user can be intuitively prompted that the mobile device is in a trapped state through an escape request, so that the user can determine whether to help the mobile device escape. When the user confirms to help the mobile device escape, the target control is unlocked so that the user can remotely control the movement of the mobile device. The environmental image collected by the mobile device is displayed on the control interface so that the user can understand the surrounding environment of the mobile device and thus perform accurate remote control. According to the user's operation of the target control, the mobile device is controlled to move and escape, which can not only ensure the safety of the mobile device, but also increase the speed of the mobile device to escape. In this way, when it is determined that the mobile device is trapped, the user's remote control authority for the mobile device is opened, which can not only ensure that the mobile device escapes safely and quickly, but also improve the user's experience with the mobile device.

[0012] On the other hand, the present application provides a device control method, which is applied to a self-moving device, and the self-moving device is communicatively connected to a control device. The method also includes: if it is detected that the self-moving device is in a trapped state, generating a trapped signal and sending the trapped signal to the control device, capturing an environmental image, responding to a visual capture instruction sent from the control device, sending the environmental image to the control device, so that a user manipulates a target control displayed by the control device based on the environmental image, receiving a movement instruction sent from the control device, and moving out of trouble according to the movement instruction, wherein the movement instruction is generated based on the user's operation on the target control.

[0013] In some embodiments of the present application, the method for detecting the trapped state includes: determining that the self-moving device is in the trapped state under the condition that one or more of the following conditions are met: the self-moving device is in a working state and cannot move forward or backward within a first preset time, the current fluctuation amplitude of the motor in the self-moving device is greater than a first preset threshold and lasts for a second preset time, the odometer displacement of the self-moving device is less than a second preset threshold, the gyroscope angular velocity variance of the self-moving device is greater than a third preset threshold, and the attitude angle of the self-moving device is greater than a fourth preset threshold.

[0014] In some embodiments of the present application, the method further includes: performing obstacle identification based on the environmental image to obtain obstacle information, wherein the obstacle information includes obstacle density, detecting the signal strength and signal quality of the communication network to which the mobile device is connected, and sending the signal strength, the signal quality and the obstacle information to the control device.

[0015] In some embodiments of the present application, the method further includes: if it is detected that the self-moving device is in an escape state, generating an escape signal and sending the escape signal to the control device.

[0016] In some embodiments of the present application, the method for detecting the escape state includes: determining that the self-moving device is in the escape state under the condition that one or more of the following conditions are met: the average moving speed of the self-moving device is greater than the fifth preset threshold and lasts for the third preset time, the diversity index of the moving path of the self-moving device is greater than the sixth preset threshold, and the current fluctuation amplitude of the motor in the self-moving device is less than the seventh preset threshold.

[0017] In the device control solution provided in this embodiment, when the self-moving device is detected as trapped, a distress signal is generated to prompt the user to remotely escape. Environmental images are sent to the control device, allowing the user to understand the self-moving device's surroundings and accurately control the device based on the target control. Following the movement instructions sent from the control device, the user can escape safely and quickly. On the other hand, the present application provides a control device, which includes: a storage device, a processing device, and a computer program stored on the storage device and executable on the processing device, wherein when the processing device executes the computer program, the control device implements the device control method.

[0018] On the other hand, the present application provides a self-mobile device, which includes: a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the device control method.

[0019] On the other hand, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processing device in a control device, the device control method is implemented, or when the processor in a mobile device implements the device control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 2 is a schematic diagram of a communication system provided in an embodiment of the present application.

[0021] Figure 2 This is an interactive flow chart of a device control method provided in one embodiment of the present application.

[0022] Figure 3 This is a schematic diagram of a control interface provided in one embodiment of the present application.

[0023] Figure 4 This is a flow chart of a device control method provided in one embodiment of the present application.

[0024] Figure 5 This is a flowchart of a device control method provided by another embodiment of the present application.

[0025] Figure 6 It is a structural diagram of a self-moving device provided in one embodiment of the present application.

[0026] Figure 7 It is a structural diagram of a control device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of this application clearer, this application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] It should be noted that, in this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A alone, A and B together, and B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," and so on (if any) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or precedence.

[0029] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0030] like Figure 1 As shown in FIG, it is a schematic diagram of a communication system provided by an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a communication system 1, including a mobile device 10, a control device 20, a first server 30 and a second server 40, wherein the mobile device 10 and the control device 20 are both communicatively connected to the first server 30, and the mobile device 10 and the control device 20 are both communicatively connected to the second server 40.

[0031] This application does not limit the connection method between the mobile device 10 and the control device 20 and the first server 30, or the connection method between the mobile device 10 and the control device 20 and the second server 40. For example, the connection method between the mobile device 10 and the control device 20 and the first server 30, or the connection method between the mobile device 10 and the second server 40 can be a wireless connection, and the wireless connection can be Wireless Fidelity (Wi-Fi), a mobile communication network, etc.

[0032] The self-mobile device 10 sends the collected environmental image to the second server 40. In response to the trapped signal sent by the self-mobile device 10 through the first server 30, the control device 20 can display the control interface and send a visual collection instruction to the second server 40 through the first server 30, so that the second server 40 can respond to the visual collection instruction sent by the control device and send the environmental image to the control device 20. The control device 20 can display the received environmental image on the control interface, so that the user can manipulate the target control on the control interface based on the environmental image. In response to the user's operation on the target control, the control device 20 generates a movement instruction and sends the movement instruction to the self-mobile device 10 through the first server 30, so as to control the self-mobile device 10 to move out of trouble.

[0033] The self-mobile device 10 includes but is not limited to: a lawn mower robot and a cleaning robot. The control device 20 includes but is not limited to: a mobile phone, a remote control, a tablet computer, and a computer. Figure 1 The lawn mower shown is only an example of a self-propelled device 10. Figure 1 The mobile phone shown is only an example of the control device 20 and is not limited thereto in actual applications.

[0034] The first server 30 can be an Internet of Things (IoT) server. It supports multiple protocols, including Message Queuing Telemetry Transport (MQTT), Advanced Message Queuing Protocol (AMQP), and Constrained Application Protocol (CoAP). It is compatible with IoT devices such as Wireless Fidelity (Wi-Fi), Bluetooth, and Zigbee. It can process data efficiently and in real time, ensuring communication security through mechanisms such as encrypted transmission and identity authentication. The second server 40 can be a cloud server for storing data such as environmental images and videos. The first and second servers 30 and 40 can be single servers or server clusters.

[0035] The above examples of the structure of the communication system 1 are only examples. In actual applications, the communication system 1 may include Figure 1 More or fewer components. For example, in other embodiments, compared to Figure 1 , the communication system 1 may only include the mobile device 10 and the control device 20 .

[0036] based on Figure 1 The communication system 1 shown in the embodiment of the present application provides a device control method, which can not only ensure that the self-moving device can be safely and quickly escaped by opening the user's remote control authority to the self-moving device when the self-moving device is trapped, but also improve the user's experience of the self-moving device.

[0037] like Figure 2 FIG. 1 is an interactive flow chart of a device control method according to an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted.

[0038] S20: If it is detected that the mobile device is in a trapped state, the mobile device generates a trapped signal.

[0039] In some embodiments of the present application, it can be determined that the self-moving device is in a trapped state under the condition that one or more of the following conditions are met: the self-moving device is in a working state and cannot move forward or backward within a first preset time, the current fluctuation amplitude of the motor in the self-moving device is greater than a first preset threshold and lasts for a second preset time, the odometer displacement of the self-moving device is less than a second preset threshold, the gyroscope angular velocity variance of the self-moving device is greater than a third preset threshold, and the attitude angle of the self-moving device is greater than a fourth preset threshold.

[0040] The current fluctuation amplitude can be obtained based on the time domain or frequency domain analysis of the current. The attitude angle can be measured by an inertial measurement unit (IMU), and the attitude angle can be a pitch angle (Pitch) and a roll angle (Roll), etc. The first preset time, the first preset threshold, the second preset time, the second preset threshold, the third preset threshold, and the fourth preset threshold can be customized, and this application does not impose any restrictions on this. For example, the first preset time can be two minutes, and the first preset threshold can be The second preset time may be one minute, the second preset threshold may be 0.2 m / min, and the third preset threshold may be 0.5 rad 2 / s 2 The fourth preset threshold corresponding to the pitch angle may be 25°, and the fourth preset threshold corresponding to the roll angle may be 15°.

[0041] The distress signal may include an identifier such as an error code for indicating that the mobile device is trapped. For example, the error code may be a symbol such as a letter or a number.

[0042] In some embodiments, if the self-mobile device is in a trapped state, step S21 is executed; alternatively, if the self-mobile device is not in a trapped state, the self-mobile device may not generate a trapped signal and maintain the current state.

[0043] In some embodiments, when the self-moving device is in a trapped state, due to the increase in mechanical resistance, the current amplitude in the self-moving device increases significantly (for example, exceeding 30% of the rated current); since it cannot move, the odometer displacement of the self-moving device may stagnate; in order to escape the predicament, the self-moving device may actively adjust its posture, so the attitude angle of the self-moving device will deviate from the normal value; the posture adjustment to escape the predicament may cause the gyroscope angular velocity variance in the self-moving device to increase. Therefore, this embodiment can accurately determine whether the self-moving device is trapped through multiple dimensions such as current fluctuation amplitude, odometer displacement, gyroscope angular velocity variance and attitude angle.

[0044] S21, sending a trapped signal from the mobile device to the first server.

[0045] In some embodiments, the first server may be an IoT server, which is communicatively connected to both the mobile device and the control device, acting as an intermediary between the mobile device and the control device, enabling relay routing of signals, commands, and other data. For example, the mobile device may send a distress signal to the first server via a Wi-Fi network.

[0046] In other embodiments, in addition to the trapped signal, the mobile device may also send other information to the first server. For example, the mobile device may identify obstacles based on an image of the environment, obtain obstacle information, detect the signal strength and quality of the communication network to which the mobile device is connected, and send the signal strength, signal quality, and obstacle information to the first server.

[0047] Obstacle information includes obstacle density, obstacle type, and obstacle size. Signal strength can be expressed as the Received Signal Strength Indication (RSSI). A higher RSSI value indicates a weaker signal, while a lower RSSI value indicates a stronger signal. Signal quality can be expressed as the Signal-to-Noise Ratio (SNR). A higher SNR value indicates a higher signal quality, while a lower SNR value indicates a lower signal quality.

[0048] S22: The first server sends the trapped signal received from the mobile device to the control device.

[0049] In this embodiment, since the first server is in communication with the control device, the first server sends a distress signal to the control device to prompt the user to remotely move the mobile device to escape. For example, the first server can send the distress signal to the control device via a Wi-Fi network.

[0050] In other embodiments, if the self-moving device is directly connected to the control device for communication, the self-moving device directly sends the distress signal to the control device.

[0051] In other embodiments, the first server may also send the signal strength, signal quality, and obstacle information received from the mobile device to the control device.

[0052] In this embodiment, information such as signal strength and signal quality is sent to the control device so that the control device can determine whether the self-moving device meets the conditions for safe remote control escape. Obstacle information is sent to the control device so that the control device can safely and accurately control the self-moving device to move out of trouble.

[0053] S23 , in response to the trapped signal sent from the mobile device, the control device generates an escape request.

[0054] In some embodiments, the control device may provide a user interface, and the rescue request may be displayed in the user interface via a pop-up window. For example, the pop-up window may display a prompt such as "My mobile device is trapped. Do you want to help it escape?", and below the prompt, multiple controls such as "Confirm rescue" and "Don't rescue yet" may be displayed for the user to select.

[0055] In other embodiments, in addition to pop-up notifications, the control device may also use other methods to notify the user that the mobile device is trapped. For example, the control device may use multiple levels or stages of notifications to notify the user that the mobile device is trapped. For example, the first level may be a warning, with a full-screen red mask and vibration prompt; the second level may be a confirmation, prompting the user to perform biometric verification (e.g., facial or fingerprint recognition); and the third level may be guidance, using augmented reality (AR) arrows or other methods to indicate the direction of the mobile device.

[0056] In this embodiment, by using a pop-up window prompting an escape request and a multi-level prompt method, the user can be intuitively prompted from multiple dimensions such as vision and hearing, thereby ensuring that the user is aware of the trapped status of the mobile device in a timely manner, so as to help the mobile device escape quickly.

[0057] S24 , in response to the user's confirmation operation on the escape request, the control device displays the control interface and unlocks the target control on the control interface.

[0058] In some embodiments, the confirmation operation may correspond to a situation where the user clicks or selects a relevant control prompted by a pop-up window. The control interface may be used to display environmental images and environmental videos of the self-mobile device, so that the user can intuitively understand the surrounding environment of the self-mobile device. The target control may be used to respond to user operations to enable remote mobile control of the self-mobile device, wherein the target control may have a corresponding form. For example, the target control may be in the form of a joystick. The operation performed by the user on the target control may be mapped to corresponding information such as movement speed and movement operation, and this mapping relationship may be nonlinear.

[0059] S25, collecting an environment image from the mobile device, and sending the environment image to the second server for storage.

[0060] In some embodiments, the self-mobile device may include sensors such as cameras to capture images and videos of the environment. For example, the self-mobile device may be equipped with a 120° wide-angle camera for the primary camera and a Time of Flight (ToF) depth camera for the secondary camera.

[0061] In some embodiments, the self-mobile device may be communicatively connected to a second server, which may be a cloud server that may be used to store data such as environmental images and videos sent from the self-mobile device.

[0062] In this embodiment, by sending the environment image and the like to the second server for storage, the memory consumption of the mobile device can be reduced.

[0063] S26, the control device generates a visual acquisition instruction.

[0064] In some embodiments, the visual acquisition instruction may be used to acquire an image or video of the environment captured from the mobile device.

[0065] S27: The control device sends the visual acquisition instruction to the second server.

[0066] In some embodiments, the control device may be in communication with a second server, and may send a visual acquisition instruction to the second server to instruct the second server to send data such as environmental images acquired from the mobile device to the control device.

[0067] S28: The second server responds to the visual acquisition instruction sent from the control device and sends the acquired environment image to the control device.

[0068] In other embodiments, if the control device is directly connected to the self-mobile device for communication, the control device may directly send a visual acquisition instruction to the self-mobile device to facilitate acquisition of environmental images, videos and other information.

[0069] S29, the control device displays the environment image sent from the second server on the control interface, so that the user can manipulate the target control based on the environment image.

[0070] like Figure 3 As shown in FIG, it is a schematic diagram of a control interface provided by an embodiment of the present application. Figure 3 The control interface shown can display environmental images or videos, allowing users to understand the surrounding environment of the mobile device.

[0071] In this embodiment, environmental images and videos are displayed on the control interface so that the user can understand the surrounding environment of the mobile device and thus can remotely control the mobile device by correctly manipulating the target control.

[0072] S30: The control device generates a movement instruction based on the user's operation on the target control.

[0073] In some embodiments of the present application, the control device can receive the signal strength sent from the mobile device. If the signal strength is less than or equal to a first preset value, the control device can determine the first movement information in response to the user's operation on the target control, and generate a movement instruction based on the first movement information and a preset first speed limit value. The first movement information includes a movement operation and a movement speed. If the signal strength is greater than the first preset value and less than or equal to a second preset value, the control device can determine the second movement information based on a preset speed limit ratio in response to the user's operation on the target control, and generate a movement instruction based on the preset second speed limit value and the second movement information, wherein the second movement information includes a movement operation and a movement speed. If the signal strength is greater than the second preset value and less than or equal to a third preset value, the control device can determine the third movement information in response to the user's operation on the target control, and generate a movement instruction based on a back operation, a preset third speed limit value and the third movement information. The third movement information includes a movement speed.

[0074] The first preset value, second preset value, third preset value, first speed limit, preset speed limit ratio, second speed limit, and third speed limit can be customized. For example, the first preset value can be 70 dBm, the second preset value can be 85 dBm, and the third preset value can be 90 dBm. The first speed limit can be 0.3 m / s, the second speed limit can be 0.15 m / s, the preset speed limit ratio can be 50%, and the third speed limit can be 0.1 m / s. Movement operations can include forward, backward, left turn, right turn, and other operations.

[0075] When the signal strength is less than or equal to the first preset value, the control device may display the moving speed of the mobile device in real time through the control interface.

[0076] When the signal strength is greater than a first preset value and less than or equal to a second preset value, the user's operation on the target control will be mapped to a slower movement speed, etc., compared to when the signal strength is less than or equal to the first preset value. When the signal strength is greater than the first preset value and less than or equal to the second preset value, the control device may display a preset first warning icon, such as a yellow warning icon, on the control interface.

[0077] When the signal strength is greater than a second preset value and less than or equal to a third preset value, even if the user triggers an operation such as controlling the self-mobile device to move forward through the target control, the control device may not respond. The area of the target control used to control the self-mobile device to move forward may appear visually disabled (for example, covered with a gray mask), and the target control requires a pressure greater than a preset value (for example, 2N) to be triggered. When the signal strength is greater than the second preset value and less than or equal to the third preset value, the control device may display a preset second warning icon on the control interface, such as a red warning icon.

[0078] In this embodiment, when the signal strength is less than or equal to a first preset value, it can be determined that the signal strength of the communication network is good and the user has full-function control authority. In response to the user's operation on the target control, movement information such as the movement operation and movement speed is determined, so that the movement information can reflect the user's actual remote control intention. The speed of the self-moving device is controlled by a smaller first speed limit value, thereby ensuring the safety of the self-moving device. When the signal strength is greater than the first preset value and less than or equal to a second preset value, it can be determined that the signal strength of the communication network is moderate. The movement information such as the movement operation and movement speed is determined by using a preset speed limit ratio, a second speed limit value that is larger than the first speed limit value, and the user's operation on the target control. This not only ensures that the movement information can reflect the user's actual remote control intention, but also significantly limits the movement speed of the self-moving device, thereby ensuring the safety of the self-moving device. When the signal strength is greater than the second preset value and less than or equal to the third preset value, it can be determined that the signal strength of the communication network is poor. Through the user's operation of the target control, only the movement information such as the movement speed is determined, which can limit the user's control over the movement operation of the mobile device. Through the third speed limit value that is larger than the second speed limit value, the movement speed of the mobile device can be restricted to a greater extent. Therefore, by generating a movement instruction through the back operation, the third speed limit value and the movement speed determined by the user operation, the safety of the mobile device can be ensured.

[0079] In other embodiments of the present application, if the signal strength is greater than a third preset value, the control device performs one or more of the following operations: locking the target control, displaying a network connection request, executing an alarm, executing a first protection measure, and controlling the mobile device to execute a second protection measure.

[0080] Among them, the network connection request can be displayed in the user interface in the form of a pop-up prompt. For example, a prompt message such as "Please reconnect" can be displayed in the pop-up window. The alarm can be an operation of the communication layer (for example, the first server side), and can include sending an emergency stop instruction to the control device to remotely control the mobile device and closing the transmission channel of images and videos to save bandwidth. For example, the emergency stop instruction can be a 0x000 message sent through the Controller Area Network (CAN) protocol. The first protection measure on the control device side can include displaying a three-dimensional point cloud reconstruction of the last known position of the mobile device and a control that displays "Try to restore connection". The effective response time of the control can be 3 seconds (the control needs to be pressed for 3 seconds to trigger). The second protection measure on the mobile device side can include controlling the motor to slow down, emergency braking, and switching to local perception mode, where only ultrasonic radar and other devices in the mobile device remain working in the local perception mode.

[0081] In this embodiment, when the signal strength is greater than the third preset value, it can be determined that the current signal strength is poor. If the self-mobile device is controlled to move in response to the user's operation, it may cause the self-mobile device to fall into another predicament. Therefore, when the signal strength is greater than the third preset value, executing measures such as locking the target control, displaying the network connection request, executing an alarm, controlling the device to display the "try to restore connection" control and performing emergency braking on the self-mobile device can reduce the risks brought about by poor signal strength of the communication network.

[0082] In other embodiments of the present application, the control device can receive signal quality and obstacle information sent from the self-mobile device, and determine the initial moving speed based on a preset speed limit ratio and the maximum moving speed of the self-mobile device under a preset control state, wherein the preset control state includes controlling the self-mobile device to perform mobile mapping through a preset method (such as Bluetooth), determining the speed limit value based on the initial moving speed, obstacle information and signal quality, and responding to the user's operation on the target control to determine the movement information, wherein the movement information includes the movement operation and the movement speed, and generating a movement instruction based on the movement information and the speed limit value.

[0083] The initial speed can be the product or weighted product of the preset speed limit ratio and the maximum speed. For example, if the maximum speed is ±0.6 m / s and the preset speed limit ratio is 50%, the initial speed can be ±0.3 m / s = ±0.6 m / s ⋅ 50%. The signal quality can be the signal-to-noise ratio.

[0084] When determining the speed limit value, the calculation can be performed based only on the value of the initial moving speed. For example, the speed constraint model can refer to the following formula (1): ; (1) in, Indicates the speed limit value. Indicates the initial moving speed, represents the signal-to-noise ratio, It can indicate the density of obstacles. When SNR=0 (very poor signal): =1, the exponential term is 0, and the speed limit value Vmax=0 (1 od)=0 (forced stop). When SNR→infinity∞ (excellent signal): →0, the exponential term approaches 1, and the speed limit value approaches k (1 That is, when signal quality is poor (e.g., when the remote control link is unstable), the speed is reduced to ensure safety. When signal quality is good, higher speeds are allowed, but are still limited by obstacle density.

[0085] When od=0 (no obstacles): 1 od=1, the speed limit is determined by the signal-to-noise ratio. od=0, the speed limit value is 0 (forced stop).

[0086] When k=0.6m / s, SNR=20dB (assuming linear value, no conversion required), od=0.2 (obstacle density 20%), then Vmax=0.6 ( ) (1 0.2)=0.6 (1 ) 0.8≈0.6 0.865 0.8≈0.4m / s.

[0087] For example, if the moving speed is greater than or equal to the speed limit value, the control device can generate a moving instruction based on the moving operation and speed limit value in the moving information; if the moving speed is less than the speed limit value, the control device can generate a moving instruction based on the moving operation and moving speed in the moving information.

[0088] In this embodiment, the speed limit value is determined by presetting the speed limit ratio and the maximum moving speed of the self-moving device under the preset control situation, which can ensure the rationality of the speed limit value, and generate a movement instruction based on the speed limit value and the movement information, which can reasonably and effectively limit the speed of the self-moving device according to the movement instruction, thereby ensuring the safety of the self-moving device.

[0089] In other embodiments of the present application, in response to a user's operation on a target control, movement information is determined, where the movement information includes a movement operation and a movement speed, and a movement instruction is generated according to a preset speed increment constraint and the movement information.

[0090] The speed increment constraint can be customized and is not limited in this application. For example, the speed increment constraint may allow a speed change of ±0.05 m / s every 200 ms.

[0091] In this embodiment, by generating movement instructions through speed increment constraints and movement information, the speed change of the self-moving device can be controlled according to the movement instructions, thereby achieving reasonable speed limit for the self-moving device and ensuring the safety of the self-moving device.

[0092] S31: The control device sends a movement instruction to the first server.

[0093] In some embodiments, a movement instruction is sent to the first server to control the mobile device to move out of trouble.

[0094] S32: The first server sends the moving instruction to the mobile device.

[0095] In other embodiments, if the control device is directly connected to the self-moving device for communication, the control device may directly send the movement instruction to the self-moving device.

[0096] S33, the self-mobile device moves out of trouble according to the movement instruction.

[0097] In some embodiments, since the movement instruction may include information such as movement speed, movement operation, speed limit value, etc., the self-moving device can move out of trouble according to the movement instruction.

[0098] During the movement, the self-moving device can detect in real time or based on a preset period (such as 200ms) whether it has successfully escaped.

[0099] In some embodiments, it can be determined that the self-moving device is in an escape state under the condition that one or more of the following conditions are met: the average moving speed of the self-moving device is greater than the fifth preset threshold and lasts for a third preset time, the diversity index of the moving path of the self-moving device is greater than the sixth preset threshold, and the current fluctuation amplitude of the motor in the self-moving device is less than the seventh preset threshold.

[0100] The diversity index can be used to indicate the richness of the mobile paths that can be selected by the mobile device. The fifth preset threshold, the third preset time, the sixth preset threshold and the seventh preset threshold can be customized, and this application does not limit this. For example, the fifth preset threshold can be 0.2m / s, the third preset time can be 10s, the sixth preset threshold can be 0.8, and the seventh preset threshold can be .

[0101] S34: If it is detected that the self-moving device is in an escape state, the self-moving device generates an escape signal.

[0102] In some embodiments, the distress signal may include an identifier for indicating that the mobile device is being escaped from distress, such as an identifier such as a letter or a number.

[0103] S35: Send an escape signal from the mobile device to the first server.

[0104] In some embodiments, the method for sending the escape signal may refer to the description of the method for sending the trapped signal in step S21.

[0105] S36: The first server sends the escape signal sent from the mobile device to the control device.

[0106] In this embodiment, an escape signal is sent to the control device so that the control device can exit the control interface in time.

[0107] S37, in response to the escape signal received from the first server, the control device exits the control interface. In this embodiment, when it is detected that the self-moving device has escaped, the control interface is exited, which can reduce the risk of the self-moving device being maliciously manipulated.

[0108] In other embodiments, the control device may prompt the user that the mobile device has been rescued by means of voice playback, rescue information display, vibration, etc.

[0109] In the device control solution provided in the embodiments of the present application, whether a mobile device is trapped can be accurately determined using multiple dimensions, including current fluctuation amplitude, odometer displacement, gyroscope angular velocity variance, and attitude angle. Signal strength and quality information are sent to the control device to help the control device determine whether the mobile device meets the conditions for safe remote escape. Obstacle information is also sent to the control device to enable the control device to safely and accurately control the mobile device to escape. Pop-up windows and multi-level prompts provide intuitive visual and auditory notifications to the user, ensuring they are aware of the trapped state of the mobile device, allowing them to quickly escape. Environmental images and videos are displayed on the control interface to help users understand the surroundings of the mobile device, enabling them to remotely control the mobile device by correctly manipulating the target controls. Because movement instructions can include information such as movement speed, movement operation, and speed limit, the mobile device can escape based on user remote control. Exiting the control interface upon detecting that the mobile device has escaped can reduce the risk of malicious manipulation of the mobile device.

[0110] like Figure 4 FIG. 1 is a flow chart of a device control method according to an embodiment of the present invention. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. Figure 4 The device control method is applied to a self-moving device, such as Figure 1 and Figure 6 The self-moving device 10.

[0111] S41: If it is detected that the mobile device is in a trapped state, a trapped signal is generated and sent to the control device.

[0112] In some embodiments, the method for generating and sending the distress signal may refer to the description of steps S20 to S22.

[0113] S42 , capturing an environmental image, responding to a visual capture instruction sent from the control device, and sending the environmental image to the control device, so that the user can manipulate a target control displayed on the control device based on the environmental image.

[0114] In some embodiments, the method for collecting and sending the environment image can refer to the description of steps S25 to S28.

[0115] S43, receiving a movement instruction sent from the control device, and moving out of trouble according to the movement instruction, where the movement instruction is generated based on the user's operation on the target control.

[0116] In some embodiments, the method of moving out of trouble according to the movement instruction can refer to the description of steps S30 to S33.

[0117] In the device control solution provided in this embodiment, when the self-moving device is detected as trapped, a distress signal is generated to prompt the user to remotely escape. Environmental images are sent to the control device, allowing the user to understand the self-moving device's surroundings and accurately control the device based on the target control. Following the movement instructions sent from the control device, the user can escape safely and quickly. like Figure 5 FIG. 1 is a flow chart of a device control method according to another embodiment of the present invention. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. Figure 5 The device control method is applied to control devices, such as Figure 1 and Figure 7 The control device 20 is shown.

[0118] S51, generating an escape request in response to a distress signal sent from a mobile device.

[0119] In some embodiments, the method for generating the escape request may refer to the description in the above step S23.

[0120] S52 , in response to the user's confirmation operation on the escape request, displaying a control interface and unlocking a target control on the control interface.

[0121] In some embodiments, for instructions on the confirmation operation, control interface, and target control, reference may be made to the description of step S24.

[0122] S53: Acquire an environment image collected from the mobile device and display the environment image on the control interface, so that the user can manipulate the target control based on the environment image.

[0123] In some embodiments, the method for acquiring the environment image can refer to the description of steps S25 to S29. S54, based on the user's operation on the target control, controlling the mobile device to move out of trouble.

[0124] In some embodiments, the method for controlling the self-mobile device to escape from distress may refer to the description of steps S30 to S33.

[0125] In the device control method provided in the embodiment of the present application, the user can be intuitively prompted that the mobile device is in a trapped state through an escape request, so that the user can determine whether to help the mobile device escape. When the user confirms to help the mobile device escape, the target control is unlocked so that the user can remotely control the movement of the mobile device. The environmental image collected by the mobile device is displayed on the control interface so that the user can understand the surrounding environment of the mobile device and thus perform accurate remote control. According to the user's operation of the target control, the mobile device is controlled to move and escape, which can not only ensure the safety of the mobile device, but also increase the speed of the mobile device to escape. In this way, when it is determined that the mobile device is trapped, the user's remote control authority for the mobile device is opened, which can not only ensure that the mobile device escapes safely and quickly, but also improve the user's experience with the mobile device.

[0126] like Figure 6 As shown in FIG, it is a structural diagram of a self-moving device provided by an embodiment of the present application. Figure 6 As shown, the self-mobile device 60 includes a body, and a memory 601, a processor 602, a power supply 603, a sensor 604, an operating mechanism 605, a communication module 606, a communication module 607, a driving wheel 608, and a bus 609 disposed on the body. The processor 602 is coupled to the memory 601, the power supply 603, the sensor 604, the operating mechanism 605, the communication module 606, the communication module 607, and the driving wheel 608 via the bus 609.

[0127] Memory 601 may include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The RAM can be directly read and written by the processor 602 and can be used to store executable programs (e.g., machine instructions) for the operating system or other running programs, as well as user and application data. RAM may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0128] The non-volatile memory can also store executable programs and user and application data, etc., and can be pre-loaded into the random access memory for direct reading and writing by the processor 602. The non-volatile memory can include disk storage devices and flash memory.

[0129] The memory 601 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 602. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the processor 602, the device control method executed on the mobile device 60 can be implemented.

[0130] In other embodiments, the self-mobile device 60 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 60 .

[0131] The processor 602 may include one or more processing units, for example, an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0132] The processor 602 provides computing and control capabilities. For example, the processor 602 is used to execute a computer program stored in the memory 601 to implement the above-mentioned device control method.

[0133] The power supply 603 is used to power the mobile device. In one embodiment of the present application, the power supply 603 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, and a wind power generation module.

[0134] The sensor 604 is used to obtain information from the mobile device 60, such as environmental information and movement information of the mobile device 60. In one embodiment of the present application, the sensor 604 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0135] The operating mechanism 605 is used to perform corresponding operating tasks, such as mowing, de-icing, patrolling, sweeping, and spraying pesticides. In some embodiments of the present application, the operating mechanism 605 may include a motor, a transmission mechanism, and a cutter disc. If the self-propelled device is a lawn mower, the motor can drive the cutter disc to rotate via the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.

[0136] The communication module 606 is used to enable communication between the mobile device and other devices. In one embodiment of the present application, the communication module 606 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or a combination of communication methods such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0137] The communication module 607 is used to determine the location of the mobile device. In some embodiments of the present application, the communication module 607 may include one or more positioning modules such as a global positioning system (GPS), an inertial navigation system, a real-time kinematic (RTK) carrier phase differential system, and the like.

[0138] The drive wheels 608 are used to enable the self-moving device to move. In some embodiments of the present application, the drive wheels 608 can achieve the movement function of the self-moving device under the control of the processor 602. In some embodiments of the present application, the drive wheels 608 may include a left drive wheel and a right drive wheel.

[0139] The bus 609 is at least used to provide a channel for mutual communication between the memory 601 , processor 602 , power supply 603 , sensor 604 , operating mechanism 605 , communication module 606 , communication module 607 , and driving wheel 608 in the mobile device 60 .

[0140] In other embodiments of the present application, the self-propelled device 60 may further include an anti-collision unit and a steering assembly. The anti-collision unit may be used to prevent the driving wheel 608 from colliding with obstacles in front of the self-propelled device. The steering assembly may be used to adjust the driving wheel 608 to adjust the driving direction.

[0141] It should be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the self-mobile device 60. In other embodiments of the present application, the self-mobile device 60 may include more or fewer components than shown, or may combine or separate certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0142] like Figure 7 As shown in FIG, it is a structural diagram of a control device provided by an embodiment of the present application. Figure 7 As shown, the control device 70 may include a communication module 701, a storage device 702, a processing device 703, an input / output (I / O) interface 704, and a bus 705. The processing device 703 is coupled to the communication module 701, the storage device 702, and the input / output interface 704 via the bus 705.

[0143] The communication module 701 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions, such as a universal serial bus (USB) and a controller area network (CAN). The wireless communication module may provide one or more wireless communication solutions, such as Wi-Fi, Bluetooth, mobile communication networks, frequency modulation (FM), near field communication (NFC), and infrared (IR).

[0144] Storage device 702 may include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). RAMs can be directly read and written by processing device 703 and can be used to store executable programs (e.g., machine instructions) for other running programs, as well as user and application data. RAMs may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), and double data rate synchronous dynamic random access memory (DDR SDRAM).

[0145] The non-volatile memory can also store executable programs and user and application data, etc., which can be pre-loaded into the random access memory for direct reading and writing by the processing device 703. The non-volatile memory can include disk storage devices and flash memory.

[0146] The storage device 702 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processing device 703. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the processing device 703, they can implement the device control method executed on the control device 70.

[0147] In other embodiments, Figure 7The control device 70 shown also includes an external memory interface for connecting to an external memory to expand the storage capacity of the control device 70 .

[0148] The processing device 703 may include one or more processing units. For example, the processing device 703 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0149] The processing device 703 provides computing and control capabilities. For example, the processing device 703 is used to execute the computer program stored in the storage device 702 to implement the above-mentioned device control method.

[0150] The input / output interface 704 is used to provide a channel for user input or output. For example, the input / output interface 704 can be used to connect various input and output devices, such as a mouse, keyboard, touch device, display screen, etc., so that the user can enter information or visualize information.

[0151] The bus 705 is at least used to provide a channel for mutual communication among the communication module 701 , the storage device 702 , the processing device 703 , and the input / output interface 704 in the control device 70 .

[0152] It should be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the control device 70. In other embodiments of the present application, the control device 70 may include more or fewer components than shown, or may combine or separate certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0153] An 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. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0154] The computer-readable storage medium may be the internal memory of the mobile device or control device described in the above embodiments, such as a hard disk or memory of a communication device or server. The computer-readable storage medium may also be an external storage device of the mobile device or control device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc., provided on the mobile device or control device.

[0155] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, applications required for at least one function, etc.; the data storage area may store data created according to the use of the communication device or server, etc.

[0156] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0157] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. The above embodiments are only used to illustrate the technical solution of this application, not to limit it; although the application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not deviate from the essence of the corresponding technical solution from the spirit and scope of the technical solutions of the various embodiments of this application, and should all be included in the scope of protection of this application.

Claims

1. A device control method, applied to control a device, characterized in that: The control device is in communication with the mobile device, and the method includes: generating a request for escape in response to a distress signal sent from the mobile device; In response to the user's confirmation operation of the escape request, displaying a control interface and unlocking a target control of the control interface; Acquiring the environment image captured by the mobile device, and displaying the environment image on the control interface, so that the user can manipulate the target control based on the environment image; Based on the user's operation on the target control, the self-moving device is controlled to move out of trouble.

2. The device control method according to claim 1, wherein: The controlling the mobile device to move out of trouble based on the user's operation on the target control includes: receiving a signal strength transmitted from the mobile device; If the signal strength is less than or equal to a first preset value, in response to the user's operation on the target control, determining first movement information, and generating a movement instruction according to the first movement information and a preset first speed limit value, wherein the first movement information includes a movement operation and a movement speed; If the signal strength is greater than the first preset value and less than or equal to a second preset value, in response to the user's operation on the target control, determining second movement information according to a preset speed limit ratio, and generating a movement instruction according to the preset second speed limit value and the second movement information, wherein the second movement information includes a movement operation and a movement speed; If the signal strength is greater than the second preset value and less than or equal to a third preset value, in response to the user's operation on the target control, determining third movement information, and generating a movement instruction based on a back operation, a preset third speed limit value, and the third movement information, wherein the third movement information includes a movement speed; By sending the movement instruction to the self-moving device, the self-moving device is controlled to move and escape.

3. The device control method according to claim 2, wherein: The method further comprises: If the signal strength is greater than the third preset value, one or more of the following operations are performed: locking the target control, displaying a network connection request, executing an alarm, controlling the control device and the self-mobile device to execute preset protection measures.

4. The device control method according to claim 1, wherein: The controlling the mobile device to move out of trouble based on the user's operation on the target control includes: receiving signal quality and obstacle information sent from the mobile device, wherein the obstacle information is obtained based on recognition of the environment image, and the obstacle information includes obstacle density; Determining an initial moving speed according to a preset speed limit ratio and a maximum moving speed of the self-moving device under a preset control state, wherein the preset control state includes controlling the self-moving device to perform mobile mapping; Determining a speed limit value using a preset speed constraint model based on the initial moving speed, the obstacle information, and the signal quality; In response to the user's operation on the target control, determining movement information, wherein the movement information includes a movement operation and a movement speed; generating a movement instruction according to the movement information and the speed limit value; By sending the movement instruction to the self-moving device, the self-moving device is controlled to move and escape.

5. The device control method according to claim 1, wherein: The controlling the mobile device to move out of trouble based on the user's operation on the target control includes: In response to the user's operation on the target control, determining movement information, wherein the movement information includes a movement operation and a movement speed; generating a movement instruction according to a preset speed increment constraint and the movement information; By sending the movement instruction to the self-moving device, the self-moving device is controlled to move and escape.

6. The device control method according to claim 1, wherein: The method further comprises: In response to the escape signal received from the mobile device, exit the control interface.

7. A device control method, applied to a self-moving device, characterized in that: The self-mobile device is communicatively connected with the control device, and the method further includes: If it is detected that the self-moving device is in a trapped state, generating a trapped signal and sending the trapped signal to the control device; Capturing an environment image, and in response to a visual acquisition instruction sent from the control device, transmitting the environment image to the control device, so that a user can manipulate a target control displayed by the control device based on the environment image; Receive a movement instruction sent from the control device, and move out of trouble according to the movement instruction, wherein the movement instruction is generated based on the user's operation on the target control.

8. The device control method according to claim 7, wherein: The method for detecting the trapped state includes: determining that the self-moving device is in the trapped state under the condition that one or more of the following conditions are met: The self-moving device is in working state and cannot move forward or backward within a first preset time; The current fluctuation amplitude of the motor in the self-moving device is greater than a first preset threshold and lasts for a second preset time; The odometer displacement of the mobile device is less than a second preset threshold; The gyroscope angular velocity variance of the self-mobile device is greater than a third preset threshold; The posture angle of the self-moving device is greater than a fourth preset threshold.

9. The device control method according to claim 7, wherein: The method further comprises: Performing obstacle recognition based on the environment image to obtain obstacle information, wherein the obstacle information includes obstacle density; Detecting the signal strength and signal quality of the communication network to which the mobile device is connected; The signal strength, the signal quality, and the obstacle information are sent to the control device.

10. The device control method according to claim 7, wherein: The method further comprises: If it is detected that the self-moving device is in an escape state, an escape signal is generated and the escape signal is sent to the control device.

11. The device control method according to claim 10, wherein: The method for detecting the escape state includes: determining that the self-moving device is in the escape state under the condition that one or more of the following conditions are met: The average moving speed of the mobile device is greater than a fifth preset threshold and lasts for a third preset time; The diversity index of the moving path of the self-moving device is greater than a sixth preset threshold; The current fluctuation amplitude of the motor in the self-moving device is less than a seventh preset threshold.

12. A control device, characterized in that: The control device includes: a storage device, a processing device, and a computer program stored on the storage device and executable on the processing device. When the processing device executes the computer program, the control device implements the device control method according to any one of claims 1 to 6.

13. A self-propelled device, characterized in that: The self-mobile device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the self-mobile device implements the device control method according to any one of claims 7 to 11.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processing device in a control device, implements the device control method as described in any one of claims 1 to 6, or is implemented by a processor in a mobile device, implements the device control method as described in any one of claims 7 to 11.

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