Radar control method, self-moving device and storage medium

Abstract

The invention provides a radar control method, a self-moving device and a storage medium. The method comprises the following steps: determining target information of the self-moving device; determining a radar control signal based on the target information; and controlling the radar in the self-moving equipment to sleep or work according to the radar control signal. According to the invention, the service life of the radar can be prolonged, and the power loss of the self-moving equipment is reduced.

Description

Technical Field

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

[0002] In autonomous vehicles (such as lawn mowers, sweeping robots, and unmanned guided vehicles), radar is widely used for obstacle detection, positioning and navigation, and dynamic target tracking due to its high reliability in complex environments, all-weather operation, and anti-interference performance.

[0003] However, when radar is running on a mobile device, it has the problem of excessive power consumption, which seriously restricts the device's battery life and practicality. Summary of the Invention

[0004] In view of the above, it is necessary to provide a radar control method, a self-moving device and a storage medium, which can solve the technical problem of excessive power consumption when the radar is running on a self-moving device.

[0005] In a first aspect, an embodiment of the present application provides a radar control method, which is applied to a self-moving device. The radar control method includes: determining target information of the self-moving device; determining a radar control signal based on the target information; and controlling the radar in the self-moving device to sleep or work according to the radar control signal.

[0006] In some embodiments, determining the radar control signal based on the target information includes: determining the radar wake-up level corresponding to the target information according to a preset correspondence between the target information and the radar wake-up level; and determining the radar control signal based on the radar wake-up level.

[0007] In some embodiments, the target information includes communication information, navigation information and power information, and the radar wake-up level corresponding to the target information is determined based on the correspondence between the pre-set target information and the radar wake-up level, including: based on the communication information and the navigation information, if it is determined that the self-mobile device is connected to a preset device, or the self-mobile device turns on the navigation function, then the radar wake-up level is determined to be the first level; based on the navigation information, if it is determined that the self-mobile device detects an obstacle, or it is determined that the movement of the self-mobile device is obstructed, then the radar wake-up level is determined to be the second level; based on the power information and the navigation information, if it is determined that the self-mobile device is in a deep charging state, or the self-mobile device has not been operated within a first time period and has not received any interactive instructions, then the radar wake-up level is determined to be the third level.

[0008] In some embodiments, the radar control signal is determined based on the radar wake-up level, including: if the radar wake-up level is the first level, the radar control signal is determined to be a first control signal, and the first control signal is used to instruct the self-mobile device to control the radar to enter the working state; if the radar wake-up level is the second level, the radar control signal is determined to be a second control signal, and the second control signal is used to instruct the self-mobile device to control the radar to enter the working state, and turn off the radar when the working time of the radar is the second time length; if the radar wake-up level is the third level, the radar control signal is determined to be a third control signal, and the third control signal is used to instruct the self-mobile device to control the radar to enter the sleep state.

[0009] In some embodiments, the controlling of the radar to enter a working state and turning off the radar when the working time of the radar is a second time period includes: if it is determined that the movement of the self-moving device is obstructed, using the radar to obtain the positioning information of the self-moving device; if it is determined that the radar positioning is normal based on the positioning information, updating the operation path based on the positioning information; if it is determined that the movement of the self-moving device is still obstructed based on the updated operation path, and the working time of the radar is the second time period, turning off the radar.

[0010] In some embodiments, before controlling the radar to sleep or work according to the radar control signal, the method further includes: determining status information of the radar; if the radar is determined to be in a normal state according to the status information, controlling the radar to sleep or work according to the radar control signal; if the radar is determined to be in an abnormal state according to the status information, controlling the radar to restart so that the radar is in a normal state.

[0011] In some embodiments, the method further includes: sending a heartbeat signal to the radar according to a preset time interval; if no response information of the radar to the heartbeat signal is detected within a third time period, controlling the radar to restart; or determining the current value and / or voltage value of the radar; if the current value is less than a first threshold, and / or the voltage value is less than a second threshold, controlling the radar to restart.

[0012] In some embodiments, the method further includes: if the radar does not work within a fourth time period, obtaining the corresponding working requirements of the radar; if it is determined based on the working requirements that the radar needs to work, controlling the radar to enter a working state; if it is determined based on the working requirements that the radar does not need to work, controlling the radar to enter a sleep state.

[0013] In some embodiments, the method further includes: determining a first update frequency of radar data corresponding to the radar based on a first monitoring duration; if the radar data update is determined to be abnormal based on the first update frequency, extending the first monitoring duration to a second monitoring duration, and determining a second update frequency of the radar data based on the second monitoring duration; if the radar data update is determined to be abnormal based on the second update frequency, controlling the radar to restart; determining a third update frequency of the radar data corresponding to the restarted radar based on a third monitoring duration; if the radar data update is determined to be abnormal based on the third update frequency, switching the driving circuit, and using the switched driving circuit to restart the radar.

[0014] In a second aspect, an embodiment of the present application provides a radar control device, which is applied to a self-moving device. The radar control device includes: an information determination module, which is used to determine the target information of the self-moving device; a signal determination module, which is used to determine the radar control signal based on the target information; and a device control module, which is used to control the radar in the self-moving device to sleep or work according to the radar control signal.

[0015] In a third aspect, an embodiment of the present application provides a self-moving device, which includes: a memory and a processor, and the processor implements any of the above-mentioned radar control methods when executing a computer program stored in the memory.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor in a mobile device, the radar control method as described in any one of the above items is implemented.

[0017] In this embodiment, the radar control method determines the target information of the self-moving device; based on this target information, a radar control signal is determined; and based on this radar control signal, the radar is controlled to be inactive or inactive. This method utilizes the target information of the self-moving device to generate the radar control signal and controls the radar's inactivity or awakening based on the radar control signal. This method can reduce the radar's operating hours, extend its service life, and reduce the power consumption of the self-moving device without affecting normal operating procedures or the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the device structure of a radar control method provided in an embodiment of the present application.

[0019] Figure 2 This is a schematic diagram of the equipment operation of a radar control method provided in an embodiment of the present application.

[0020] Figure 3This is a flowchart of a radar control method provided in an embodiment of the present application.

[0021] Figure 4 It is a flowchart of the escape process provided in the embodiment of the present application.

[0022] Figure 5 It is a flow chart of the radar detection method provided in an embodiment of the present application.

[0023] Figure 6 It is a structural diagram of the radar control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] 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.

[0027] In autonomous vehicles (such as lawn mowers, sweeping robots, and unmanned guided vehicles), radar is widely used for obstacle detection, positioning and navigation, and dynamic target tracking due to its high reliability in complex environments, all-weather operation, and anti-interference performance.

[0028] In related technologies, the decision to wake up or shut down the radar is typically based on whether the mobile device needs to operate. However, in some scenarios, such as low-speed operations with fixed operating boundaries, this approach suffers from excessive radar power consumption, severely limiting the device's battery life and practicality.

[0029] In view of the above problems, the embodiments of the present application provide a radar control method, a self-moving device and a storage medium, which can solve the technical problem of excessive power consumption when the radar is running on a self-moving device.

[0030] The radar control method provided in the embodiments of the present application can be applied to one or more autonomous devices, such as lawn mowers, cleaning machines, cruisers, harvesters, forklifts, and automated guided vehicles (AGVs). The embodiments of the present application use a lawn mower as an example for illustration.

[0031] See also Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the device structure of a radar control method provided in an embodiment of the present application. Figure 2 This is a schematic diagram of the equipment operation of a radar control method provided by an embodiment of the present application. Figure 1 As shown, the mobile device 10 includes a memory 11, a power module 12, a radar 13, an operating mechanism 14, a communication module 15, a navigation module 16, a bus 17, and a control center 18. The control center 18 is coupled to the memory 11, the power module 12, the radar 13, the operating mechanism 14, the communication module 15, and the navigation module 16 via the bus 17.

[0032] In some embodiments, the memory 11 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the control center 18. The one or more computer programs include a plurality of instructions that, when executed by the control center 18, can implement a radar control method executed on the mobile device 10.

[0033] In some embodiments, the power module 12 is used to power the mobile device 10. In one embodiment of the present application, the power module 12 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.

[0034] In some embodiments, the radar 13 is used to obtain information from the mobile device 10, such as obtaining environmental information and movement information of the mobile device 10. In some embodiments, the radar 13 may include one or more of a laser radar, a millimeter wave radar, an ultrasonic radar, and a microwave radar.

[0035] In some embodiments, the operating mechanism 14 is used to perform various tasks, such as mowing, de-icing, patrolling, sweeping, and spraying pesticides. In some embodiments, the operating mechanism 14 may include a motor, a transmission mechanism, and a cutterhead. If the self-propelled device 10 is a lawn mower, the motor can drive the cutterhead through the transmission mechanism to rotate, thereby achieving the mowing function. The motor can also control the movement of the blades to adjust the height and area of the mowed grass.

[0036] In some embodiments, the communication module 15 is used to enable communication between the mobile device 10 and other devices. In some embodiments, the communication module 15 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, Near Field Communication (NFC), and other communication methods.

[0037] In some embodiments, navigation module 16 is used to determine the location of mobile device 10. In some embodiments, navigation module 16 may include one or more systems such as a Global Positioning System (GPS), an inertial navigation system, a real-time kinematic (RTK) carrier phase differential system, and the like. Furthermore, navigation module 16 may also include one or more sensors such as a camera, an infrared sensor, and an encoder.

[0038] In some embodiments, the control center 18 provides computing and control capabilities. For example, the control center 18 is configured to execute a computer program stored in the memory 11 to implement the above-mentioned radar control method.

[0039] like Figure 2 As shown, the control center 18 is connected to the power module 12, the communication module 15, and the navigation module 16, respectively, and is used to receive relevant information sent by the power module 12, the communication module 15, and the navigation module 16. Based on the relevant information, a radar control signal is generated, and based on the radar control signal, the radar 13 is controlled to sleep or work.

[0040] In some embodiments, the power module 12 is used to send power information to the control center 18. The power information is used to describe the charging information of the mobile device 10. The power information may include information such as whether the mobile device 10 is in a deep charging state or not in a charging state.

[0041] In some embodiments, the communication module 15 is configured to send communication information to the control center 18. The communication information is used to describe the connection information between the mobile device 10 and the preset device. The communication information may include information such as whether the mobile device 10 is connected to the preset device or whether the mobile device 10 is not connected to the preset device. The preset device can be set according to actual needs. For example, the preset device can be a user terminal. The user terminal can include a computer, a mobile phone, a laptop computer, a tablet computer, a server, and an in-vehicle device, etc., without limitation herein.

[0042] In some embodiments, the navigation module 16 is configured to send navigation information to the control center 18. The navigation information includes at least one of status information, environmental information, positioning information, and path planning information. Status information includes the system status of the mobile device 10, such as ready to operate, operating, trapped, or completed. Environmental information includes obstacle locations and map updates. Positioning information includes the current location, direction, and speed of the mobile device 10. Path planning information includes information such as the target point, planned path, and obstacle avoidance path.

[0043] In some embodiments, control center 18 generates a radar control signal based on at least one of power information, communication information, and navigation information. The radar control signal is used to control whether radar 13 is awake or asleep. In some embodiments, control center 18 is also configured to transmit radar active or asleep information to navigation module 16, enabling navigation module 16 to determine whether radar 13 is active or asleep, ensuring coordinated operation of various modules within mobile device 10. For example, when radar 13 is asleep, navigation module 16 can trigger an emergency stop using sensors such as a camera, infrared sensor, or encoder.

[0044] In the self-mobile device 10 provided in this embodiment, the power module 12, the communication module 15 and the navigation module 16 are used to collect target information, the control center 18 is used to generate a radar control signal based on the target information, and the radar 13 is controlled to sleep or wake up according to the radar control signal. This can reduce the working time of the radar 13 without affecting the normal operation process and the user experience, thereby increasing the service life of the radar 13 and reducing the power consumption of the self-mobile device 10.

[0045] To more clearly illustrate the radar control method provided by the embodiments of the present application, the radar control method of the present application will be described in detail below through multiple embodiments. It should be noted that multiple embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0046] Figure 3This is a flow chart of a radar control method provided by an embodiment of the present application. The order of the steps in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a self-propelled device (e.g. Figure 1 The self-mobile device 10 in Figure 3 As shown, the process includes the following steps.

[0047] S11, determining target information from the mobile device.

[0048] In some embodiments, target information may indicate information related to the dormant or active state of the radar 13. For example, target information may include power information, navigation information, and communication information of the mobile device 10. Power information may describe charging information (e.g., charging status) of the mobile device 10. For example, power information may indicate whether the mobile device 10 is in a deep charging state or not charging. Navigation information includes at least one of status information, environmental information, positioning information, and path planning information. Status information includes the system status of the mobile device 10, such as ready to work, working, trapped, or completed. Environmental information includes obstacle locations and map updates. Positioning information includes the current location, direction, and speed of the mobile device 10. Path planning information includes information such as the target point, planned path, and obstacle avoidance path. Communication information may describe the connection between the mobile device 10 and a preset device. For example, communication information may include information on whether a connection has been established between the mobile device 10 and the preset device. The preset device can be configured based on actual needs. For example, the preset device may be a user terminal (e.g., a mobile phone, tablet, laptop, etc.).

[0049] S12, determining a radar control signal based on the target information.

[0050] In some embodiments, radar control signals are used to control the waking or sleeping of the radar 13. For example, depending on the radar wake-up level, the radar 13 can be controlled in various ways using corresponding radar control signals, including but not limited to: forced waking of the radar 13, on-demand waking of the radar 13, and controlling the radar 13 to enter a sleep state. If the radar control signal indicates that the radar 13 must be forced to wake up, it indicates that the radar 13 must be operated. For example, if the radar 13 is in an operating state, no operation is performed and the radar 13 continues to acquire information; if the radar 13 is in a sleep state, the radar 13 is immediately woken up. On-demand waking of the radar 13 can indicate that the radar 13 can be turned off after a short wake-up. For example, if the radar 13 is in an operating state, no operation is performed and the radar 13 continues to acquire information; if the radar 13 is in a sleep state, the radar 13 is briefly woken up to reacquire information (e.g., environmental information or movement information from the mobile device 10). After the wake-up time reaches a preset duration, the radar 13 is turned off.

[0051] In some embodiments, the radar wake-up level is used to indicate the demand for the radar 13 from the mobile device 10, and can be divided into the first level, the second level, and the third level according to the demand for the radar 13 from the mobile device 10 from high to low. The radar wake-up level is related to the target information. In one embodiment, based on the target information, a radar control signal is determined, including: determining the radar wake-up level corresponding to the target information according to the pre-set correspondence between the target information and the radar wake-up level; and determining the radar control signal according to the radar wake-up level. The embodiment of the present application realizes hierarchical wake-up of the radar 13 by determining the radar wake-up level corresponding to the target information and generating a radar control signal according to the radar wake-up level. Through reasonable sleep and wake-up strategies, the working time of the radar 13 can be reduced without affecting the normal operation process and the user experience, the service life of the radar 13 can be increased, and the power consumption of the mobile device 10 can be reduced.

[0052] In some embodiments, taking the case where target information includes communication information, navigation information, and power information as an example, determining the radar wake-up level corresponding to the target information based on a pre-set correspondence between the target information and the radar wake-up level may include: based on the communication information and the navigation information, if it is determined that the self-mobile device 10 is connected to a preset device, or the navigation function is turned on in the self-mobile device 10, then determining that the radar wake-up level is the first level. The connection between the self-mobile device 10 and the preset device indicates that the user may send an operation instruction to the self-mobile device 10 at any time. Based on this, the self-mobile device 10 has a high demand for the radar 13, and the radar wake-up level is determined to be the first level. If it is determined that the self-mobile device 10 has a navigation function turned on, it indicates that the self-mobile device 10 has started an operation. Based on this, the self-mobile device 10 has a high demand for the radar 13, and the radar wake-up level is determined to be the first level.

[0053] In other embodiments, if, based on the navigation information, it is determined that the mobile device 10 has detected an obstacle or that the movement of the mobile device 10 is obstructed, the radar wake-up level is determined to be the second level. In some embodiments, the navigation module 16 may utilize one or more sensors selected from a camera, an infrared sensor, and an encoder to detect whether the mobile device 10 has encountered an obstacle. Upon detecting that the mobile device 10 has encountered an obstacle, the navigation module 16 transmits the obstacle encounter information to the control center 18. If it is determined that the mobile device 10 has detected an obstacle, the mobile device 10 requires a brief period of radar 13 avoidance. Based on this, the mobile device 10's demand for radar 13 is moderate, and the radar wake-up level is determined to be the second level. In some embodiments, the navigation module 16 may determine whether the movement of the mobile device 10 is obstructed by determining the deviation between the actual movement path of the mobile device 10 and the expected movement path. For example, if the navigation module 16 detects that the position of the mobile device 10 has not been updated for an extended period, this indicates that the movement of the mobile device 10 is obstructed. If it is determined that the movement of the mobile device 10 is obstructed, the mobile device 10 requires a brief period of radar 13 escape. Based on this, since the demand of the mobile device 10 for the radar 13 is average, the radar wake-up level is determined to be the second level.

[0054] In other embodiments, whether the movement of the self-moving device 10 is obstructed may be determined by detecting the current of the drive motor of the self-moving device 10, detecting the speed difference between the left and right wheels of the self-moving device 10, detecting whether the self-moving device 10 is continuously vibrating but not moving, or the like. For example, if the current of the drive motor is detected to be greater than a current threshold, or the speed difference between the left and right wheels of the self-moving device 10 is detected to be greater than a speed difference threshold, or if the self-moving device 10 is detected to be continuously vibrating but not moving, the self-moving device 10 is determined to be obstructed. The current threshold and the speed difference threshold can be set according to actual needs and are not limited here.

[0055] In other embodiments, based on the power supply information and the navigation information, if it is determined that the self-mobile device 10 is in a deep charging state, or the self-mobile device 10 has not been operated and has not received any interactive instructions within the first time period, the radar wake-up level is determined to be the third level. If it is determined that the self-mobile device 10 is in a deep charging state, it indicates that the self-mobile device 10 has no working requirements. Based on this, the self-mobile device 10 has a low demand for the radar 13, and the radar wake-up level is determined to be the third level. If it is determined that the self-mobile device 10 has not been operated and has not received any interactive instructions within the first time period, it indicates that the self-mobile device 10 has no working requirements. Based on this, the self-mobile device 10 has a low demand for the radar 13, and the radar wake-up level is determined to be the third level. Among them, the first time period can be set according to actual needs and is not limited here.

[0056] The embodiment of the present application determines the working scene of the mobile device 10 according to the target information, determines the radar wake-up level corresponding to the mobile device 10 in different working scenes, and improves the accuracy of radar graded wake-up.

[0057] In some embodiments, the radar control signal can be determined based on the radar wake-up level. For example, if the radar wake-up level is the first level, the radar control signal is determined to be a first control signal, and the first control signal is used to instruct the self-mobile device 10 to control the radar 13 to enter the working state. If the radar wake-up level is the second level, the radar control signal is determined to be a second control signal, and the second control signal is used to instruct the self-mobile device 10 to control the radar 13 to enter the working state, and turn off the radar 13 when the working time of the radar 13 is the second time length. If the radar wake-up level is the third level, the radar control signal is determined to be a third control signal, and the third control signal is used to instruct the self-mobile device 10 to control the radar 13 to enter the dormant state. Among them, the second time length can represent the time required for the self-mobile device 10 to try to escape independently. The second time length can be set according to actual needs and is not limited here.

[0058] This embodiment of the present application generates radar control signals based on the radar wake-up level, achieving graded radar wake-up. Through a reasonable sleep and wake-up strategy, the radar 13's operating hours can be reduced without affecting normal operating processes or the user experience, thereby extending the radar 13's service life and reducing power consumption on the mobile device 10.

[0059] S13, controlling the radar in the mobile device to sleep or work according to the radar control signal.

[0060] In some embodiments, when the radar control signal is a first control signal, if the radar 13 is in an active state, no operation is performed and the radar 13 continues to acquire information. If the radar 13 is in a dormant state, the radar 13 is immediately awakened. When the radar control signal is a second control signal, if the radar 13 is in an active state, no operation is performed and the radar 13 continues to acquire information. If the radar 13 is in a dormant state, the radar 13 is briefly awakened to relocate the position information, and after the awakening time reaches a second duration, the radar 13 is turned off. When the radar control signal is a third control signal, if the radar 13 is in an active state, the radar 13 is controlled to enter a dormant state. If the radar 13 is in a dormant state, no operation is performed.

[0061] In some embodiments, when the radar control signal is the first control signal, the radar 13 is controlled to operate. If it is detected that the self-mobile device 10 is disconnected from the preset device, the control center 18 will re-determine the target information of the self-mobile device 10 after a preset time period. The preset time period can be set according to actual needs, for example, the preset time period can be 10 seconds. By re-determining the target information of the self-mobile device 10 after the preset time period after detecting that the self-mobile device 10 is disconnected from the preset device, the problem of the radar 13 being dormant due to a temporary disconnection between the preset device and the self-mobile device 10 can be avoided, thereby improving the accuracy of the radar 13 control.

[0062] In the radar control method of this embodiment, the target information of the self-mobile device 10 is used to generate a radar control signal, and the radar 13 is controlled to sleep or wake up according to the radar control signal. This can reduce the working time of the radar 13 without affecting the normal operation process and the user experience, thereby increasing the service life of the radar 13 and reducing the power consumption of the self-mobile device 10.

[0063] In at least one embodiment of the present application, if it is determined that the movement of the self-moving device 10 is blocked, the self-moving device 10 needs to temporarily use the radar 13 to escape. At this time, the radar 13 is controlled to enter the working state, and when the working time of the radar 13 reaches the second time period, the radar 13 is turned off. Figure 4 This is a flow chart of the escape process provided by the embodiment of the present application. Figure 4 As shown, the short-term escape process of the mobile device 10 using the radar 13 may include the following process: If it is determined that the movement of the mobile device 10 is obstructed, the radar 13 is used to obtain the positioning information of the mobile device 10. If the positioning information determines that the positioning of the radar 13 is abnormal, the radar 13 is turned off when the radar 13's operating time reaches the second time period; if the positioning information determines that the positioning of the radar 13 is normal, the operation path is updated based on the positioning information. If it is determined that the movement of the mobile device 10 is still obstructed based on the updated operation path and the radar 13's operating time reaches the second time period, the radar 13 is turned off; if it is determined that the mobile device 10 is out of trouble based on the updated operation path, the radar 13 is used to reacquire the environmental information of the mobile device 10.

[0064] In the embodiment of the present application, when the movement of the self-moving device 10 is obstructed, the radar 13 is turned on for a short time to perform an escape process, which can reduce manual intervention and improve work efficiency; and when the movement of the self-moving device 10 is still obstructed after the escape process, the radar 13 is turned off, which can reduce the power consumption of the self-moving device 10 and increase the service life of the radar 13.

[0065] In at least one embodiment of the present application, before controlling the radar 13 to sleep or work, it is necessary to detect whether the radar 13 is in a normal state. Figure 5This is a flow chart of the radar detection method provided in the embodiment of the present application, which is applied to a self-equipped device. Figure 5 As shown, the following steps are included: S21, determining radar status information.

[0066] In some embodiments, the status information of the radar 13 may include various key parameters of the radar 13, such as current value, voltage value, whether it is working / dormant, radar data update frequency, etc. Based on the status information of the radar 13, it is possible to detect whether the radar 13 is in a normal state.

[0067] S22: If it is determined according to the status information that the radar is in a normal state, the radar is controlled to sleep or work according to the radar control signal.

[0068] In some embodiments, the control center 18 can be connected to the radar 13, and the control center 18 sends a heartbeat signal to the radar 13 according to a preset time interval. According to the response information of the radar 13 to the heartbeat signal, it is determined whether the radar 13 is in a normal state. For example, if the response information of the radar 13 to the heartbeat signal is not detected within the third time length, it is determined that the radar 13 is in an abnormal state, and the radar 13 is controlled to restart; if the response information of the radar 13 to the heartbeat signal is detected within the third time length, it is determined that the radar 13 is in a normal state, and according to the radar control signal, the radar 13 is controlled to sleep or work. Among them, the preset time interval and the third time length can be set according to actual needs and are not limited here. The embodiment of the present application determines whether the radar 13 is in a normal state by the response information of the radar 13 to the heartbeat signal, and can detect the existence of anomalies in the radar 13 in time, thereby improving the efficiency of the abnormality detection of the radar 13.

[0069] In some embodiments, the power supply module 12 can be used to detect the current value and / or voltage value of the radar 13, and determine whether the radar 13 is in a normal state based on the current value and / or voltage value of the radar 13. For example, if the current value is less than the first threshold value, and / or the voltage value is less than the second threshold value, it is determined that the radar 13 is in an abnormal state, and the radar 13 is controlled to restart. If the current value is greater than or equal to the first threshold value, and the voltage value is greater than or equal to the second threshold value, it is determined that the radar 13 is in a normal state, and based on the radar control signal, the radar 13 is controlled to sleep or work. Among them, the first threshold value and the second threshold value can be set according to actual needs and are not limited here. The embodiment of the present application determines whether the radar 13 is in a normal state through the current value and / or voltage value of the radar 13, and can detect the existence of abnormalities in the radar 13 in a timely manner, thereby improving the efficiency of abnormality detection of the radar 13.

[0070] In some embodiments, if the radar 13 does not work within the fourth time period, the work requirements corresponding to the radar 13 are obtained; if it is determined based on the work requirements that the radar 13 needs to work, the radar 13 is controlled to enter the working state; if it is determined based on the work requirements that the radar 13 does not need to work, the radar 13 is controlled to enter the dormant state. Among them, the fourth time period can be set according to actual needs, and this application does not impose any restrictions on this. If the radar 13 needs to work but the radar 13 does not work, or the radar 13 does not need to work but the radar 13 works, it indicates that the radar 13 is in an abnormal state. By obtaining the work requirements of the radar 13 and controlling the radar 13 to enter the working state or the dormant state according to the work requirements, the embodiment of the present application can adjust the radar 13 in a timely manner when the radar 13 is in an abnormal state, thereby improving the accuracy of the control of the radar 13.

[0071] In some embodiments, a multi-layer timeout strategy can be set based on the radar data update frequency, and whether the radar 13 is in a normal state can be determined based on the radar data update frequency. For example, based on a first monitoring duration, a first update frequency of the radar data corresponding to the radar 13 is determined; if the radar data update is determined to be abnormal based on the first update frequency, the first monitoring duration is extended to a second monitoring duration, and a second update frequency of the radar data is determined based on the second monitoring duration; if the radar data update is determined to be abnormal based on the second update frequency, the radar 13 is controlled to restart; based on a third monitoring duration, a third update frequency of the radar data corresponding to the restarted radar 13 is determined; if the radar data update is determined to be abnormal based on the third update frequency, the driving circuit is switched, and the radar 13 is restarted using the switched driving circuit.

[0072] When radar 13 is in a normal state, the radar data update frequency is relatively high; when radar 13 is in a dormant state, the radar data update frequency is relatively slow; and when radar 13 is overloaded or undergoing a complex task, the radar data update may experience a brief pause or delay. Based on this, whether radar 13 is in an abnormal state can be determined based on the update frequency of the corresponding radar data of radar 13. For example, if the radar data update frequency is less than or equal to a preset frequency threshold, radar 13 is determined to be in an abnormal state; if the radar data update frequency is greater than the preset frequency threshold, radar 13 is determined to be in a normal state. The preset frequency threshold can be set based on actual needs and is not limited here.

[0073] Among them, the first monitoring time, the second monitoring time and the third monitoring time can be set according to actual needs. For example, the first monitoring time can be 3, 10 seconds, etc., the second monitoring time can be 15, 20 seconds, etc., and the third monitoring time can be 30, 35 seconds, etc.

[0074] In some embodiments, the first update frequency of the radar data corresponding to the radar 13 within the first monitoring time period is determined. If the radar data update is determined to be normal based on the first update frequency, the first monitoring time period is reset and the radar data corresponding to the radar 13 within the first monitoring time period is re-monitored at the first update frequency. If the radar data update is determined to be abnormal based on the first update frequency, the first monitoring time period is extended to the second monitoring time period, and the radar data corresponding to the radar 13 within the second monitoring time period is monitored at the second update frequency. For example, the first monitoring time period is 10 seconds, and the second monitoring time period is 20 seconds. If the radar data update is determined to be abnormal based on the first update frequency of the radar data corresponding to the radar 13 within 10 seconds, the radar data is monitored again for 10 seconds, and the cumulative monitoring is 20 seconds, and the update frequency of the radar data within 20 seconds is monitored.

[0075] In some embodiments, if the radar data update is determined to be normal based on the second update frequency, the second monitoring duration is reset and the radar data corresponding to radar 13 is re-monitored at the first update frequency within the first monitoring duration. If the radar data update is determined to be abnormal based on the second update frequency, radar 13 is controlled to restart and the second monitoring duration is further extended to a third monitoring duration. Based on the third monitoring duration, it is determined whether the radar data corresponding to radar 13 after the restart is updated abnormally. For example, the second monitoring duration is 20 seconds and the third monitoring duration is 35 seconds. If the radar data update is determined to be abnormal based on the second update frequency of the radar data corresponding to radar 13 within 20 seconds, the radar data is monitored again for 15 seconds, for a total of 35 seconds, and then radar 13 is restarted and the radar data update frequency is continuously monitored.

[0076] In some embodiments, if the radar data update is determined to be normal based on the third update frequency, the third monitoring duration is reset, the radar data corresponding to radar 13 is re-monitored at the first update frequency within the first monitoring duration, and an operation log corresponding to radar 13 is obtained. By analyzing the operation log, the cause of the abnormality of radar 13 can be determined. If the radar data update is determined to be abnormal based on the third update frequency, it is determined that a serious abnormality exists in radar 13, and it is necessary to switch the drive circuit. Radar 13 is then restarted using the switched drive circuit to ensure that radar 13 is ultimately in a normal state.

[0077] By setting a multi-level timeout strategy, the embodiment of the present application can flexibly respond to various situations of the radar 13, avoid triggering unnecessary restarts due to short delays, reduce the number of times the radar 13 is restarted, and increase the service life of the radar 13.

[0078] S23: If it is determined according to the status information that the radar is in an abnormal state, the radar is controlled to restart so that the radar is in a normal state.

[0079] In the radar control method provided in the embodiment of the present application, by determining whether the radar 13 is in an abnormal state, and controlling the radar 13 to restart when the radar 13 is in an abnormal state, the radar 13 is put into a normal state, so that the radar 13 can respond to the radar control signal normally, thereby improving the reliability of the radar control.

[0080] See also Figure 6 , Figure 6 1 is a schematic diagram of the structure of the radar control device provided in an embodiment of the present application. In some embodiments, the radar control device 100 may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the radar control device 100 may be stored in the memory 11 of the mobile device 10 and executed by at least one processor to perform (see Figure 3 Description) Functions controlled by the device.

[0081] In some embodiments, the radar control device 100 can be divided into multiple functional modules based on their functions. These modules may include an information determination module 101, a signal determination module 102, and a device control module 103. A module, as used herein, refers to a series of computer program segments that can be executed by at least one processor and perform a fixed function, and is stored in the memory 11. In some embodiments, the functions of each module will be described in detail in subsequent embodiments.

[0082] The information determination module 101 may be configured to determine target information from the mobile device 10 .

[0083] The signal determination module 102 may be configured to determine a radar control signal based on target information.

[0084] The device control module 103 can be used to control the radar in the mobile device 10 to sleep or work according to the radar control signal.

[0085] It can be understood that the radar control device 100 and the radar control method of the above embodiment belong to the same inventive concept. The specific implementation method of each module in the radar control device 100 corresponds to the steps of the radar control method in the above embodiment, and this application will not go into details here.

[0086] The module division described above is a logical functional division, and other division methods may be used in actual implementation. In addition, the functional modules in the various embodiments of the present application can be integrated into the same processing unit, or each module can exist physically separately, or two or more modules can be integrated into the same unit. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0087] then Figure 1Regarding the description of mobile device 10, in some embodiments, memory 11 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 control center 18 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 (DDRSDRAM), and the like.

[0088] In some embodiments, non-volatile memory can also store executable programs and user and application data, which can be pre-loaded into random access memory for direct reading and writing by the control center 18. Non-volatile memory can include disk storage devices and flash memory.

[0089] In some 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 .

[0090] In some embodiments, the control center 18 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 processor, 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.

[0091] In some embodiments, the bus 17 is at least used to provide a channel for mutual communication between the first drive device 14, the second drive device 15, the memory 11, the control center 18, the power module 12, the radar 13, the operating mechanism 14, the communication module 15, and the navigation module 16 in the mobile device 10.

[0092] 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 wheels from colliding with obstacles in front of the self-propelled device. The steering assembly may be used to adjust the driving direction of the driving wheels.

[0093] 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.

[0094] 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.

[0095] The computer-readable storage medium may be the internal memory of the mobile device 10 described in the above embodiment, such as the hard disk or memory of the mobile device. The computer-readable storage medium may also be an external storage device of the mobile device, such as a plug-in hard disk equipped on the mobile device, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, etc.

[0096] 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, etc.

[0097] 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.

[0098] 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.

[0099] 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 radar control method, applied to a self-moving device, characterized in that: The radar control method comprises: Determining target information of the mobile device; determining a radar control signal based on the target information; According to the radar control signal, the radar in the mobile device is controlled to be dormant or active.

2. The radar control method according to claim 1, wherein: The determining of the radar control signal based on the target information includes: Determining the radar wake-up level corresponding to the target information based on a preset correspondence between the target information and the radar wake-up level; The radar control signal is determined according to the radar wake-up level.

3. The radar control method according to claim 2, wherein: The target information includes communication information, navigation information, and power information. Determining the radar wake-up level corresponding to the target information based on a preset correspondence between the target information and the radar wake-up level includes: If it is determined, based on the communication information and the navigation information, that the self-mobile device is connected to a preset device, or that the self-mobile device has a navigation function enabled, then determining that the radar wake-up level is the first level; If it is determined, based on the navigation information, that the mobile device detects an obstacle, or that movement of the mobile device is obstructed, then the radar wake-up level is determined to be the second level; If, based on the power information and the navigation information, it is determined that the self-mobile device is in a deep charging state, or the self-mobile device has not been operated within a first period of time and has not received any interaction instructions, the radar wake-up level is determined to be the third level.

4. The radar control method according to claim 3, wherein: The determining the radar control signal according to the radar wake-up level includes: If the radar wake-up level is the first level, determining that the radar control signal is a first control signal, where the first control signal is used to instruct the mobile device to control the radar to enter a working state; If the radar wake-up level is the second level, determining that the radar control signal is a second control signal, the second control signal is used to instruct the mobile device to control the radar to enter an operating state and turn off the radar when the radar operating time is a second time period; If the radar wake-up level is the third level, the radar control signal is determined to be a third control signal, and the third control signal is used to instruct the mobile device to control the radar to enter a dormant state.

5. The radar control method according to claim 4, wherein: The controlling the radar to enter the working state and shutting down the radar when the working time of the radar is the second time period includes: If it is determined that the movement of the self-moving device is blocked, obtaining positioning information of the self-moving device by using the radar; If it is determined that the radar positioning is normal according to the positioning information, updating the operation path based on the positioning information; If it is determined according to the updated operation path that the self-moving device is still blocked from moving, and the operating time of the radar is the second time period, the radar is turned off.

6. The radar control method according to claim 1, wherein: Before controlling the radar to sleep or work according to the radar control signal, the method further includes: determining status information of the radar; If it is determined according to the status information that the radar is in a normal state, controlling the radar to sleep or work according to the radar control signal; If it is determined according to the status information that the radar is in an abnormal state, the radar is controlled to restart so that the radar is in a normal state.

7. The radar control method according to claim 6, wherein: The method further comprises: sending a heartbeat signal to the radar according to a preset time interval; if no response information of the radar to the heartbeat signal is detected within a third time period, controlling the radar to restart; or Determine a current value and / or a voltage value of the radar; if the current value is less than a first threshold value, and / or the voltage value is less than a second threshold value, control the radar to restart.

8. The radar control method according to claim 6, wherein: The method further comprises: If the radar does not work within a fourth time period, obtaining a corresponding working requirement of the radar; If it is determined according to the working requirement that the radar needs to work, controlling the radar to enter a working state; If it is determined according to the working requirement that the radar does not need to work, the radar is controlled to enter a dormant state.

9. The radar control method according to claim 6, wherein: The method further comprises: Determining a first update frequency of radar data corresponding to the radar according to the first monitoring duration; If it is determined that the radar data update is abnormal according to the first update frequency, extending the first monitoring duration to a second monitoring duration, and determining a second update frequency of the radar data according to the second monitoring duration; If it is determined that the radar data update is abnormal according to the second update frequency, controlling the radar to restart; Determining a third update frequency of radar data corresponding to the restarted radar based on the third monitoring duration; If it is determined that the radar data update is abnormal according to the third update frequency, the driving circuit is switched, and the radar is restarted using the switched driving circuit.

10. A self-propelled device, characterized in that: The self-mobile device includes: a memory and a processor, and the processor implements the radar control method according to any one of claims 1 to 9 when executing a computer program stored in the memory.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which implements the radar control method according to any one of claims 1 to 9 when executed by a processor in a mobile device.

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