Device control method, self-moving device and storage medium

Abstract

The invention provides a device control method, a self-moving device and a storage medium. The method comprises the steps that when the self-moving device moves along a communication channel, whether the communication channel is blocked or not is detected, one end of the communication channel is connected with a first area or a first position, and the other end is connected with a second area or a second position; if the communication channel is blocked, controlling the self-moving equipment to stop moving or decelerate; under the condition that the communication channel is a ramp, responding to a triggered preset event, controlling the self-moving device to return to an initial position along the communication channel, the initial position being located in the first area or the first position; when the self-moving device stops moving or decelerates, the self-moving device is located between the first area or the first position and the blocking position of the communication channel. By means of the method, the self-moving equipment can be effectively prevented from sliding on the slope due to the gravity effect, the operation safety of the self-moving equipment is improved, and therefore the service life of the equipment is prolonged.

Description

Technical Field

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

[0002] Currently, autonomous vehicles can move along connecting pathways between multiple work areas to facilitate cross-regional operations. However, if an obstacle blocks the movement along a slope, the stationary autonomous vehicle can slide due to its own gravity, causing it to collide with the obstacle or even fall, ultimately damaging the device and affecting its normal operation and lifespan. Summary of the Invention

[0003] The present application provides a device control method, a self-moving device and a storage medium, which can solve the technical problem of collision between the self-moving device and obstacles due to the slope sliding phenomenon.

[0004] On the one hand, the present application provides a device control method, which includes: when a self-moving device moves along a connecting channel, detecting whether the connecting channel is blocked, one end of the connecting channel is connected to a first area or a first position, and the other end is connected to a second area or a second position; if the connecting channel is blocked, controlling the self-moving device to stop moving or slow down; in the case where the connecting channel is a ramp, in response to a preset event triggered, controlling the self-moving device to return to a starting position along the connecting channel, the starting position being located in the first area or the first position; when the self-moving device stops moving or slows down, the self-moving device is located between the first area or the first position and the blocked position of the connecting channel.

[0005] In some embodiments of the present application, detecting whether the communication channel is blocked includes: if there is an obstacle in the communication channel and the self-moving device cannot pass through the communication channel, determining that the communication channel is blocked.

[0006] In some embodiments of the present application, if the obstacle is a static obstacle and planning an obstacle avoidance path for the obstacle in the communication channel fails, it is determined that the self-moving device cannot pass through the communication channel.

[0007] In some embodiments of the present application, if the obstacle is a dynamic obstacle, the self-mobile device waits for a first preset period of time and then detects the presence of an obstacle in the connecting channel again, and planning an obstacle avoidance path for the obstacle in the connecting channel fails, and it is determined that the self-mobile device cannot pass through the connecting channel.

[0008] In some embodiments of the present application, controlling the self-moving device to stop moving includes: applying a driving force to the wheels of the self-moving device to stop the self-moving device from moving.

[0009] In some embodiments of the present application, the method further includes: acquiring an image captured by the self-mobile device when the self-mobile device moves along the connecting channel; performing semantic segmentation on the image to obtain a semantic segmentation result; and determining whether the connecting channel is a ramp based on the semantic segmentation result.

[0010] In some embodiments of the present application, the method further includes: when the self-moving device moves along the connecting channel, using the slope detection unit of the self-moving device to detect the inclination angle of the self-moving device; and determining whether the connecting channel is a ramp based on the comparison result of the inclination angle with a preset angle.

[0011] In some embodiments of the present application, the method further includes: after controlling the self-moving device to stop moving or slow down for a second preset time period, if the connecting channel is detected to be blocked again, triggering the preset event; and / or if the power of the self-moving device is lower than a preset power, triggering the preset event.

[0012] In some embodiments of the present application, the method further includes: if the communication channel is blocked, sending a prompt message, wherein the prompt message is used to indicate that the communication channel is blocked.

[0013] In some embodiments of the present application, the connecting channel includes one or more combinations of the following: a travel path between the first area and the second area, a transmission area between the first area and the second area, and the transmission area is expanded based on the travel path.

[0014] 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. When the processor executes the computer program, the self-mobile device implements the device control method. On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the device control method when executed by a processor in a mobile device.

[0015] In the device control scheme of this embodiment, when it is detected that the connecting channel is blocked, the self-moving device is controlled to stop moving or slow down. In the case where the connecting channel is a slope, in response to a triggered preset event, the self-moving device is controlled to return to the starting position along the connecting channel. This can effectively prevent the self-moving device from sliding down the slope due to gravity, improve the operating safety of the self-moving device, and thus extend the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 This is an application scenario diagram of the device control method provided in one embodiment of the present application.

[0016] Figure 2 This is a flow chart of a device control method provided in one embodiment of the present application.

[0017] Figure 3 Schematic diagram of a communication channel provided in one embodiment of the present application.

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

[0019] Figure 5 It is a structural diagram of a self-moving device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0020] 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.

[0021] 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.

[0022] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" 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 "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0023] A self-propelled device, such as a robotic lawnmower, is autonomously controlled and moves. These devices can be equipped with a positioning device, such as a real-time kinematic (RTK) system. When the user remotely controls the robot, the RTK system can track its various locations and then map the boundaries of its work area. Once the boundaries are mapped, the robot can then autonomously mow within its work area.

[0024] To achieve cross-regional operations, users can remotely control the mowing robot from one lawn to another. The mowing robot records the locations it has passed and creates a connecting path based on these locations. Subsequent mowing robots can then follow the connecting path and move smoothly back and forth between the two lawns, completing the mowing task efficiently.

[0025] However, if the robot mower encounters an obstacle while traveling along the connecting path, it will stop moving. If the robot mower is on a slope, the wheels must be powered to prevent it from sliding down. If the robot mower remains on the slope for an extended period, the battery may deplete, causing it to slide down the slope. If the robot mower collides with an obstacle (such as a wall) or falls down the slope, it can be damaged, shortening its lifespan.

[0026] The present application provides a device control method that can effectively prevent a self-propelled device from sliding down a slope due to gravity, thereby improving the operational safety of the self-propelled device and extending the service life of the device. The following first describes the application scenario of the control method of the present application.

[0027] Figure 1 This is an application scenario diagram of the device control method provided by an embodiment of the present application. Figure 1 As shown, the mobile device 10 can communicate with the terminal device 20. The present application does not limit the number of terminal devices 20.

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

[0029] The autonomous device 10 can be a semi-autonomous device or a fully autonomous device, and can be any device with autonomous mobility, such as a lawn mower robot, a sweeping robot, a snow sweeper, or a cleaning robot. This application does not limit the specific type of autonomous device.

[0030] The terminal device 20 can be an electronic device such as a mobile phone, a tablet computer, a smart wearable device, an augmented reality (AR) / virtual reality (VR) device, a laptop computer, a netbook, etc. The embodiment of the present application does not impose any restrictions on the specific type of the terminal device 20.

[0031] Hint Figure 1 It is only an example of an application scenario and does not constitute a limitation of the application scenario. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the application scenario may also include more terminal devices than shown in the figure.

[0032] Figure 2 This is a flow chart of a device control method provided by an embodiment of the present application. The device control method is applied to a self-equipped device (e.g. Figure 1 According to different requirements, the order of each step in the flowchart can be adjusted according to actual requirements, and some steps can be omitted.

[0033] S201 , when the self-moving device moves along the communication channel, detecting whether the communication channel is blocked.

[0034] In some embodiments of the present application, when there are multiple working areas corresponding to the self-moving device, a connecting channel between the multiple working areas can be constructed for the self-moving device. One end of the connecting channel is connected to the first area or the first position, and the other end is connected to the second area or the second position. The first area and the second area can be the working areas of the self-moving device, or they can be the areas passed by the self-moving device when going to the working area or returning from the working area. The first position and the second position can be preset positions, for example, the first position and the second position can be charging piles. Exemplarily, the connecting channel can be a channel between two working areas, or a channel between a charging pile and a working area, etc.

[0035] In some embodiments of the present application, the communication channel may include but is not limited to: a travel path between the first area and the second area, a transmission area between the first area and the second area, and the transmission area is obtained by expanding based on the travel path. Figure 3 As shown, Figure 3 Schematic diagram of a connecting channel provided in one embodiment of the present application. Figure 3 In the example, the mobile device can plan a path from the first area A to the second area B as a connecting channel (see Figure 3 In order to facilitate the planning of obstacle avoidance paths, the self-mobile device can horizontally expand the travel path between the first area A and the second area B to obtain the transmission area (see Figure 3 The green area C in the figure) can be referenced to the boundary of the transmission area. Figure 3 The dark blue curve in .

[0036] In this embodiment, the travel path between the first area and the second area is used as a connecting channel to facilitate cross-area operation of the self-moving device. By using the transmission area obtained by extending the travel path as a connecting channel, the self-moving device can plan an obstacle avoidance path, allowing the self-moving device to bypass obstacles along the obstacle avoidance path and continue to move forward.

[0037] In some embodiments of the present application, when a self-moving device moves along a connecting passage from a first area or a first position, the self-moving device can perform real-time obstacle detection. If an obstacle exists in the connecting passage, the self-moving device can identify the type of obstacle. Based on the type of obstacle, the self-moving device can determine whether the self-moving device cannot pass through the connecting passage. In this embodiment, obstacles can be divided into static obstacles and dynamic obstacles based on their type. Static obstacles can indicate obstacles that do not move autonomously, while dynamic obstacles can indicate obstacles that move autonomously. For example, dynamic obstacles can include people, animals, etc.

[0038] In one example, if the obstacle is a static obstacle and planning an obstacle avoidance path for the obstacle within the connecting passage fails, the self-moving device is determined to be unable to pass through the connecting passage. The obstacle avoidance path can be used to indicate a detour route planned by the self-moving device to avoid colliding with the obstacle. If the obstacle is a static obstacle and planning an obstacle avoidance path for the obstacle within the connecting passage is successful, the self-moving device is determined to be able to pass through the connecting passage. This embodiment can accurately determine whether the self-moving device is unable to pass through the connecting passage by detecting whether the obstacle avoidance path is successfully planned for the self-moving device when the obstacle is a static obstacle.

[0039] In another example, if the obstacle is a dynamic obstacle, the mobile device waits for a first preset time period and then detects the presence of the obstacle in the connecting passage again, and planning an obstacle avoidance path for the obstacle within the connecting passage fails, determining that the mobile device cannot pass through the connecting passage. The first preset time period can be set and adjusted according to actual needs. If the obstacle is a dynamic obstacle, the mobile device waits for the first preset time period and then detects that the obstacle is not present in the connecting passage, or successfully plans an obstacle avoidance path for the obstacle within the connecting passage, determining that the mobile device can pass through the connecting passage. In this embodiment, if the obstacle is a dynamic obstacle, since dynamic obstacles can move autonomously, by rechecking the presence of the obstacle in the connecting passage after the mobile device waits for the first preset time period, it can effectively avoid the inability to accurately determine whether the mobile device can pass through the connecting passage due to temporary movement of the obstacle. When the mobile device detects the presence of the obstacle in the connecting passage again after waiting for the first preset time period, by checking whether the mobile device successfully plans an obstacle avoidance path, it can accurately determine whether the mobile device cannot pass through the connecting passage.

[0040] In some embodiments of the present application, if there is an obstacle in the communication passage and the self-moving device cannot pass through the communication passage, the self-moving device determines that the communication passage is blocked.

[0041] S202: If the communication channel is blocked, control the mobile device to stop moving or slow down.

[0042] In some embodiments of the present application, controlling the self-propelled device to stop movement includes applying a driving force to the wheels of the self-propelled device to stop the self-propelled device. By applying the driving force to the wheels, this embodiment effectively prevents the self-propelled device from sliding down a slope due to gravity, thereby improving the operating safety of the self-propelled device and extending the service life of the device.

[0043] In some embodiments of the present application, when the self-moving device stops moving or slows down, the self-moving device is located between the first area or first position and the obstruction point of the communication passage. In this embodiment, when the communication passage is blocked, the self-moving device is controlled to stop moving or slow down so that the self-moving device can be located at the obstruction point of the communication passage, so that the self-moving device can continue to move along the communication passage after the obstruction is removed.

[0044] In some embodiments of the present application, if a connecting passage is blocked, the self-mobile device may send a prompt message, which is used to indicate that the connecting passage is blocked. In one example, the self-mobile device may issue a voice prompt, for example, by using a buzzer installed on the self-mobile device to issue a voice prompt. In another example, the self-mobile device may issue a light prompt, for example, by using a light installed on the self-mobile device to issue a flashing light prompt. In another example, the self-mobile device may send a prompt message to the terminal device to request the user to remove the obstacle, for example, the user may be prompted to remove the obstacle on the connecting passage. This embodiment sends a prompt message so that the user can promptly inform the user of the status of the connecting passage, so that the obstacle in the connecting passage can be removed in a timely manner.

[0045] S203 , in the case where the communication passage is a ramp, in response to a preset event being triggered, controlling the self-moving device to return to the starting position along the communication passage.

[0046] In some embodiments of the present application, while a self-moving device is moving along a connecting passage, the self-moving device may activate a camera to capture an image of the area in front of the self-moving device. Based on the image, the self-moving device may determine whether the connecting passage is a ramp. In this embodiment, the image captured by the self-moving device can accurately identify whether the connecting passage is a ramp.

[0047] In other embodiments, as the self-moving device moves along the connecting passage, the self-moving device can use its own slope detection unit to determine whether the connecting passage is a ramp. This embodiment can quickly detect whether the connecting passage is a ramp using its own slope detection unit.

[0048] In some embodiments of the present application, a second preset duration can be set, which can be set and adjusted according to actual needs. After the mobile device is controlled to stop moving or slow down for the second preset period of time, if the communication channel is detected to be blocked again, it is determined that the preset event has been triggered.

[0049] In other embodiments of the present application, a preset power level can be set, and the preset power level can be set and adjusted according to actual needs. When controlling the self-moving device to stop moving or slow down, if it is detected that the power level of the self-moving device is lower than the preset power level, it is determined that the preset event is triggered. In this embodiment, when the power level of the self-moving device is lower than the preset power level, it indicates that the power level of the self-moving device is insufficient and needs to return to the starting position in time to avoid sliding downhill due to power exhaustion, thereby improving the operational safety of the self-moving device and extending the service life of the device.

[0050] In other embodiments of the present application, a second preset duration and a preset power level can be set. If, during the second preset duration when the self-moving device is stopped or decelerated, it is detected that the power level of the self-moving device is lower than the preset power level, a preset event is determined to be triggered. If, while the power level of the self-moving device is higher than or equal to the preset power level, after the self-moving device is stopped or decelerated for the second preset duration, it is detected that the communication channel is blocked again, a preset event is determined to be triggered.

[0051] In some embodiments of the present application, in response to a preset event being triggered, the self-mobile device is controlled to return to a starting position along the communication channel, and the starting position is located in the first area or the first position.

[0052] For example, if a mobile device starts from first area A and moves along the connecting passage between first area A and second area B, and detects that the connecting passage is blocked, the mobile device stops or slows down. At this point, the mobile device may be located between first area A and the blocked location of the connecting passage. If the connecting passage is detected to be a slope and the battery level of the mobile device is lower than a preset level, the mobile device may be controlled to return to the location within first area A.

[0053] For another example, taking the first location as the location of a charging station, if a mobile device starts from the charging station and moves along the connecting passage between the charging station and the second area B, and detects that the connecting passage is blocked, the mobile device stops or slows down. At this time, the mobile device may be located between the charging station and the blocked location of the connecting passage. If the connecting passage is detected as a slope, after the mobile device stops or slows down for a second preset period of time, if the connecting passage is detected again as blocked, the mobile device may be controlled to return to the charging station.

[0054] In multiple embodiments of the present application, when it is detected that the connecting channel is blocked, the self-moving device is controlled to stop moving or slow down, and in the case where the connecting channel is a slope, in response to a triggered preset event, the self-moving device is controlled to return to the starting position along the connecting channel, which can effectively prevent the self-moving device from sliding down the slope due to gravity, improve the operating safety of the self-moving device, and thus extend the service life of the device.

[0055] Figure 4 This is a flow chart of a device control method provided by another embodiment of the present application. The device control method is applied to a self-equipped device (e.g. Figure 1 According to different requirements, the order of each step in the flowchart can be adjusted according to actual requirements, and some steps can be omitted.

[0056] S401: When the mobile device moves along the communication channel, detect whether the communication channel is blocked.

[0057] In some embodiments of the present application, when the self-moving device starts from the first area or the first position and moves along the communication channel between the first area or the first position and the second area or the second position, the self-moving device can detect whether the communication channel is blocked. The method for the self-moving device to detect whether the communication channel is blocked can refer to Figure 2 The detailed contents of step S201 will not be described again in this application.

[0058] In some embodiments of the present application, if the communication channel is not blocked, step S402 is executed; if the communication channel is blocked, step S403 is executed.

[0059] S402, controlling the mobile device to continue moving.

[0060] In some embodiments of the present application, the self-moving device may continue to move along the communication channel. After the self-moving device executes step S402, it may execute step S401.

[0061] S403, controlling the mobile device to stop moving or slow down.

[0062] In some embodiments of the present application, when the self-moving device stops moving or slows down, the self-moving device is located between the first area or the first position and the blocking position of the communication passage. The method for the self-moving device to control the self-moving device to stop moving or slow down can refer to Figure 2 The detailed contents of step S202 will not be described again in this application.

[0063] In some embodiments of the present application, after executing step S403 , the mobile device may execute step S404 .

[0064] S404: Detect whether the connecting passage is a ramp.

[0065] In some embodiments of the present application, when a mobile device moves along a connecting passage, an image captured by the mobile device may be acquired, the mobile device may perform semantic segmentation on the image to obtain a semantic segmentation result, and based on the semantic segmentation result, determine whether the connecting passage is a ramp.

[0066] In this embodiment, the mobile device may perform semantic segmentation on the image using a preset neural network model to obtain a semantic segmentation result, and the semantic segmentation result may indicate whether the connected channel is a ramp.

[0067] This embodiment can perform semantic analysis on images captured in real time by a mobile device, thereby accurately determining whether a connecting passage is a ramp based on the semantic segmentation result.

[0068] In other embodiments, a preset angle can be set based on the angle of the slope on which the self-moving device is located when the self-moving device slides downhill due to gravity. The preset angle can be set and adjusted based on actual needs. For example, the preset angle can be set to 10°, but this embodiment is not limited to this. As the self-moving device moves along the connecting passage, the slope detection unit of the self-moving device detects the inclination angle of the self-moving device. Based on the comparison of the inclination angle with the preset angle, the self-moving device determines whether the connecting passage is a slope.

[0069] In this embodiment, if the inclination angle is greater than a preset angle, the communicating passage is determined to be a ramp, and if the inclination angle is less than the preset angle, the communicating passage is determined not to be a ramp.

[0070] This embodiment uses a slope detection unit to accurately obtain the tilt angle of the self-moving device, and then accurately determine whether the connecting passage is a ramp by comparing the tilt angle with a preset angle. In addition, by directly comparing the tilt angle with the preset angle, it is possible to quickly determine whether the connecting passage is a ramp.

[0071] In some embodiments of the present application, when the connecting passage is not a ramp, step S405 is executed; when the connecting passage is a ramp, step S406 is executed.

[0072] S405: Control the mobile device to stop moving.

[0073] In some embodiments of the present application, if the connecting passage is not a ramp, the self-moving device stops moving and does not return to its starting position. This embodiment, in the case of a non-slope connecting passage, demonstrates that the self-moving device will not slide down the connecting passage when parked. Therefore, controlling the self-moving device to stop not only prevents collisions with obstacles but also allows the self-moving device to depart from the blocked location once the obstacle is removed, thereby reducing travel time and costs.

[0074] S406 , in response to the triggered preset event, controlling the mobile device to return to the starting position along the communication channel.

[0075] In some embodiments of the present application, after the mobile device stops moving or slows down for a second preset period of time, if the communication channel is detected to be blocked again, a preset event is triggered.

[0076] In other embodiments, if the battery level of the mobile device is lower than a preset battery level, a preset event is triggered.

[0077] In some embodiments of the present application, the method of controlling the self-moving device to return to the starting position along the communication channel can refer to the above Figure 2 The starting position is located in the first area or the first position.

[0078] In this embodiment, the device control scheme controls the self-moving device to stop or slow down when a blocked connecting passage is detected. Furthermore, if the connecting passage is a slope, the self-moving device is controlled to return to its starting position along the connecting passage in response to a triggered preset event. This effectively prevents the self-moving device from sliding down the slope due to gravity, improving operational safety and extending the device's service life. If the connecting passage is not a slope, controlling the self-moving device to stop not only prevents collisions with obstacles but also allows the self-moving device to depart from the blocked location once the obstacle is removed, thereby reducing travel time and costs.

[0079] Figure 5 This is a schematic diagram of the structure of the self-moving device provided in the embodiment of the present application. Figure 5 As shown, in the embodiment of the present application, the self-moving device 10 may include a body and a memory 110, a processor 120, a power supply 130, a slope detection unit 140, a sensor 150, an operating device 160, a communication module 170, a positioning module 180, a driving wheel 190, a camera 191, and a bus 100. The processor 120 is coupled to the memory 110, the power supply 130, the slope detection unit 140, the sensor 150, the operating device 160, the communication module 170, the positioning module 180, the driving wheel 190, and the camera 191 via the bus 100.

[0080] Memory 110 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 120 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.

[0081] 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 120. The non-volatile memory can include disk storage devices and flash memory.

[0082] The memory 110 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 120. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the processor 120, the device control method executed on the mobile device 10 can be implemented.

[0083] In other embodiments, the mobile device 10 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the mobile device 10 .

[0084] The processor 120 may include one or more processing units. For example, the processor 120 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), a baseband processor, and / or a neural-network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0085] The processor 120 provides computing and control capabilities. For example, the processor 120 is used to execute a computer program stored in the memory 110 to implement the above-mentioned device control method.

[0086] The power supply 130 is used to supply power to the mobile device 10. In one embodiment of the present application, the power supply 130 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.

[0087] The slope detection unit 140 is used to detect the tilt angle of the self-moving device 10. For example, the slope detection unit 140 may include but is not limited to an inertial measurement unit (IMU).

[0088] The sensor 150 is used to obtain data from the mobile device 10, such as environmental data and data related to the mobile device 10. In one embodiment of the present application, the sensor 150 may include one or more of a collision sensor, a current sensor, a voltage sensor, a rain detection sensor, a laser radar, a camera, and an ultrasonic sensor.

[0089] The operating device 160 is used to perform various operating functions, such as mowing, de-icing, patrolling, sweeping, and spraying pesticides. In one embodiment of the present application, the operating device 160 may include a drive mechanism such as a motor and a hydraulic cylinder, as well as a cutterhead including blades. In one embodiment of the present application, the motor can drive the blades to move to perform the mowing operation. The motor can control the movement of the blades to adjust the height and speed of the mowing.

[0090] The communication module 170 is used to enable communication between the mobile device 10 and other devices. In one embodiment of the present application, the communication module 170 can exchange data with other devices via wired and / or wireless communication. Such wireless communication can include one or a combination of Bluetooth, Wi-Fi, and Near Field Communication (NFC).

[0091] The positioning module 180 is used to determine the position and movement direction of the mobile device 10. In one embodiment of the present application, the positioning module 180 may include one or more positioning modules such as a global positioning system (GPS), an inertial navigation system, a real-time kinematic (RTK) positioning device, and the like.

[0092] The driving wheels 190 are used to enable the self-moving device 10 to move. In one embodiment of the present application, the driving wheels 190 can enable the self-moving device 10 to move along the target planned trajectory. In one embodiment of the present application, the self-moving device 10 may include driving wheels and passive wheels, and the driving wheels may further include left and right driving wheels.

[0093] The camera 191 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then converts the electrical signal into a digital image signal. In one embodiment of the present application, the mobile device 10 may include 1 or N cameras 191, where N is a positive integer greater than 1.

[0094] The bus 100 is at least used to provide a channel for mutual communication between the memory 110, processor 120, power supply 130, slope detection unit 140, sensor 150, working device 160, communication module 170, positioning module 180, driving wheel 190, and camera 191 in the mobile device 10.

[0095] In other embodiments of the present application, the self-propelled device 10 may further include an anti-collision portion and a steering assembly. The anti-collision portion may be used to prevent the driving wheel 190 from colliding with obstacles in front of the self-propelled device. The steering assembly may be used to adjust the driving wheel 190 to adjust the driving direction.

[0096] It should be understood that the structures illustrated in the embodiments of this application do not constitute specific limitations on the self-mobile device 10. In other embodiments of this application, the self-mobile device 10 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.

[0097] 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.

[0098] The computer-readable storage medium may be an internal memory of the mobile device or electronic device in the above-mentioned embodiment, for example, a hard disk or memory of the mobile device or electronic device. The computer-readable storage medium may also be an external storage device of the mobile device or electronic device, for example, a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, etc. equipped on the mobile device or electronic device.

[0099] 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 based on the use of the mobile device or electronic device, etc.

[0100] 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.

[0101] 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 beyond the scope of this application.

[0102] 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 they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A device control method, characterized in that: The method comprises: When the self-moving device moves along the communication channel, detecting whether the communication channel is blocked, one end of the communication channel is connected to the first area or the first position, and the other end is connected to the second area or the second position; If the communication channel is blocked, controlling the self-moving device to stop moving or slow down; In the case where the connecting passage is a ramp, in response to a preset event being triggered, the self-moving device is controlled to return to a starting position along the connecting passage, and the starting position is located in the first area or the first position; when the self-moving device stops moving or slows down, the self-moving device is located between the first area or the first position and the blocked position of the connecting passage.

2. The device control method according to claim 1, wherein: The detecting whether the communication channel is blocked includes: If there is an obstacle in the communication passage and the self-moving device cannot pass through the communication passage, it is determined that the communication passage is blocked.

3. The device control method according to claim 2, wherein: If the obstacle is a static obstacle and planning an obstacle avoidance path for the obstacle in the communication channel fails, it is determined that the self-moving device cannot pass through the communication channel.

4. The device control method according to claim 2, wherein: If the obstacle is a dynamic obstacle, the self-mobile device detects the presence of an obstacle in the connecting channel again after waiting for a first preset time, and planning an obstacle avoidance path for the obstacle in the connecting channel fails, and it is determined that the self-mobile device cannot pass through the connecting channel.

5. The device control method according to claim 1, wherein: The controlling the self-moving device to stop moving includes: A driving force is applied to the wheels of the self-moving device to stop the self-moving device from moving.

6. The device control method according to claim 1, wherein: The method further comprises: When the self-moving device moves along the connecting passage, acquiring an image captured by the self-moving device; Performing semantic segmentation on the image to obtain a semantic segmentation result; According to the semantic segmentation result, it is determined whether the connecting channel is a ramp.

7. The device control method according to claim 1, wherein: The method further comprises: When the self-moving device moves along the communication channel, using the slope detection unit of the self-moving device to detect the inclination angle of the self-moving device; According to the comparison result of the inclination angle and the preset angle, it is determined whether the communication channel is a ramp.

8. The device control method according to claim 1, wherein: The method further comprises: After controlling the self-moving device to stop moving or slow down for a second preset time period, if the connecting channel is detected to be blocked again, triggering the preset event; and / or If the power level of the mobile device is lower than a preset power level, the preset event is triggered.

9. The device control method according to any one of claims 1 to 8, characterized in that: The method further comprises: If the communication channel is blocked, a prompt message is sent, where the prompt message is used to indicate that the communication channel is blocked.

10. The device control method according to any one of claims 1 to 8, characterized in that: The communication channel includes one or more of the following combinations: A travel path between the first area and the second area, and a transmission area between the first area and the second area, wherein the transmission area is obtained by expanding based on the travel path.

11. A self-propelled device, characterized in that: The self-mobile device includes: a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the self-mobile device implements the device control method according to any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which implements the device control method according to any one of claims 1 to 10 when executed by a processing device in a mobile device.

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