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

Abstract

The invention provides a control method and device of self-moving equipment, the self-moving equipment and a storage medium, and relates to the technical field of intelligent cleaning. The method comprises the following steps: determining a pre-rotation direction of the self-moving equipment according to a relative position of the self-moving equipment and an obstacle; and adjusting the rotation direction of the distance measuring sensor on the self-moving equipment, so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction. According to the embodiment, the space angle resolution can be improved, detail features between objects can be distinguished more finely, the accuracy of obstacle avoidance and navigation is improved, and then the working efficiency, such as the cleaning efficiency, of the self-moving equipment is improved.

Description

Technical Field

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

[0002] By reducing the cleaning burden, sweeping robots bring convenience to users, making the home environment cleaner and saving valuable time. With the development of technology, the functions of sweeping robots have become more diverse, and they are gradually being integrated into modern smart home life.

[0003] Currently, robot vacuums are typically designed with a range sensor mounted on top to measure distances, thereby mapping the surrounding environment for positioning, obstacle avoidance, and navigation to perform cleaning tasks. In some cleaning scenarios, how to better control the robot vacuum to improve cleaning efficiency has become a pressing technical challenge. Summary of the Invention

[0004] In view of the above problems, the present application is proposed to provide a method and apparatus for controlling a self-moving device, a self-moving device, and a storage medium that overcome the above problems or at least partially solve the above problems. The technical solution is as follows:

[0005] In a first aspect, a method for controlling a self-moving device is provided, comprising:

[0006] Determine the pre-rotation direction of the self-moving device according to the relative position of the self-moving device and the obstacle;

[0007] The rotation direction of the distance measuring sensor on the mobile device is adjusted so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction.

[0008] In a possible implementation, determining the pre-rotation direction of the autonomous moving device based on the relative position of the autonomous moving device and the obstacle includes:

[0009] Determining whether the distance between the first edge of the mobile device and the obstacle is less than a preset threshold;

[0010] When the distance between the first edge of the self-moving device and the obstacle is less than a preset threshold, the pre-rotation direction of the self-moving device is determined.

[0011] In a possible implementation, when the self-moving device rotates along the pre-rotation direction, the self-moving device moves away from the obstacle.

[0012] In a possible implementation, if the first edge is a right edge, the pre-rotation direction is determined to be a left counterclockwise rotation.

[0013] In a possible implementation, adjusting the rotation direction of the ranging sensor on the mobile device so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction includes:

[0014] The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is counterclockwise.

[0015] In a possible implementation, if the first edge is a left edge, the pre-rotation direction is determined to be clockwise rotation to the right.

[0016] In a possible implementation, adjusting the rotation direction of the ranging sensor on the mobile device so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction includes:

[0017] The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is clockwise.

[0018] In a second aspect, a control device for a mobile device is provided, comprising:

[0019] a determination unit, configured to determine a pre-rotation direction of the self-moving device according to a relative position of the self-moving device and the obstacle;

[0020] The adjusting unit is used to adjust the rotation direction of the distance measuring sensor on the mobile device so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction.

[0021] In a possible implementation manner, the determining unit is further configured to:

[0022] Determining whether the distance between the first edge of the mobile device and the obstacle is less than a preset threshold;

[0023] When the distance between the first edge of the self-moving device and the obstacle is less than a preset threshold, the pre-rotation direction of the self-moving device is determined.

[0024] In a possible implementation, when the self-moving device rotates along the pre-rotation direction, the self-moving device moves away from the obstacle.

[0025] In a possible implementation, if the first edge is a right edge, the determining unit determines that the pre-rotation direction is a left counterclockwise rotation.

[0026] In a possible implementation, the adjusting unit is further configured to:

[0027] The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is counterclockwise.

[0028] In a possible implementation, if the first edge is a left edge, the determining unit determines that the pre-rotation direction is clockwise rotation to the right.

[0029] In a possible implementation, the adjusting unit is further configured to:

[0030] The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is clockwise.

[0031] In a third aspect, a self-moving device is provided, which includes a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above-mentioned control methods for the self-moving device.

[0032] In a fourth aspect, a storage medium is provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any of the above-mentioned methods for controlling a mobile device when running.

[0033] By means of the above technical solution, the embodiments of the present application provide a control method and device for a self-moving device, a self-moving device, and a storage medium. The method determines the pre-rotation direction of the self-moving device based on the relative position of the self-moving device and the obstacle; and adjusts the rotation direction of the ranging sensor on the self-moving device so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction. Here, the adjusted rotation direction of the ranging sensor and the pre-rotation direction of the self-moving device are both relative to the working scene of the self-moving device. The rotation direction of the ranging sensor on the self-moving device is adjusted so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction of the self-moving device. In this way, when the self-moving device rotates along the pre-rotation direction, the rotation speed of the ranging sensor and the movement speed of the self-moving device relative to the working scene of the self-moving device will be superimposed, so that the rotation speed of the ranging sensor relative to the working scene of the self-moving device increases, and the ranging sensor can cover more angles relative to the working scene of the self-moving device in the same time. This can increase the density and coverage of data points collected by the ranging sensor, thereby collecting more work scene details in the same time, improving the spatial angular resolution, and being able to more finely distinguish the detailed features between objects, thereby improving the accuracy of obstacle avoidance and navigation, and thereby improving the working efficiency of the self-moving device, such as cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0035] Figure 1 A flow chart showing a method for controlling a self-mobile device provided by an embodiment of the present application is shown;

[0036] Figure 2 A schematic diagram showing the sweeping robot provided by an embodiment of the present application moving right along a wall is shown;

[0037] Figure 3 A flow chart showing a method for controlling a sweeping robot according to an embodiment of the present application is shown;

[0038] Figure 4 A structural diagram of a control device for a mobile device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0040] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that such usage is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "including" and its variations are to be interpreted as open-ended terms meaning "including but not limited to."

[0041] In order to solve the above technical problems, the embodiment of the present application provides a control method for a self-moving device, where the self-moving device can be a sweeping robot, a floor washing robot, a mopping robot, a mopping robot, a lawn mowing robot, etc., and this embodiment does not limit this. Figure 1 As shown, the control method of the mobile device may include the following steps S101 and S102:

[0042] Step S101: determining a pre-rotation direction of the self-moving device according to the relative positions of the self-moving device and the obstacle.

[0043] In this step, the obstacle may be a wall, a table, a coffee table, a sofa, a sliding door, etc., which is not limited in this embodiment. The pre-rotation direction of the self-moving device determined here is relative to the working scene of the self-moving device.

[0044] Step S102: adjusting the rotation direction of the distance measuring sensor on the mobile device so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction.

[0045] In this step, the ranging sensor can be mounted on top of the self-moving device and can rotate at a preset angle, which can be 360 degrees or 180 degrees, etc., and is not limited to this embodiment. Here, the rotation direction of the ranging sensor and the adjusted rotation direction of the ranging sensor are both relative to the working environment of the self-moving device.

[0046] In addition, the distance measuring sensor may be a laser distance measuring sensor, an ultrasonic distance measuring sensor, an infrared distance measuring sensor, etc., which is not limited in this embodiment.

[0047] In this embodiment, the adjusted rotation direction of the ranging sensor and the pre-rotation direction of the self-moving device are both relative to the working scene of the self-moving device. The rotation direction of the ranging sensor on the self-moving device is adjusted so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction of the self-moving device. In this way, when the self-moving device rotates along the pre-rotation direction, the rotation speed of the ranging sensor and the movement speed of the self-moving device relative to the working scene of the self-moving device will be superimposed, so that the rotation speed of the ranging sensor relative to the working scene of the self-moving device is increased. The ranging sensor can cover more angles relative to the working scene of the self-moving device in the same time, which can increase the density and coverage of data points collected by the ranging sensor, thereby collecting more work scene details in the same time, improving the spatial angular resolution, and being able to more finely distinguish the detailed features between objects, thereby improving the accuracy of obstacle avoidance and navigation, and thereby improving the working efficiency of the self-moving device, such as cleaning efficiency.

[0048] In this embodiment, the spatial angular resolution is the minimum resolvable angle between two objects detected by the ranging sensor. A higher spatial angular resolution means that the ranging sensor can more finely distinguish detailed features between objects.

[0049] The embodiment of the present application provides a possible implementation method. In the above step S101, the pre-rotation direction of the self-moving device is determined based on the relative position of the self-moving device and the obstacle. Specifically, the following steps A1 and A2 may be included:

[0050] Step A1: determining whether the distance between the first edge of the mobile device and the obstacle is less than a preset threshold;

[0051] Step A2: When the distance between the first edge of the self-moving device and the obstacle is less than a preset threshold, determine the pre-rotation direction of the self-moving device.

[0052] In an optional embodiment, when the self-moving device rotates along the pre-rotation direction, the self-moving device moves away from the obstacle.

[0053] Among them, the pre-rotation direction refers to the rotation direction of the self-moving device when it rotates for the first time after the current moment (that is, the moment when the distance between the first edge of the self-moving device and the obstacle is less than the preset threshold). For example, when the self-moving device moves along a preset path in a working scene, the preset path may include straight line segments and curve segments. When the self-moving device moves along a straight line segment to the first curve segment, the self-moving device rotates, and the rotation direction of the self-moving device at this time is the pre-rotation direction. Alternatively, when the self-moving device collides with an obstacle or the distance between the self-moving device and the obstacle is too small, the self-moving device needs to move away from the obstacle. At this time, the self-moving device needs to rotate in place, and the direction in which the self-moving device rotates in place is the pre-rotation direction.

[0054] This embodiment can determine whether the distance between the first edge of the self-moving device and the obstacle is less than a preset threshold value. When the distance between the first edge of the self-moving device and the obstacle is less than the preset threshold value, the pre-rotation direction of the self-moving device is determined, and then the rotation direction of the ranging sensor on the self-moving device is adjusted so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction of the self-moving device, thereby promptly improving the spatial angular resolution, being able to more finely distinguish the detailed features between objects, promptly improving the accuracy of obstacle avoidance and navigation, and thereby improving the working efficiency of the self-moving device, such as cleaning efficiency.

[0055] In one embodiment of the present application, a possible implementation method is provided. If the first edge in step A1 above is the right edge, the pre-rotation direction is determined to be a counterclockwise rotation to the left. The first edge being the right edge is determined from the perspective of the self-moving device. For example, left is the left side of the self-moving device's forward direction, and right is the right side of the self-moving device's forward direction. The left edge can be understood as the portion of the self-moving device's left side that is the greatest distance from the device's centerline along the device's forward direction; the right edge can be understood as the portion of the self-moving device's right side that is the greatest distance from the device's centerline along the device's forward direction.

[0056] When the distance between the right edge of the self-moving device and the obstacle is less than a preset threshold, the pre-rotation direction of the self-moving device is determined to be a left counterclockwise rotation. The preset threshold here is the minimum distance that the right edge of the self-moving device can reach from the obstacle during operation. The specific distance can be set according to actual needs, such as 0, 1 mm, 2 mm, 10 mm, 50 mm, or 100 mm, etc. This embodiment does not impose any limitation on this.

[0057] At this time, step S102 adjusts the rotation direction of the ranging sensor on the self-moving device so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction. Specifically, the rotation direction of the ranging sensor on the self-moving device is adjusted so that the adjusted rotation direction of the ranging sensor is counterclockwise.

[0058] In this embodiment, the rotation direction of the ranging sensor on the self-moving device is adjusted so that the adjusted rotation direction of the ranging sensor is counterclockwise, which is consistent with the pre-rotation direction of the self-moving device, which is counterclockwise to the left. In this way, when the self-moving device rotates along the pre-rotation direction, the rotation speed of the ranging sensor and the running speed of the self-moving device are superimposed relative to the working scene of the self-moving device, so that the rotation speed of the ranging sensor relative to the working scene of the self-moving device increases. The ranging sensor can cover more angles relative to the working scene of the self-moving device in the same time, which can increase the density and coverage of data points collected by the ranging sensor, thereby collecting more work scene details in the same time, timely improving the spatial angular resolution, and can more finely distinguish the detailed features between objects, timely improving the accuracy of obstacle avoidance and navigation, and thereby improving the working efficiency of the self-moving device, such as cleaning efficiency.

[0059] In one embodiment of the present application, a possible implementation method is provided. If the first edge in step A1 above is the left edge, the pre-rotation direction is determined to be a clockwise rotation to the right. The first edge being the left edge is determined from the perspective of the self-moving device. For example, left is the left side of the self-moving device's forward direction, and right is the right side of the self-moving device's forward direction. The left edge can be understood as the portion of the self-moving device's left side that is the greatest distance from the device's centerline along the device's forward direction; the right edge can be understood as the portion of the self-moving device's right side that is the greatest distance from the device's centerline along the device's forward direction.

[0060] When the distance between the left edge of the self-moving device and the obstacle is less than a preset threshold, the pre-rotation direction of the self-moving device is determined to be a clockwise rotation to the right. The preset threshold here is the minimum distance that the left edge of the self-moving device can reach from the obstacle during operation. The specific distance can be set according to actual needs, such as 0, 1 mm, 2 mm, 10 mm, 50 mm, or 100 mm, etc. This embodiment does not impose any limitation on this.

[0061] At this time, step S102 adjusts the rotation direction of the ranging sensor on the self-moving device so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction. Specifically, the rotation direction of the ranging sensor on the self-moving device is adjusted so that the adjusted rotation direction of the ranging sensor is clockwise.

[0062] In this embodiment, the rotation direction of the ranging sensor on the self-moving device is adjusted so that the adjusted rotation direction of the ranging sensor is clockwise, which is consistent with the pre-rotation direction of the self-moving device, which is clockwise to the right. In this way, when the self-moving device rotates along the pre-rotation direction, the rotation speed of the ranging sensor and the running speed of the self-moving device are superimposed relative to the working scene of the self-moving device, so that the rotation speed of the ranging sensor relative to the working scene of the self-moving device increases. The ranging sensor can cover more angles relative to the working scene of the self-moving device in the same time, which can increase the density and coverage of data points collected by the ranging sensor, thereby collecting more work scene details in the same time, timely improving the spatial angular resolution, and can more finely distinguish the detailed features between objects, timely improving the accuracy of obstacle avoidance and navigation, and thereby improving the working efficiency of the self-moving device, such as cleaning efficiency.

[0063] The above introduces Figure 1 There are multiple implementation methods for each link of the embodiment shown. The control method of the self-moving device in the embodiment of the present application will be further explained below through specific embodiments.

[0064] In this specific embodiment, Figure 2 As shown, the self-moving device is a sweeping robot 21, the working scene is room 22, the wall of room 22 is 23, and the sweeping robot 21 moves along the right side of the wall. When the sweeping robot 21 moves along the right side of the wall, there is no space to walk on the right side, which causes the sweeping robot 21 to turn left, and turning left is counterclockwise, so the pre-rotation direction of the sweeping robot 21 is to rotate counterclockwise to the left, and the ranging sensor on the sweeping robot 21 is 24.

[0065] Assume that the sweeping robot 21 is moving along the left wall. Figure 2 Not shown in the figure, when the sweeping robot 21 moves along the left wall, there is no walking space on the left side, which means that the sweeping robot 21 must turn right, and turning right is clockwise, so the pre-rotation direction of the sweeping robot 21 is to rotate clockwise to the right.

[0066] Figure 3 A flow chart of a control method for a sweeping robot according to an embodiment of the present application is shown. Figure 3 As shown, the control method of the sweeping robot may include the following steps S301 to S303:

[0067] Step S301 determines whether the distance between the first edge of the robot vacuum cleaner and the obstacle is less than a preset threshold. In this step, the first edge is the right edge, and the obstacle can be a wall. The first edge being the right edge is determined from the perspective of the robot vacuum cleaner. For example, left is the left side of the robot vacuum cleaner's forward direction, and right is the right side of the robot vacuum cleaner's forward direction. The left edge can be understood as the portion of the robot vacuum cleaner's left side that is the greatest distance from the device's centerline along the device's forward direction; the right edge can be understood as the portion of the robot vacuum cleaner's right side that is the greatest distance from the device's centerline along the device's forward direction.

[0068] Step S302 : When the distance between the first edge of the cleaning robot and the obstacle is less than a preset threshold, a pre-rotation direction of the cleaning robot is determined.

[0069] In this step, when the distance between the right edge of the robot vacuum cleaner and the obstacle is less than a preset threshold, the robot vacuum cleaner is determined to rotate counterclockwise to the left. The preset threshold here is the minimum distance that the right edge of the robot vacuum cleaner can reach from the obstacle during operation. The specific distance can be set according to actual needs, such as 0, 1 mm, 2 mm, or 10 mm, etc. This embodiment does not limit this.

[0070] Step S303: Adjust the rotation direction of the distance measuring sensor on the sweeping robot so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction.

[0071] In this step, the ranging sensor is a laser ranging sensor and is installed on the top of the sweeping robot, which can rotate 360 degrees. Here, the rotation direction of the ranging sensor on the sweeping robot can be adjusted so that the adjusted rotation direction of the ranging sensor is counterclockwise.

[0072] In this embodiment, the rotation direction of the ranging sensor on the sweeping robot is adjusted to counterclockwise rotation, so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction of the sweeping robot, which is counterclockwise to the left. In this way, when the sweeping robot rotates along the pre-rotation direction, relative to the working scene of the sweeping robot, such as the room, the rotation speed of the ranging sensor and the rotation speed of the sweeping robot are superimposed together, so that the rotation speed of the ranging sensor relative to the working scene of the sweeping robot increases, and the ranging sensor can cover more angles relative to the working scene of the sweeping robot in the same time. This can increase the density and coverage of data points collected by the ranging sensor, so that more work scene details can be collected in the same time, and the spatial angular resolution is timely improved. The detailed features between objects (such as table legs, chair legs, trash cans, sofa legs, bookshelf legs, etc.) can be more finely distinguished, and the accuracy of obstacle avoidance and navigation is timely improved, thereby improving the cleaning efficiency of the sweeping robot.

[0073] It should be noted that the order of execution of the steps in the above embodiments does not necessarily imply a specific order of execution. The order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. In practical applications, all possible implementation methods described above can be combined in any manner to form possible embodiments of the present application, and will not be described in detail here.

[0074] Based on the control methods of the self-moving device provided in the above embodiments, and based on the same inventive concept, an embodiment of the present application further provides a control device for the self-moving device.

[0075] Figure 4 This is a structural diagram of the control device of the mobile device provided in the embodiment of the present application. Figure 4 As shown, the control device of the self-moving device may specifically include a determining unit 410 and an adjusting unit 420 .

[0076] A determination unit 410 is configured to determine a pre-rotation direction of the self-moving device based on a relative position of the self-moving device and an obstacle;

[0077] The adjusting unit 420 is configured to adjust the rotation direction of the distance measuring sensor on the mobile device so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction.

[0078] An embodiment of the present application provides a possible implementation method, wherein the determining unit 410 is further configured to:

[0079] Determining whether the distance between the first edge of the mobile device and the obstacle is less than a preset threshold;

[0080] When the distance between the first edge of the self-moving device and the obstacle is less than a preset threshold, the pre-rotation direction of the self-moving device is determined.

[0081] A possible implementation method is provided in an embodiment of the present application. When the self-moving device rotates along the pre-rotation direction, the self-moving device moves away from the obstacle.

[0082] In an embodiment of the present application, a possible implementation is provided. If the first edge is a right edge, the determining unit 410 determines that the pre-rotation direction is a left counterclockwise rotation.

[0083] An embodiment of the present application provides a possible implementation method, wherein the adjusting unit 420 is further configured to:

[0084] The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is counterclockwise.

[0085] In an embodiment of the present application, a possible implementation is provided. If the first edge is a left edge, the determining unit 410 determines that the pre-rotation direction is a clockwise rotation to the right.

[0086] An embodiment of the present application provides a possible implementation method, wherein the adjusting unit 420 is further configured to:

[0087] The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is clockwise.

[0088] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the control method of the self-mobile device of any of the above embodiments.

[0089] Based on the same inventive concept, an embodiment of the present application further provides a storage medium storing a computer program, wherein the computer program is configured to execute the control method of the self-mobile device of any of the above embodiments when running.

[0090] Those skilled in the art will clearly understand that the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the aforementioned method embodiments, and for the sake of brevity, they will not be further described here.

[0091] Those skilled in the art will appreciate that the technical solution of the present application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of program instructions for causing an electronic device (e.g., a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application when the program instructions are executed. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0092] Alternatively, all or part of the steps of implementing the aforementioned method embodiments may be accomplished by hardware related to program instructions (such as electronic devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of an electronic device, the electronic device executes all or part of the steps of the methods described in the various embodiments of the present application.

[0093] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that, within the spirit and principles of the present application, they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate from the protection scope of the present application.

Claims

1. A method for controlling a self-propelled device, characterized in that: include: Determine the pre-rotation direction of the self-moving device according to the relative position of the self-moving device and the obstacle; The rotation direction of the distance measuring sensor on the mobile device is adjusted so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction.

2. The method according to claim 1, characterized in that Determining the pre-rotation direction of the self-moving device according to the relative position of the self-moving device and the obstacle includes: Determining whether the distance between the first edge of the mobile device and the obstacle is less than a preset threshold; When the distance between the first edge of the self-moving device and the obstacle is less than a preset threshold, the pre-rotation direction of the self-moving device is determined.

3. The method according to claim 2, characterized in that When the self-moving device rotates along the pre-rotation direction, the self-moving device moves away from the obstacle.

4. The method according to claim 2, characterized in that If the first edge is a right edge, the pre-rotation direction is determined to be a left counterclockwise rotation.

5. The method according to claim 4, characterized in that The adjusting the rotation direction of the ranging sensor on the mobile device so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction includes: The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is counterclockwise.

6. The method according to claim 2, characterized in that If the first edge is a left edge, the pre-rotation direction is determined to be clockwise rotation to the right.

7. The method according to claim 6, characterized in that The adjusting the rotation direction of the ranging sensor on the mobile device so that the adjusted rotation direction of the ranging sensor is consistent with the pre-rotation direction includes: The rotation direction of the ranging sensor on the mobile device is adjusted so that the adjusted rotation direction of the ranging sensor is clockwise.

8. A control device for a self-propelled device, characterized in that: include: an acquisition unit, configured to determine a pre-rotation direction of the self-moving device according to a relative position of the self-moving device and the obstacle; The adjusting unit is used to adjust the rotation direction of the distance measuring sensor on the mobile device so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction.

9. A self-propelled device, characterized in that: The device comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the control method of the self-moving device according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method for controlling a self-moving device according to any one of claims 1 to 7 when running.

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