Slip processing method for self-moving device, self-moving device and readable storage medium

Abstract

This invention discloses a slippage handling method for a self-moving device, a self-moving device, and a readable storage medium. The method includes: upon confirming slippage of the self-moving device, controlling the self-moving device to perform a backward operation according to a preset backward processing logic, and simultaneously controlling the self-moving device to raise the pusher connected to the lawn mowing module according to a preset pusher handling strategy; upon confirming slippage of the self-moving device and confirming that the self-moving device is in a preset state, controlling the self-moving device to perform a forward operation according to a preset forward processing logic, and simultaneously controlling the self-moving device to raise the pusher connected to the lawn mowing module according to a preset pusher handling strategy. In this solution, the self-moving device triggers corresponding slippage handling logic based on different scenario conditions, avoiding the phenomenon of the self-moving device with both lawn mowing and trimming modules getting stuck after slippage, thereby ensuring the subsequent trimming and mowing efficiency of the self-moving device.

Description

Technical Field

[0001] This invention relates to the field of self-moving device slippage treatment technology, and more particularly to a self-moving device slippage treatment method, a self-moving device, and a readable storage medium. Background Technology

[0002] As an intelligent device with autonomous mobility, the garden robot has been widely used in lawn mowing. Its ingenious design features rotating blades at the bottom for efficient grass cutting, enabling rapid trimming of large lawn areas. Meanwhile, a trimming module composed of trimming ropes is cleverly integrated into the edge of the machine, allowing it to reach complex areas such as lawn boundaries and corners, achieving precise trimming close to the edges and greatly improving the overall effect and aesthetics of lawn mowing.

[0003] However, in practical applications, the garden robot still has problems: the self-moving device with the mowing and trimming modules is prone to slipping during movement, causing it to move away from its original working position and affecting the subsequent mowing and trimming efficiency.

[0004] Therefore, those skilled in the art urgently need to find a new technical solution to solve the above-mentioned technical problems. Summary of the Invention

[0005] Therefore, it is necessary to provide a slippage handling method for a self-moving device, a self-moving device, and a readable storage medium to address the aforementioned technical problems, thereby solving the technical problem of slippage that easily occurs when garden robots are mowing and trimming lawns in the prior art.

[0006] To achieve the above objective, a method for handling slippage in a self-moving device is provided, the method comprising: After confirming that the self-moving device has slipped, the self-moving device is controlled to perform a backward operation according to the preset backward processing logic, and at the same time, the self-moving device is controlled to lift the push rod connected to the lawn mowing module according to the preset push rod processing strategy. When it is confirmed that the self-moving device has slipped and that the self-moving device is in a preset state, the self-moving device is controlled to perform a forward operation according to the preset forward processing logic, and at the same time, the self-moving device is controlled to lift the push rod connected to the lawn mowing module according to the preset push rod processing strategy.

[0007] Optionally, after confirming that the self-moving device has slipped, controlling the self-moving device to perform a back operation according to a preset back processing logic includes: After confirming that the self-moving device slips for the first time, and after the angle detection sensor installed in the mowing module detects that the relative angle of the mowing module exceeds the limit angle, the self-moving device is controlled to move forward, and the angle detection sensor continuously detects the relative angle of the mowing module until the relative angle does not exceed the limit angle. The self-moving device is controlled to determine the backward time and backward distance according to a preset number of backward steps, and the self-moving device is controlled to perform the backward operation according to the backward time and backward distance.

[0008] Optionally, after controlling the self-moving device to determine the backward time and backward distance according to a preset number of backward steps, and controlling the self-moving device to perform the backward operation according to the backward time and backward distance, the method further includes: After confirming that the self-moving device has slipped again, the self-moving device is controlled to continue to perform backward processing at the first backward distance, and at the same time, the self-moving device is controlled to continuously adjust the distance of the push rod from the ground under the first adjustment of the push rod connected to the lawn mowing module.

[0009] Optionally, confirming that the self-moving device has slipped and confirming that the self-moving device is in a preset state includes: If the positioning device in the self-moving device detects that the distance to the self-moving device has not changed and the drive wheel of the self-moving device is in motion, it is determined that the self-moving device has slipped. When the positioning device in the self-moving device detects that the current location of the self-moving device exceeds the preset map boundary range, the self-moving device is determined to be in the preset situation; When the recognition sensor in the self-moving device detects an obstacle behind the self-moving device, it is determined that the self-moving device is in the preset situation.

[0010] Optionally, controlling the self-moving device to perform a forward operation according to a preset forward processing logic includes: The self-moving device is controlled to switch its current back operation to the forward operation, and the self-moving device is controlled to determine the forward time and forward distance according to a preset number of forward moves, and the self-moving device is controlled to perform the forward operation according to the forward time and forward distance.

[0011] Optionally, controlling the self-moving device to lift the push rod connected to the mowing module according to a preset push rod handling strategy includes: Determine the preset number of backward or forward steps; When the number of times is odd, the self-moving device is controlled to lift the push rod connected to the mowing module to the first push rod value; When the number of times is even, the self-moving device is controlled to raise the push rod connected to the mowing module to the second push rod value.

[0012] Optionally, the method further includes: Determine the preset number of backward or forward steps; When the number of times is odd, the self-moving device is controlled to rotate in the first direction; When the number of times is even, the self-moving device is controlled to rotate in the second direction.

[0013] Optionally, the method further includes: After determining that the grass-cutting module in the self-moving device has collided with the obstacle, the self-moving device is controlled to adjust according to the vehicle's movement direction in order to control the risk of the self-moving device being continuously stuck to the grass-cutting module.

[0014] To achieve the above objectives, a self-moving device is also provided, including a grass-trimming module and a controller. The motor controller in the grass-trimming module is communicatively connected to the controller, and the controller controls the motor and grass-trimming rope in the grass-trimming module to implement the steps of the above-described self-moving device slippage handling method.

[0015] To achieve the above objectives, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the above-described slip handling method for a self-moving device.

[0016] The slippage handling method for a self-moving device provided by this invention includes: upon confirming that the self-moving device has slipped, controlling the self-moving device to perform a backward operation according to a preset backward processing logic, and simultaneously controlling the self-moving device to lift the push rod connected to the lawn mowing module according to a preset push rod processing strategy; upon confirming that the self-moving device has slipped and that the self-moving device is in a preset state, controlling the self-moving device to perform a forward operation according to a preset forward processing logic, and simultaneously controlling the self-moving device to lift the push rod connected to the lawn mowing module according to a preset push rod processing strategy. In this solution, the self-moving device triggers corresponding slippage handling logic based on different scenario conditions, avoiding the phenomenon of the self-moving device with both a lawn mowing module and a grass trimming module getting stuck after slipping, thereby ensuring the subsequent grass trimming and mowing efficiency of the self-moving device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating an embodiment of the slippage handling method for a self-moving device according to the present invention.

[0019] Figure 2 This is a schematic block diagram of an embodiment of the self-moving device of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of an embodiment of the self-moving device of the present invention; 1. Grass cutting module; 2. Self-moving device body; 3. Grass cutting module. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figure 1 As shown, an embodiment of the present invention provides a method for handling slippage in a self-moving device, applied to a self-moving device with a mowing module and a lawn-cutting module. The method includes the following steps S10 to S20: S10, after confirming that the self-moving device has slipped, control the self-moving device to perform a backward operation according to the preset backward processing logic, and at the same time control the self-moving device to lift the push rod connected to the lawn mowing module according to the preset push rod processing strategy.

[0023] Understandably, self-moving devices can perform lawn mowing within the work area and trimming within the boundaries of the work area. Therefore, self-moving devices need to have both a mowing module and a trimming module installed on their bodies. The mowing module (e.g., Figure 3 (As shown) can be installed at the front of the vehicle body, while the grass-cutting module (such as...) Figure 3 (As shown) can be installed on the vehicle body (such as Figure 3The rear of the self-moving device (as shown) protrudes beyond the edge of the vehicle body. However, because of the installation of the mowing module, the self-moving device may get stuck on obstacles or other entanglements when working at the boundary of the work area, causing it to slip. The self-moving device may also slip due to geographical conditions such as sand, puddles, and potholes when working in the work area. The preset backward handling logic may include adjusting the backward time, backward distance, backward speed, and backward number of times during the backward process. The preset push lever handling strategy can adjust the push lever value according to the current environmental conditions to adjust the ground clearance of the mowing module in the self-moving device. In this way, when the self-moving device encounters an obstacle that is stuck on the mowing module, it can get rid of the phenomenon of the mowing module being stuck by raising its ground clearance. In this embodiment, after the slippage is processed, the self-moving device is adjusted using the back mode.

[0024] S20, when it is confirmed that the self-moving device has slipped and that the self-moving device is in a preset state, the self-moving device is controlled to perform a forward operation according to the preset forward processing logic, and at the same time, the self-moving device is controlled to lift the push rod connected to the lawn mowing module according to the preset push rod processing strategy.

[0025] Understandably, the preset conditions may refer to the current position of the mobile device exceeding the preset map boundary (partial or complete boundary of the mobile device) and obstacles behind the mobile device; the preset forward processing logic may include adjusting the forward time, forward distance, subsequent forward speed, and forward number during the forward movement; the preset push-stick processing strategy is consistent with the strategy mentioned above, and the push-stick value can be adjusted according to the preset settings or according to the situation detected by the mobile device; In this embodiment, after slippage is addressed, the self-moving device is adjusted to forward mode, specifically by switching from the previous backward mode to forward mode.

[0026] It should be noted that after the mowing module is installed on the self-moving device, the controller in the self-moving device can obtain the installation information of the mowing module. At this time, the slip handling logic after the mowing module is installed on the self-moving device can be triggered. When the mowing module is installed on the self-moving device for slip handling, the movement of the mowing module that protrudes from the body of the self-moving device needs to be considered, such as whether the protruding device will collide or rub against obstacles. In the embodiments where steps S10 to S20 are located, the self-moving device triggers the corresponding slippage handling logic according to different scenario conditions, so as to avoid the self-moving device with lawn mowing and grass trimming modules getting stuck after slippage, thereby ensuring the subsequent grass trimming and mowing efficiency of the self-moving device.

[0027] Furthermore, the step of controlling the self-moving device to perform a back operation according to a preset back processing logic after confirming that the self-moving device has slipped includes: After confirming that the self-moving device slips for the first time, and after the angle detection sensor installed in the mowing module detects that the relative angle of the mowing module exceeds the limit angle, the self-moving device is controlled to move forward, and the angle detection sensor continuously detects the relative angle of the mowing module until the relative angle does not exceed the limit angle. The self-moving device is controlled to determine the backward time and backward distance according to a preset number of backward steps, and the self-moving device is controlled to perform the backward operation according to the backward time and backward distance.

[0028] Understandably, the swing arm on the mowing module is equipped with an angle detection sensor. After the mowing module collides with an obstacle, the angle detection sensor can detect the deflection angle. For example, if the initial deflection angle was 10 degrees, after the collision, it might change from 10 degrees to 40 degrees. Alternatively, the angle detection sensor can be a magnetic encoder sensor. A detection element, such as a magnetic disk, is installed at one mounting position on the mowing module, and the magnetic disk is installed at another mounting position. When the swing arm rotates in the mowing module, the magnetic field on the disk also rotates. The sensor in the magnetic encoder (such as a Hall sensor or magnetoresistive sensor) can detect the change in the magnetic field on the disk. As the swing arm rotates, the magnetic field signal received by the sensor also changes. Therefore, after a collision with an obstacle, the collision angle can be detected. Collision information is fed back to the controller in the self-moving device. When the self-moving device is unable to get out of trouble, it may be in a state of continuous slippage. At this time, the self-moving device can determine the adjustment strategy by the number of slippages. The first slippage may trigger the detection of the angle detection sensor. The limit angle can be set according to the specific situation. In the swing range of 0 to 90 degrees, 5 degrees and 80 degrees are the safe working angles (limit angles). The back-back time is determined according to the preset number of back-backs, which is obtained by dividing the preset number of back-backs by the total number of back-backs and multiplying it by a preset single time. The back-back distance is determined according to the preset number of back-backs, which is obtained by dividing the preset number of back-backs by the total number of back-backs and multiplying it by a preset single distance. In addition, the self-moving device also has a moving speed during the movement. In this embodiment, after the self-moving device slips for the first time and triggers the angle detection sensor in the mowing module, the self-moving device attempts to get rid of the problem of the mowing module being stuck by moving forward. In addition, moving backward can also prevent the self-moving device from being in a state of continuous slipping at the current position. The push rod is used to adjust the ground clearance of the mowing module.

[0029] Furthermore, after controlling the self-moving device to determine the backward time and backward distance according to a preset number of backward moves, and controlling the self-moving device to perform the backward operation according to the backward time and backward distance, the method further includes: After confirming that the self-moving device has slipped again, the self-moving device is controlled to continue to perform backward processing at the first backward distance, and at the same time, the self-moving device is controlled to continuously adjust the distance of the push rod from the ground under the first adjustment of the push rod connected to the lawn mowing module.

[0030] Understandably, after the initial processing, the self-moving device may not completely escape the slipping position, potentially leading to continued slipping or secondary slipping. The self-moving device can escape this slipping position by continuing to move backward and continuously adjusting the distance of the push rod from the ground. Specifically, this includes lowering the push rod distance from the ground to obtain a new push rod value, then adjusting it back to the initial value, repeating this adjustment until the self-moving device stops slipping. Alternatively, it includes obtaining a new push rod value from the initial adjustment, adjusting the distance of the push rod from the ground at the new value, and finally restoring it to the initial value. The number of times this process is repeated can be set according to specific scenario requirements; for example, if the self-moving device repeatedly fails to escape the slipping position, the number of attempts can be adjusted. In this embodiment, after the lawn mowing module in the self-moving device falls into the slip position, the height off the ground can be adjusted by continuously adjusting the push rod value, so as to improve the speed at which the lawn mowing module gets out of the slip position.

[0031] Further, confirming that the self-moving device has slipped and confirming that the self-moving device is in a preset state includes: If the positioning device in the self-moving device detects that the distance to the self-moving device has not changed and the drive wheel of the self-moving device is in motion, it is determined that the self-moving device has slipped. When the positioning device in the self-moving device detects that the current location of the self-moving device exceeds the preset map boundary range, the self-moving device is determined to be in the preset situation; When the recognition sensor in the self-moving device detects an obstacle behind the self-moving device, it is determined that the self-moving device is in the preset situation.

[0032] Understandably, while the drive wheels of the self-moving device are rotating, the position of the self-moving device, as determined by positioning devices (such as IMU sensors, RTK, and gyroscopes), has not substantially changed. In this case, it can be determined that the self-moving device is slipping. Furthermore, regardless of whether the device slips once or multiple times, the detection principle of the self-moving device remains the same. The self-moving device is in a preset state based on its current position and collision with obstacles. If boundary conditions and obstacle conditions are not considered during the movement of the self-moving device, it will result in a continuous jamming problem. In this embodiment, a perception-judgment-response detection system is constructed through multi-sensor and device fusion decision-making, which significantly improves the operational efficiency of the garden robot in complex environments while ensuring the safe operation of the equipment.

[0033] Further, controlling the self-moving device to perform a forward operation according to a preset forward processing logic includes: The self-moving device is controlled to switch its current back operation to the forward operation, and the self-moving device is controlled to determine the forward time and forward distance according to a preset number of forward moves, and the self-moving device is controlled to perform the forward operation according to the forward time and forward distance.

[0034] Understandably, the self-moving device may have been in a backward operation, such as the first slip. In order to avoid the self-moving device being in the preset state, the current backward operation can be switched to forward operation. The forward time is determined according to the preset number of forward moves, which is obtained by dividing the preset number of forward moves by the total number of moves and multiplying it by a preset single time. The forward distance is determined according to the preset number of forward moves, which is obtained by dividing the preset number of forward moves by the total number of moves and multiplying it by a preset single distance. In this embodiment, when the self-moving device is slipping in another mode, the action can be adjusted to adapt to the situation, thereby ensuring that the self-moving device can have targeted measures in different situations to improve the working efficiency of the self-moving device.

[0035] Further, controlling the self-moving device to lift the push rod connected to the mowing module according to a preset push rod handling strategy includes: Determine the preset number of backward or forward steps; When the number of times is odd, the self-moving device is controlled to lift the push rod connected to the mowing module to the first push rod value; When the number of times is even, the self-moving device is controlled to raise the push rod connected to the mowing module to the second push rod value.

[0036] Understandably, there is a mapping relationship between the push rod value and the ground clearance. By adjusting the push rod value, the current ground clearance of the mowing module can be determined. Specifically, the mowing module is connected to the vehicle body via a push rod, which is equipped with a motor. The motor can be used to drive the mowing module to adjust its pitch direction. When the self-moving device is getting out of trouble, it can determine different push rod values ​​by adjusting the number of times, so as to get out of the slippage point by using different push rod values. In this embodiment, after the lawn mowing module in the self-moving device falls into the slip position, the height off the ground can be adjusted by continuously adjusting the push rod value, so as to improve the speed at which the lawn mowing module gets out of the slip position.

[0037] Furthermore, the method also includes: Determine the preset number of backward or forward steps; When the number of times is odd, the self-moving device is controlled to rotate in the first direction; When the number of times is even, the self-moving device is controlled to rotate in the second direction.

[0038] Understandably, the first direction can refer to the right (left rear) and the second direction can refer to the left (right rear); the change in direction is consistent with the purpose of adjusting the push rod value mentioned above, which is to increase the speed at which the mowing module can get out of the slipping position by continuously adjusting the overall direction of the self-moving device.

[0039] Furthermore, the method also includes: After determining that the grass-cutting module in the self-moving device has collided with the obstacle, the self-moving device is controlled to adjust according to the vehicle's movement direction in order to control the risk of the self-moving device being continuously stuck to the grass-cutting module.

[0040] Understandably, collisions between the self-moving device and obstacles can be detected by the angle recognition sensor of the detection module, or by the collision strip and recognition sensor set on the vehicle body. The grass-cutting module can be set at the rear of the garden robot, and it can move forward or backward with the vehicle body of the self-moving device. In this way, the self-moving device can collide with obstacles in the forward direction or in the backward direction. In order to perform grass-cutting normally, the self-moving device needs to adjust according to the collision information and the direction of movement. Specifically, 1. When the obstacle is located to the right of the machine's forward direction, the mowing module mounted on the rear of the self-moving device will collide with the obstacle during the self-moving device's left turn. If the direction is not adjusted to get out of the situation, the mowing module may continue to collide with the obstacle or even deflect at a large angle. Therefore, it is necessary to control the self-moving device to adjust its direction to be straight ahead, so that the self-moving device is parallel to the obstacle, which is also conducive to subsequent backward movement according to the prescribed trajectory. Control the self-moving device to move backward in the opposite direction with angular velocity, so that the mowing module in the self-moving device can move backward. 1. The module can get rid of the situation of continuing to collide with the obstacle, and at the same time, there is enough space to turn left; 2. When the obstacle is behind the machine in the backward direction, the grass cutting module may collide with the obstacle. If the direction is not adjusted to get out of trouble, the grass cutting module may continue to collide with the obstacle or even deflect at a large angle. In this case, control the self-moving device to move forward until the swing angle detected by the angle detection sensor in the grass cutting module is less than or equal to the first preset limit angle, so that the self-moving device can get rid of the situation where the grass cutting module is constantly colliding with or stuck with the obstacle by reversing. In this embodiment, when the self-moving device equipped with the grass-cutting module collides with an obstacle, adjustment measures are determined by the direction of movement and collision information to avoid the problem of the garden robot with the grass-cutting module getting stuck and slipping in the current position.

[0041] This invention provides a method for handling slippage in self-moving devices, belonging to the technical field of self-moving device slippage handling. Upon confirming slippage in the self-moving device, the method controls the device to perform a backward operation according to a preset backward processing logic, while simultaneously controlling the device to lift the push rod connected to the lawnmower module according to a preset push rod handling strategy. When slippage is confirmed and the device is in a preset state, the method controls the device to perform a forward operation according to a preset forward processing logic, while simultaneously controlling the device to lift the push rod connected to the lawnmower module according to a preset push rod handling strategy. In this solution, the self-moving device triggers corresponding slippage handling logic based on different scenario conditions, preventing the self-moving device with both lawnmower and mowing modules from getting stuck after slippage, thus ensuring subsequent mowing and mowing efficiency. When the self-moving device with the mowing module collides with an obstacle, adjustment measures are determined based on the movement direction and collision information, preventing the garden robot with the mowing module from getting stuck and slipping in the current position.

[0042] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0043] like Figure 2 As shown, a self-moving device is also provided, including a motor control system and a controller for the self-moving device. The motor controller in the grass-cutting module and the controller are communicatively connected. The controller controls the motor and grass-cutting rope in the grass-cutting module to implement the steps of the slip-handling method for the self-moving device described in the above embodiments. The self-moving device is equipped with a working motor for operation and a walking motor for movement.

[0044] The controller's execution functions correspond one-to-one with the slippage handling methods for the self-moving device described in the above embodiments. Specific limitations of the controller can be found in the limitations of the slippage handling methods for the self-moving device described above, and will not be repeated here. The execution process of each sub-module in the controller can also be found in the limitations of the slippage handling methods for the self-moving device described above, and will not be repeated here. These sub-modules can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in hardware or independent of the controller, or stored in software in the memory of the motor controller, so that the controller can call and execute the operations corresponding to each sub-module.

[0045] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions. The readable storage media provided in this embodiment includes non-volatile readable storage media and volatile readable storage media. The readable storage media stores computer-readable instructions, which, when executed by one or more processors, cause one or more processors to implement the steps of the slippage handling method of the self-moving device described in the above embodiment.

[0046] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0047] Those skilled in the art will clearly understand that, in practical applications, the above functions can be assigned to different functional units or modules as needed, that is, the internal structure of the self-moving device can be divided into different functional units or modules to complete all or part of the functions described above.

[0048] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for slip processing of a self-moving device, applied to a self-moving device with a grass sweeping module and a grass cutting module, characterized in that, The method includes: After confirming that the self-moving device has slipped, the self-moving device is controlled to perform a backward operation according to the preset backward processing logic, and at the same time, the self-moving device is controlled to lift the push rod connected to the lawn mowing module according to the preset push rod processing strategy. When it is confirmed that the self-moving device has slipped and that the self-moving device is in a preset state, the self-moving device is controlled to perform a forward operation according to the preset forward processing logic, and at the same time, the self-moving device is controlled to lift the push rod connected to the lawn mowing module according to the preset push rod processing strategy. The step of controlling the self-moving device to perform a back operation according to a preset back processing logic after confirming that the self-moving device has slipped includes: After confirming that the self-moving device slips for the first time, and after the angle detection sensor installed in the mowing module detects that the relative angle of the mowing module exceeds the limit angle, the self-moving device is controlled to move forward, and the angle detection sensor continuously detects the relative angle of the mowing module until the relative angle does not exceed the limit angle. The self-moving device is controlled to determine the backward time and backward distance according to a preset number of backward steps, and the self-moving device is controlled to perform the backward operation according to the backward time and backward distance.

2. The slip processing method of a self-moving apparatus according to claim 1, wherein After controlling the self-moving device to determine the backward time and backward distance according to a preset number of backward moves, and controlling the self-moving device to perform the backward operation according to the backward time and backward distance, the method further includes: After confirming that the self-moving device has slipped again, the self-moving device is controlled to continue to perform backward processing at the first backward distance, and at the same time, the self-moving device is controlled to continuously adjust the distance of the push rod from the ground under the first adjustment of the push rod connected to the lawn mowing module. 3.The slip processing method of the self-moving device according to claim 1, wherein The confirmation that the self-moving device has slipped and that the self-moving device is in a preset state includes: If the positioning device in the self-moving device detects that the distance to the self-moving device has not changed and the drive wheel of the self-moving device is in motion, it is determined that the self-moving device has slipped. When the positioning device in the self-moving device detects that the current location of the self-moving device exceeds the preset map boundary range, the self-moving device is determined to be in the preset situation; When the recognition sensor in the self-moving device detects an obstacle behind the self-moving device, it is determined that the self-moving device is in the preset situation.

4. The slip processing method of a self-moving apparatus according to claim 1 or 3, wherein The control of the self-moving device to perform a forward operation according to a preset forward processing logic includes: The self-moving device is controlled to switch its current back operation to the forward operation, and the self-moving device is controlled to determine the forward time and forward distance according to a preset number of forward moves, and the self-moving device is controlled to perform the forward operation according to the forward time and forward distance. 5.The slip processing method of the self-moving device according to claim 1, wherein The control of the self-moving device to lift the push rod connected to the lawn mowing module according to a preset push rod handling strategy includes: Determine the preset number of backward or forward steps; When the number of times is odd, the self-moving device is controlled to lift the push rod connected to the mowing module to the first push rod value; When the number of times is even, the self-moving device is controlled to raise the push rod connected to the mowing module to the second push rod value.

6. The slippage handling method for self-moving devices as described in claim 1, characterized in that, The method further includes: Determine the preset number of backward or forward steps; When the number of times is odd, the self-moving device is controlled to rotate in the first direction; When the number of times is even, the self-moving device is controlled to rotate in the second direction.

7. The slip processing method of a self-moving apparatus according to claim 1, wherein The method further includes: After determining that the grass-cutting module in the self-moving device has collided with an obstacle, the self-moving device is controlled to adjust according to the vehicle's movement direction in order to control the risk of the self-moving device getting stuck on the grass-cutting module.

8. A self-moving device, characterized in that, The device includes a mowing module, a grass-cutting module, and a controller, wherein the controller controls the mowing module and the grass-cutting module to implement the steps of the slip-handling method for the self-moving device as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. When the computer program is executed by the processor, it implements the steps of the slippage handling method for the self-moving device as described in any one of claims 1 to 7.

Images