Cliff detection method and device, self-moving equipment, storage medium and program product

Abstract

The invention provides a cliff detection method and device, self-moving equipment, a storage medium and a program product, relates to the technical field of sweepers, and aims to improve the reliability of cliff detection, reduce misjudgment and improve the overall performance and reliability. The method is applied to the self-moving device, the self-moving device comprises an ultrasonic sensor and an infrared geminate transistor sensor, and the method comprises the steps that the ultrasonic sensor is controlled to emit ultrasonic waves and collect ranging data, and the ranging data are used for determining the ground clearance of the self-moving device; determining whether a cliff is detected in a ground detection area corresponding to the infrared geminate transistor sensor or not according to the infrared geminate transistor sensor in response to the fact that the distance measurement data output by the ultrasonic sensor is invalid; according to the scheme, the ultrasonic sensor and the infrared geminate transistor sensor can be fused to further improve the sensing ability of the self-moving device to the environment in the self-moving device process, and the cliff detection reliability of the self-moving device in the moving process is improved.

Description

Technical Field

[0001] This application relates to the field of sweeping machine technology, and in particular to a cliff detection method, device, self-moving device, storage medium and program product. Background Technology

[0002] Self-moving devices (such as robotic vacuum cleaners) are machines that move autonomously and operate automatically. In their operating environments, self-moving devices often encounter obstacles (such as cliffs or staircases). When encountering such obstacles, they may fall. If a self-moving device falls, it can easily be damaged.

[0003] Currently, most self-moving devices are typically equipped with cliff detection devices to identify whether the device encounters a cliff during movement. For example, some self-moving devices often use low-cost infrared photocell sensors (i.e., "infrared photocells") as cliff detection modules. The principle of infrared photocell sensors for cliff detection is to emit infrared light and receive the reflected signal, using the difference between the emission and reflection of infrared light to determine whether there is a drop in elevation on the ground (such as stairs, steps, or other cliffs).

[0004] Infrared photocell solutions are simple to design and low in cost, but when using infrared photocell sensors for cliff detection, they are easily affected by reflective materials. When the cliff is made of highly reflective material, the reflected signal will be strong, which may cause the cliff to be misjudged as the ground, resulting in the mobile device falling and causing damage to the machine.

[0005] In summary, current technologies using infrared photocell sensors for cliff detection are prone to misjudgments, which not only affect the efficiency of the robot vacuum's path planning but also its safety and reduce the user experience. Summary of the Invention

[0006] This application provides a cliff detection method, apparatus, self-moving device, storage medium, and program product to improve the reliability of cliff detection, reduce false judgments, and enhance overall performance and reliability.

[0007] To address the aforementioned technical problems, the technical solutions provided in this application are as follows:

[0008] In a first aspect, embodiments of this application provide a cliff detection method. This method is applied to a self-moving device, which includes an ultrasonic sensor and an infrared photodiode sensor. The method can be executed by a cliff detection device, which may be the self-moving device itself, or a component within the self-moving device (e.g., a module, communication module, processor, circuit, chip, or chip system responsible for communication functions), or a logic module or software within the self-moving device capable of performing all or part of the detection functions. The method includes: controlling the ultrasonic sensor to emit ultrasonic waves and acquiring ranging data. The ranging data is used to determine the distance of the self-moving device from the ground. In response to invalid ranging data output by the ultrasonic sensor, the method determines whether the self-moving device has detected a cliff at the target location based on the infrared photodiode sensor.

[0009] In one possible implementation of this application, in response to the invalid ranging data output by the ultrasonic sensor, determining whether the infrared photodiode sensor has detected a cliff at the target location of the self-moving device based on the infrared photodiode sensor includes: in response to the invalid ranging data output by the ultrasonic sensor, acquiring the intensity of the infrared light received after the infrared photodiode sensor emits infrared light; and determining whether the infrared photodiode sensor has detected a cliff at the target location of the self-moving device based on the intensity of the received infrared light.

[0010] In one possible implementation of this application, determining whether the infrared photodiode sensor detects a cliff at the target location of the self-moving device based on the intensity of the received infrared light includes: if the intensity of the received infrared light is lower than a preset intensity threshold, then determining whether the infrared photodiode sensor detects a cliff at the target location of the self-moving device; if the intensity of the received infrared light is greater than or equal to the preset intensity threshold, then determining that the infrared photodiode sensor does not detect a cliff at the target location of the self-moving device. For example, the cliff detection device determines that there is a carpet in the ground detection area corresponding to the infrared photodiode sensor.

[0011] In one possible implementation of this application, in response to the invalidity of the ranging data output by the ultrasonic sensor, the method provided in this application embodiment further includes: controlling the infrared photodiode sensor to emit infrared light; and obtaining the intensity of the infrared light received after being reflected by the target position through the infrared photodiode sensor.

[0012] In one possible implementation of this application, the method provided in this application embodiment further includes: responding to the ranging data output by the ultrasonic sensor, determining whether the self-moving device has detected a cliff at the target location based on the ranging data.

[0013] In one possible implementation of this application, in response to the ranging data output by the ultrasonic sensor, determining whether the self-moving device has detected a cliff at the target location based on the ranging data includes: in response to the ranging data output by the ultrasonic sensor, determining that the self-moving device has detected a cliff at the target location when the ranging data indicates that the distance of the self-moving device from the ground at the target location is greater than or equal to a preset distance; and determining that the self-moving device has not detected a cliff at the target location when the ranging data indicates that the distance of the self-moving device from the ground at the target location is less than the preset distance.

[0014] In one possible implementation of this application, the method provided in this embodiment further includes: during the working time of the ultrasonic sensor, the cliff detection device controls the infrared photodiode sensor to emit infrared light; and the infrared photodiode sensor acquires the intensity of the infrared light received after reflection from the ground at the target location. This scheme allows the ultrasonic sensor and the infrared photodiode sensor to work simultaneously. It is understood that when both are working simultaneously, if the ranging data measured by the ultrasonic sensor is valid, the intensity of the infrared light received by the infrared photodiode sensor can be used for cliff detection without using the ranging data measured by the ultrasonic sensor. If the ranging data measured by the ultrasonic sensor is invalid, the intensity of the infrared light received by the infrared photodiode sensor can be used for cliff detection.

[0015] In one possible implementation of this application, the method provided in this application embodiment further includes: when it is determined that the self-mobile device detects a cliff at the target location, controlling the self-mobile device to execute an obstacle avoidance strategy or controlling the self-mobile device to cross the cliff according to the height of the cliff above the ground, and / or marking the location of the cliff in a preset map.

[0016] Secondly, embodiments of this application provide a cliff detection device, which is applied in a self-moving device, or the cliff detection device is a self-moving device, and the cliff detection device includes an ultrasonic sensor and an infrared photocell sensor; wherein, the cliff detection device includes:

[0017] The processor controls the ultrasonic sensor to emit ultrasonic waves and collect ranging data, which is used to determine the distance of the self-moving device from the ground.

[0018] The processor is also used to determine whether the self-moving device has detected a cliff at the target location based on the infrared photocell sensor if the ranging data output by the ultrasonic sensor is invalid.

[0019] In one possible implementation of this application, the processor is further configured to: in response to invalid ranging data output by the ultrasonic sensor, acquire the intensity of infrared light received after the infrared photodiode sensor emits infrared light; and determine whether the self-moving device has detected a cliff at the target location based on the intensity of the received infrared light.

[0020] In one possible implementation of this application, the processor is specifically used to determine that the self-moving device has detected a cliff at the target location if the intensity of the received infrared light is lower than a preset intensity threshold.

[0021] If the intensity of the received infrared light is greater than or equal to a preset intensity threshold, the processor is specifically used to determine that the self-moving device has not detected a cliff at the target location.

[0022] In one possible implementation of this application, the processor is further configured to, in response to invalid ranging data output by the ultrasonic sensor, control the infrared photodiode sensor to emit infrared light toward the reflector at the target position; and acquire the intensity of the infrared light received after reflection by the reflector through the infrared photodiode sensor.

[0023] In one possible implementation of this application, the processor is further configured to determine, in response to ranging data output by the ultrasonic sensor, whether the self-moving device has detected a cliff at the target location.

[0024] In one possible implementation of this application, the processor is configured to, in response to ranging data output by the ultrasonic sensor, determine that the self-moving device has detected a cliff at the target location when the ranging data indicates that the distance above the ground of the self-moving device at the target location is greater than or equal to a preset distance.

[0025] When the ranging data indicates that the distance between the mobile device and the ground is less than a preset distance, it is determined that the mobile device did not detect a cliff at the target location.

[0026] In one possible implementation of this application, the processor is further configured to control the infrared photodiode sensor to emit infrared light during the working period of the ultrasonic sensor; and to obtain the intensity of the infrared light received after being reflected by the target position through the infrared photodiode sensor.

[0027] In one possible implementation of this application, the processor is further configured to control the infrared photodiode sensor to emit infrared light when the test data output by the ultrasonic sensor is invalid; and to obtain the intensity of the infrared light received after being reflected by the target position through the infrared photodiode sensor.

[0028] In one possible implementation of this application, the processor is further configured to, upon determining that the self-mobile device has detected a cliff at the target location, control the self-mobile device to execute an obstacle avoidance strategy or control the self-mobile device to pass through the cliff according to the height of the cliff, and / or mark the location of the cliff in a preset map.

[0029] In one possible implementation of this application, both the ultrasonic sensor and the infrared pair sensor are mounted on the bottom of the self-moving device, with the ultrasonic sensor mounted on the right front side or left front side of the bottom of the self-moving device, and the infrared pair sensor mounted on the self-moving device behind the ultrasonic sensor.

[0030] According to a third aspect of this application, a self-moving device is provided, including a memory, a processor, and a plurality of sensors, such as an infrared photocell sensor and an ultrasonic sensor. The memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods in the first aspect described above.

[0031] According to a fourth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, it implements the steps of the method of any one of the first aspects described above.

[0032] According to a fifth aspect of this application, a computer program product is provided that, when the computer program product is run on a self-moving device, causes the self-moving device to execute the steps of the method described in any one of the first aspects above.

[0033] This application provides a cliff detection method. This method utilizes an ultrasonic sensor and an infrared photocell sensor deployed in a self-moving device to jointly detect whether a cliff exists at the location of the self-moving device. When the ranging data output by the ultrasonic sensor is invalid, it indicates that the target location of the self-moving device is neither a hard ground surface nor a cliff. Subsequently, to distinguish whether a cliff exists at the target location of the self-moving device, the infrared photocell sensor in the self-moving device can be used to determine whether a cliff exists at the target location of the self-moving device. This method can make full use of the ultrasonic sensor in the self-moving device, improve the self-moving device's ability to perceive the environment during self-movement, and improve the reliability of cliff detection during self-movement.

[0034] Any of the devices, self-moving devices, computer storage media, computer program products, or chips provided above are used to perform the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects of the corresponding solutions in the corresponding methods provided above, and will not be repeated here. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the self-moving device provided in the embodiments of this application;

[0036] Figure 2 This is a schematic flowchart of the cliff detection method provided in the embodiments of this application;

[0037] Figure 3 This is a schematic diagram of the cliff detection device provided in the embodiments of this application;

[0038] Figure 4 This is a schematic diagram of the hardware architecture of the self-moving device provided in the embodiments of this application. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, "and / or" means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist, for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0040] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this embodiment, unless otherwise stated, "a plurality of" means two or more.

[0041] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0042] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner to facilitate understanding.

[0043] It should be understood that in this application, "at least one (item)" means one or more. "More than one" means two or more. "At least two (items)" means two or three or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural.

[0044] The character " / " generally indicates that the preceding and following objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any single or multiple items. For example, "at least one of a, b, or c" can be expressed as: "a", "b", "c", "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0045] Both "...when" and "if" indicate that a corresponding action will be taken under certain objective circumstances. They are not time limits, nor do they require a judgment action to be taken when the action is taken, nor do they imply any other limitations.

[0046] Currently, robotic vacuum cleaners are being used more and more widely. Cliff detection is a common feature among them. This function allows the robotic vacuum cleaner to stop in time when it detects a depression in the ground ahead, preventing it from falling into the depression and thus avoiding damage.

[0047] In some embodiments, an infrared photocell sensor is typically installed on the robotic vacuum cleaner. This sensor detects cliffs by emitting infrared signals. The robotic vacuum cleaner emits an infrared signal, receives the reflected signal, and determines its distance from the ground based on the strength of the received reflected signal. The farther the robotic vacuum cleaner is from the ground, the weaker the received reflected signal.

[0048] Specifically, the principle of infrared photocell sensors for detecting cliffs:

[0049] Infrared photocell sensors typically consist of an infrared emitter and an infrared receiver. The emitter emits infrared light towards the ground, while the receiver receives the reflected light. If the ground is flat and close to the surface (such as a floor), the infrared light is reflected back, and the receiver receives a strong signal. However, if there is a cliff or a drop in elevation (such as the edge of a staircase), the infrared light is emitted into the air or further away, resulting in weaker or almost no reflected light. This significantly reduces the received signal strength. Therefore, when the received signal strength is below a set threshold, it is determined that a cliff exists. When the received signal strength is above the set threshold, it is determined to be normal ground.

[0050] During movement, the robotic vacuum cleaner continuously emits infrared light towards the ground through infrared sensors (mounted downwards or at an angle downwards) and receives the intensity of the infrared light reflected back from the ground. If the signal intensity detected by a particular infrared sensor is below a threshold, it determines whether the corresponding ground detection area is a normal, passable area (such as a flat surface or tiles) or whether there are unsafe areas such as drops or gaps. If unsafe areas such as drops or gaps exist, obstacle avoidance or safety strategies are triggered. For example, if a cliff is detected, the robotic vacuum cleaner can stop moving forward, reverse, or turn to avoid the cliff, or mark the area as impassable on the map.

[0051] However, infrared photodiode sensors are susceptible to misjudgments due to the influence of ground materials. For example, in detecting cliffs in robotic vacuum cleaners, infrared photodiode sensors have the following drawbacks: different ground materials have different reflectivities of infrared light. For instance, dark-colored (e.g., black carpet), rough, or highly absorbent surfaces (e.g., carpet) may absorb infrared light, resulting in a weak infrared reflection signal, which can easily cause the infrared photodiode sensor to mistakenly identify the ground as a cliff. Conversely, smooth, high-transmittance materials such as transparent materials (e.g., glass) can easily allow infrared light to penetrate, preventing the receiver from receiving the reflected infrared light and thus failing to detect it. Furthermore, infrared photodiode sensors are also easily affected by ambient light interference, leading to misjudgments. Specifically, infrared photodiode sensors rely on emitting and receiving infrared light to determine whether there is a drop in ground. If there is strong light in the environment, especially light sources containing infrared components, it may interfere with the signal received by the infrared photodiode sensor, causing it to mistakenly identify the ground as a cliff, or vice versa.

[0052] Currently, some robotic vacuum cleaners use ultrasonic technology to identify carpet materials. However, a drawback of ultrasonic sensors in carpet identification is their inability to distinguish between carpet and rugs. The principle behind ultrasonic sensors for carpet identification is to emit ultrasonic waves and detect the return of the sound waves to determine if it's a carpet material. Specifically, ultrasonic sensors emit high-frequency sound waves (usually around 40kHz). These sound waves reflect off the surface of an object, and the ultrasonic sensor receives the echo signal. It then analyzes the time, intensity, and frequency changes of the echo to determine the physical characteristics of the surface. For example, strong sound wave reflection and a large echo signal amplitude indicate a hard surface (such as tile or wood flooring). If the sound waves are partially absorbed or scattered, resulting in weak or no reflection and a small echo amplitude, it indicates a soft surface, such as carpet. Therefore, ultrasonic sensors can use the echo intensity to determine whether a carpet has been detected. However, if the target location of the robot vacuum cleaner is a cliff or a carpet during its movement, even if the ultrasonic sensor emits ultrasonic waves, it cannot further distinguish whether the target location is a cliff or a carpet because neither the carpet nor the cliff returns sound waves or the returned sound waves are weak (for example, the sound waves are absorbed by the carpet, or if the location is a cliff, there is no close-range reflection).

[0053] Therefore, how to improve the reliability of cliff detection for mobile devices during movement, reduce false alarms, and enhance overall performance and reliability is a technical problem that urgently needs to be solved.

[0054] This application provides a cliff detection method, a cliff detection device, and a self-moving device. This solution utilizes an ultrasonic sensor and an infrared photocell deployed within the self-moving device to jointly detect whether a cliff exists at the device's location. If the ranging data output by the ultrasonic sensor is invalid, it indicates that the target location of the self-moving device is neither a hard surface nor a cliff. Therefore, the infrared photocell is then used to determine whether a cliff exists at the target location of the self-moving device. This fully utilizes the ultrasonic sensor within the self-moving device, improving its environmental perception during movement and enhancing the reliability of cliff detection during movement.

[0055] like Figure 1 As shown, Figure 1 The application scenarios of the cliff detection method provided in the embodiments of this application are as follows: Figure 1 As shown, the scenario may include self-moving devices, which may be cleaning robots (e.g., sweeping robots, mopping robots, or combined sweeping and mopping robots, vacuum cleaners), food delivery robots, disinfection robots, lawnmowers, warehousing and logistics robots, inspection robots or testing robots or assembly robots in industrial production lines, etc.

[0056] This self-moving device can be configured to automatically move along a target direction on the operating surface. The operating surface can be the surface to be cleaned by the self-moving robot (such as a floor or carpet), or other flat surfaces requiring operation. This self-moving device can move autonomously to complete tasks such as cleaning, transportation, and inspection.

[0057] In this embodiment, as Figure 1 As shown, taking a household robotic vacuum cleaner as an example, during the operation of the robotic vacuum cleaner, it is necessary to detect the status of the operating surface (i.e., the road surface) in real time. For example, there may be uneven surfaces such as steps or slopes. At this time, the robotic vacuum cleaner can use its own cliff detector (such as infrared photocell sensor and ultrasonic sensor) to detect the road surface in front and give accurate feedback to avoid falling into the cliff.

[0058] like Figure 1 As shown, the self-moving device may include a control mechanism, a walking mechanism, and multiple sensors. For example, the multiple sensors are used to perceive environmental information (such as distance, obstacles, ground material, or reflective surface type) in real time to provide decision-making basis for the control mechanism. These sensors may include ultrasonic sensors and infrared photocells. They may also include tilt sensors.

[0059] The control mechanism processes data from various sensors and performs path planning or obstacle avoidance decisions. For example, it can use the intensity of reflected infrared light received by an infrared photocell to determine whether the reflective object is carpet or a cliff. Similarly, it can use ranging data from an ultrasonic sensor to determine whether the reflective object is a hard surface like the ground, a cliff, or carpet.

[0060] Specifically, the infrared photocell sensor emits infrared light during the movement of the mobile device and receives photoelectric signals returned from the ground. Based on the returned infrared light signal, it determines the intensity of the reflected infrared light signal. The control mechanism then compares the intensity of the reflected infrared light signal to determine whether the target location is a cliff.

[0061] For example, tilt sensors are used to continuously detect the tilt of a mobile device during its movement; specifically, they can be IMU (Inertial Measurement Unit) inertial sensors.

[0062] A walking mechanism is used to enable self-moving devices to move, turn, or overcome obstacles.

[0063] Optionally, the self-moving device may also include a cleaning mechanism. The cleaning mechanism is used to support the self-moving device in performing cleaning tasks.

[0064] In addition, the self-moving device may also include a display screen, which the user uses to input control commands to the self-moving device or to set the travel path of the self-moving device.

[0065] When the self-moving device in this embodiment travels in the target area, it can move according to a movement path. This movement path can be automatically planned by the self-moving device after obtaining the target location or target task (cleaning task or navigation task), or it can be set by the user. This embodiment does not limit this.

[0066] The control system is housed on the main circuit board within the self-moving device's body. It includes non-transitory memory such as hard drives, flash memory, and random access memory, and a computing processor such as a central processing unit (CPU) and application processor. The application processor uses obstacle information fed back by the laser rangefinder and localization algorithms, such as Simultaneous Localization and Mapping (SLAM), to create a real-time map of the robot's environment. Furthermore, it combines distance information, infrared light intensity information, and speed information from sensors and other devices to comprehensively determine the robot's current working state, location, and posture. This includes situations such as crossing a threshold, stepping onto a carpet, being on a cliff, getting stuck above or below, a full dustbin, or being picked up. Based on these conditions, it provides specific next action strategies, making the robot's operation more aligned with the user's requirements and providing a better user experience.

[0067] The drive system can manipulate the robot to move across the ground based on drive commands containing distance and angle information (e.g., x, y, and θ components). The drive system includes drive wheel modules that can simultaneously control the left and right wheels. For more precise control of the machine's movement, the drive wheel modules preferably include separate left and right drive wheel modules. The left and right drive wheel modules are positioned opposite each other along a transverse axis defined by the body of the self-moving device.

[0068] To enable more stable or enhanced movement of the self-moving device on the ground, the robot may include one or more driven wheels, including but not limited to omnidirectional wheels. The drive wheel module includes the traveling wheels (e.g., left and right traveling wheels), drive motors, and control circuitry for controlling the drive motors. The drive wheel module may also connect to circuitry for measuring drive current and an odometer. The drive wheel module can be detachably attached to the body of the self-moving device for easy disassembly and maintenance. The drive wheel may have an offset drop suspension system, movably secured, for example, rotatably attached, to the body of the self-moving device, and receiving spring biases that offset downwards and away from the body of the self-moving device. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the automatic cleaning device also contact the ground with a certain pressure.

[0069] The cleaning structure of a self-moving device can be a dry cleaning system or a wet cleaning system. In a dry cleaning system, the main cleaning function originates from a sweeping system comprised of a roller brush, dustbin, fan, air outlet, and the connecting components between these four parts. The roller brush, which interferes with the ground, sweeps up debris and carries it to the suction port between the roller brush and the dustbin. The blower then draws the debris into the dustbin with suction-forced air. Dry cleaning systems may also include side brushes with rotating axes at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning system.

[0070] The energy system of self-moving devices includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion (Li-ion) batteries. These batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit connects to a charging station via charging electrodes located on the side or bottom of the device. If dust adheres to the exposed charging electrodes, the cumulative effect of charge during charging can cause the plastic casing around the electrodes to melt and deform, or even deform the electrodes themselves, preventing normal charging.

[0071] The human-machine interface system of the self-moving device includes buttons on the main unit panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current status of the machine or the available functions; and it may also include a mobile client application. For path-navigation type automatic cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, and can provide users with richer and more user-friendly functions.

[0072] Optionally, the above scenario may also include a terminal device, with a wireless communication connection between the self-moving device and the terminal device. For example, this wireless communication connection could be a Wi-Fi connection or a Bluetooth connection, or other connection methods besides Bluetooth or Wi-Fi; this embodiment does not limit this. The terminal device can control the self-moving device, for example, controlling an automatic cleaning device to perform the following: starting a cleaning task, pausing a cleaning task, resuming a cleaning task, returning to the charging dock, returning to the charging station, and adding a cleaning area during the cleaning task.

[0073] The terminal devices involved in the embodiments of this application may refer to mobile phones, tablet computers, computers, televisions, servers, and other devices that have a display screen or are connected to a display screen.

[0074] like Figure 2 As shown, Figure 2 This is a flowchart illustrating a cliff detection method provided in an embodiment of this application. The method can be executed by a self-moving device or implemented by a device applied to the self-moving device, such as a cliff detection device. For example, the cliff detection device can be hardware or software deployed in the self-moving device. Of course, the cliff detection method can also be executed by an electronic device controlling the self-moving device. The following description uses the execution of the method by a self-moving device as an example. The exemplary method includes:

[0075] Step 201. The self-moving device controls the ultrasonic sensor to emit ultrasonic waves and collect ranging data. The ranging data is used to reflect the distance of the self-moving device from the ground at the target location (also known as the height above the ground).

[0076] The distance of the self-moving device from the ground at the target location can refer to the distance between the bottom of the self-moving device and the reflective surface (i.e., the road surface).

[0077] The target location can be the current location of the self-moving device. This target location can be any location on the self-moving device's path or a specific location; this embodiment of the application does not limit this.

[0078] As an example, the method provided in this application embodiment can control an ultrasonic sensor to periodically (e.g., every 5 or 10 seconds) or in real time collect ranging data during the movement of a self-moving device, in order to determine the distance of the self-moving device from the ground at a target location. The specific collection period can be set according to actual needs, and this application embodiment does not limit it in this regard.

[0079] As another example, the method provided in this application embodiment can control an ultrasonic sensor to collect ranging data when the self-moving device moves to a designated area.

[0080] For example, the self-mounted cleaning device can be equipped with a map of a home's interior, which includes multiple areas. Area A may contain areas marked with cliffs or carpets. Therefore, during indoor navigation or cleaning tasks, the self-mounted cleaning device can use ultrasonic sensors to collect the distance of the device from the ground at the target location when moving to area A, in order to determine whether there are cliffs or carpets, avoid falling, or adjust the cleaning strategy.

[0081] For example, a self-moving device can move along a preset path during the movement process. This preset path can be determined by the self-moving device itself when it decides to perform a certain task, or it can be a pre-set path. This application embodiment does not limit this.

[0082] Specifically, during the movement of the self-moving device, the self-moving device can send a command to the ultrasonic sensor, which instructs the ultrasonic sensor to collect the distance of the self-moving device from the ground at the target location.

[0083] As an example, an ultrasonic sensor may include an ultrasonic transmitting component and an ultrasonic receiving component. The ultrasonic transmitting component is used to transmit ultrasonic signals to the front and lower part of the self-moving device during its movement. The ultrasonic receiving component is used to determine whether an echo signal is received within a predetermined time after the ultrasonic signal encounters a reflective object. If received, the self-moving device obtains the distance between the bottom of the self-moving device and the reflective object (such as the ground) based on the echo signal, i.e., the distance from the ground. The distance is compared with a preset distance threshold to determine whether the area in front and below the self-moving device is a cliff.

[0084] As an example, an ultrasonic sensor is mounted on the bottom front right or front left side of the self-moving device, facing downwards or at an angle, to emit ultrasonic waves toward the ground where the self-moving device is located at the target position.

[0085] Step 2021: In response to the invalid ranging data output by the ultrasonic sensor, the self-moving device determines whether it has detected a cliff at the target location based on the infrared photocell sensor.

[0086] In this application embodiment, invalid ranging data output by the ultrasonic sensor may mean that the ultrasonic sensor does not output ranging data, or the ranging data output by the ultrasonic sensor exceeds the maximum range or minimum range or is 0, or the data is irregular, or the confidence level of the output ranging data is low.

[0087] During the movement of the self-moving device, the device can control the ultrasonic sensor to operate. This means the ultrasonic sensor emits ultrasonic waves, which are reflected by reflective objects at the device's location. Because ultrasonic sensors have different reflectivities to different materials—for example, black absorbing materials absorb sound waves—and the ultrasonic waves are reflected by the ground or other hard surfaces, the sensor can receive the reflected echo. The sensor can then determine the distance based on the time difference between emitting and receiving the echo. In other words, receiving a reflected echo indicates the self-moving device is located on the ground. For example, D = 2c·t, where c is the speed of sound and t is the transmission-reception time difference. D represents the distance above the ground, i.e., the distance measured by the ultrasonic sensor.

[0088] If the mobile device does not receive an echo (e.g., there is no ground (e.g., a cliff) or a carpet), or if the reflector is too far or too close and exceeds the range, the reflector at the location of the mobile device is usually a carpet or a cliff. In this case, the ultrasonic sensor may not be able to output ranging data, and therefore the ranging data output by the ultrasonic sensor can be determined to be invalid.

[0089] In this application, the cliff usually refers to a scenario where the robot is likely to get stuck, fall, or be unable to pass: such as a low-lying area on the ground, a staircase area, or an area with a large height difference.

[0090] This application provides a cliff detection method. This method utilizes an ultrasonic sensor and an infrared photocell sensor deployed in a self-moving device to jointly detect whether a cliff exists at the location of the self-moving device. When the ranging data output by the ultrasonic sensor is invalid, it indicates that the target location of the self-moving device is neither a hard ground surface nor a cliff. Subsequently, to distinguish whether a cliff exists at the target location of the self-moving device, the infrared photocell sensor in the self-moving device can be used to determine whether a cliff exists at the target location of the self-moving device. This method can make full use of the ultrasonic sensor in the self-moving device, improve the self-moving device's ability to perceive the environment during self-movement, and improve the reliability of cliff detection during the movement of the self-moving device.

[0091] In one possible embodiment of this application, for a self-moving device equipped with an ultrasonic sensor and an infrared photodiode sensor, the ultrasonic sensor can be mounted on the front right or front left side of the self-moving device, and the infrared photodiode sensor is mounted on the self-moving device behind the ultrasonic sensor. This allows the use of the ultrasonic sensor for cliff detection.

[0092] For example, the right front side of the self-moving device refers to the right side of the self-moving device in the direction of travel, and the left front side refers to the left side of the self-moving device in the direction of travel.

[0093] As an example, a self-moving device may be equipped with one or more ultrasonic sensors and one or more infrared photodiode sensors. In this embodiment, the self-moving device may be equipped with one ultrasonic sensor and one or more infrared photodiode sensors. Alternatively, the self-moving device may be equipped with one or more ultrasonic sensors and infrared photodiode sensors corresponding to each ultrasonic sensor. The one or more ultrasonic sensors may be deployed on the right front side or the left front side of the self-moving device. If one or more ultrasonic sensors are deployed on the right front side, they can be used to detect whether there is a cliff to the right front. If one or more ultrasonic sensors are deployed on the left front side, they can be used to detect whether there is a cliff to the left front.

[0094] If multiple ultrasonic sensors are installed on either the right or left front side, and the ranging data output by all or most of the ultrasonic sensors is invalid, then an infrared pair sensor can be used for cliff detection.

[0095] If multiple ultrasonic sensors are installed on either the right front side or the left front side, and the ranging data output by all multiple ultrasonic sensors is valid, the ground clearance can be determined based on the ranging data output by all multiple ultrasonic sensors.

[0096] In one possible embodiment of this application, for a self-moving device equipped with an ultrasonic sensor and an infrared photodiode sensor, the priority of the ultrasonic sensor can be set to be higher than that of the infrared photodiode sensor. In this way, in a scenario where cliff detection is performed using both ultrasonic and infrared photodiode sensors, the detection result of the ultrasonic sensor can be used first to determine whether a cliff exists. If the ranging data output by the ultrasonic sensor is invalid, the infrared photodiode sensor can then be used for cliff detection.

[0097] In one possible embodiment of this application, in response to invalid ranging data output by the ultrasonic sensor, the ground detection area corresponding to the infrared photodiode sensor is determined based on the infrared photodiode sensor, including: in response to invalid ranging data output by the ultrasonic sensor, the intensity of the infrared light received after the infrared photodiode sensor emits infrared light is obtained; and the intensity of the received infrared light is used to determine whether a cliff is detected in the ground detection area corresponding to the infrared photodiode sensor.

[0098] In one possible embodiment of this application, the self-moving device can simultaneously activate both an ultrasonic sensor and an infrared transducer sensor. That is, during the ranging operation period of the ultrasonic sensor, the self-moving device also simultaneously uses the infrared transducer sensor to emit infrared light towards the ground at the target location and receive the intensity of the reflected infrared light. In this scenario, if the ranging data output by the ultrasonic sensor is invalid, the self-moving device can determine whether it has detected a cliff or carpet at the target location based on the intensity of the reflected infrared light received by the infrared transducer sensor. For example, during the operating period of the ultrasonic sensor in the self-moving device, the self-moving device controls the infrared transducer sensor to emit infrared light towards the ground at the target location and receive the intensity of the reflected infrared light.

[0099] In another possible embodiment of this application, for the self-moving device, the ultrasonic sensor can be activated first. That is, while the self-moving device is initiating ultrasonic ranging, the infrared photodiode sensor is inactive, meaning it neither emits nor receives infrared light. In this scenario, if the ranging data output by the ultrasonic sensor is invalid, the self-moving device can activate the infrared photodiode sensor to emit infrared light and determine the ground type of the target location based on the intensity of the received reflected infrared light. For example, it can distinguish between ordinary safe ground, a cliff with a drop, or a highly light-absorbing carpet.

[0100] In one possible implementation of this application, the self-mobile device determines whether it has detected a cliff at the target location based on the intensity of the received infrared light. This includes: if the intensity of the received infrared light is lower than a preset intensity threshold, the self-mobile device determines that it has detected a cliff at the target location; if the intensity of the received infrared light is higher than the preset intensity threshold, the self-mobile device determines that it has not detected a cliff at the target location. For example, if the intensity of the received infrared light is higher than the preset intensity threshold, the self-mobile device determines that the target location is a safe area.

[0101] The preset intensity threshold in this embodiment can be pre-set. Of course, the preset intensity threshold in this embodiment can also be set by the user in the self-moving device, or the preset intensity threshold can be obtained by the user adjusting the preset intensity threshold pre-set in the self-moving device.

[0102] It is understandable that the aforementioned preset intensity threshold can be a value obtained from experiments, such as the value obtained by testing the intensity of reflected light on different ground materials, in order to effectively distinguish whether the current area is a safe ground or an area with a drop of cliff.

[0103] When the ranging data of an ultrasonic sensor is invalid, it may indicate that there is a cliff or carpet on the ground in the current area. The intensity of infrared light reflection is related to the characteristics of the reflective object. For example, for cliffs (the edge of a staircase or a deep pit) where the reflective surface is missing or too far away (as below is air), there is almost no infrared light reflection or the intensity of the reflected light is extremely weak. Therefore, the intensity of infrared light received by the infrared photocell sensor is also relatively low.

[0104] For soft surfaces such as carpets, although infrared light is scattered upon reaching the carpet, the overall reflectivity of the carpet is higher than that of a non-reflective surface (such as a cliff). Therefore, the intensity of the infrared light received by the infrared transducer sensor is also higher than that of a non-reflective surface. Based on this, the presence of a cliff or carpet in the current location of the mobile device can be determined by the intensity of the infrared light received by the infrared transducer sensor. In this embodiment, the mobile device can determine the presence of carpet in the ground detection area when the intensity of the received infrared light exceeds a preset intensity threshold. It is understood that this preset intensity threshold is a critical value that can distinguish between a cliff and a carpet.

[0105] In one possible embodiment of this application, the self-moving device responds to the invalidation of the ranging data output by the ultrasonic sensor. The method provided in this application embodiment further includes: the self-moving device controlling the infrared photodiode sensor to emit infrared light; and obtaining the intensity of the infrared light received after being reflected by the ground at the target location through the infrared photodiode sensor.

[0106] This solution allows for the activation of an infrared photodiode sensor in scenarios where the ultrasonic sensor is activated first, based on whether the ultrasonic sensor outputs valid ranging data. Specifically, if the ultrasonic sensor detects ranging data (i.e., the output ranging data is valid), the infrared photodiode sensor does not need to be activated. However, if the ultrasonic sensor outputs invalid ranging data, the infrared photodiode sensor is activated for cliff detection.

[0107] In one possible embodiment of this application, the method provided in this application further includes: step 2022, the self-moving device responds to the ranging data output by the ultrasonic sensor, and the self-moving device determines whether the self-moving device has detected a cliff at the target location.

[0108] In one possible implementation of this application, in a scenario where the self-moving device first activates the ultrasonic sensor, if the self-moving device determines that the ultrasonic sensor has output ranging data, then the self-moving device does not need to perform the action of activating the infrared photocell sensor in this cliff detection scenario.

[0109] In one possible implementation of this application, in response to ranging data output by an ultrasonic sensor, the self-moving device determines whether it has detected a cliff at the target location, including:

[0110] In response to the ranging data output by the ultrasonic sensor, when the ranging data indicates that the distance of the self-moving device from the ground at the target location is greater than or equal to a preset distance, it is determined that the self-moving device has detected a cliff at the target location;

[0111] When the ranging data indicates that the distance between the mobile device and the ground is less than a preset distance, it is determined that the mobile device did not detect a cliff at the target location.

[0112] It is understood that the preset distance in this application embodiment can be customized, and the preset distance can be 4 cm or 7 cm. For example, taking a preset distance of 4 cm as an example, a drop greater than or equal to the preset distance (i.e., the vertical height difference formed by the descent from the ground) can be defined as a cliff, while a drop less than the preset distance can be defined as a non-cliff. If the ranging data indicates that the distance between the self-moving device and the ground at the target location is greater than 4 cm, it can be determined that a cliff has been detected; if the ranging data indicates that the distance between the self-moving device and the ground at the target location is less than 4 cm, it can be determined that no cliff has been detected.

[0113] In this application embodiment, the preset distance, also known as the safety threshold, is a parameter for determining whether the terrain is passable. The preset distance refers to the reference threshold for determining whether there is a dangerous drop between the current detection surface and the equipment support surface when the self-moving device senses the terrain through the sensor during the movement process. For example, it is used to distinguish between passable slight height changes (such as steps or slopes) and impassable cliffs or deep pits.

[0114] In this application embodiment, the preset distances set in different types of self-moving devices can be the same or different. The preset distance set in any specific type of self-moving device can be determined based on its obstacle-crossing capability (i.e., the maximum height or depth the device can climb or cross). The preset distance can be set to a value slightly higher than the obstacle-crossing capability of the self-moving device. For example, if a self-moving device can pass through a height of 7 centimeters, its preset distance can be set to 8 centimeters. That is, heights below 8 centimeters are considered not to be cliffs, and heights above 8 centimeters are defined as cliffs.

[0115] In one possible implementation of this application, the self-moving device controls an ultrasonic sensor to emit ultrasonic waves and collect ranging data. The implementation further includes: controlling an infrared photodiode sensor to emit infrared light; and obtaining the intensity of the infrared light received after reflection from the target location via the infrared photodiode sensor. That is, while controlling the ultrasonic sensor to collect the distance of the self-moving device from the ground, the self-moving device can also control the infrared photodiode sensor to emit infrared light towards the reflective object at the target location; and obtain the intensity of the infrared light received after reflection from the reflective object via the infrared photodiode sensor. In scenarios where both operate simultaneously, if the ultrasonic sensor outputs ranging data, the reflection intensity collected by the infrared photodiode sensor can be set to invalid or discarded, or the priority of the result detected by the self-moving device using the infrared photodiode sensor can be set to lower than the priority of the detection result from the ultrasonic sensor. This allows the self-moving device to output the result of cliff detection based on the ranging data, such as the presence of a cliff or ground, even when the ultrasonic sensor has collected ranging data.

[0116] In one possible embodiment of this application, when a cliff is detected at the target location, the method provided in this application embodiment may further include: the self-moving device controlling the self-moving device to execute an obstacle avoidance strategy or controlling the self-moving device to pass through the cliff based on the cliff's drop height. For example, the self-moving device controlling the self-moving device to replan its path to bypass the cliff area or stop moving, such as the self-moving device controlling the self-moving device to move backward, or the self-moving device reducing its speed.

[0117] For example, if the mobile device detects a cliff 30 centimeters ahead, it can move a certain distance to the left or right before continuing forward.

[0118] For example, if a self-moving device detects a cliff at a target location, it can determine whether the cliff is passable. The device could be configured to allow cliffs with a drop less than or equal to the target height, while prohibiting cliffs with a drop greater than the target height. If the self-moving device determines that the cliff's drop is less than or equal to the target height, it can then control the device to cross the cliff. For instance, the self-moving device could adjust its posture and / or reduce its speed to cross the cliff.

[0119] In one possible embodiment of this application, when a cliff is detected at a target location, the method provided in this application may further include: the self-mobile device outputting indication information indicating that manual operation is required due to the detection of a cliff. For example, the self-mobile device may output the indication information to an electronic device or in the form of voice playback and / or text display. Alternatively, the self-mobile device may also have an indicator light, which illuminates, for example, a red light, to alert the user when a cliff is detected.

[0120] As an example, in the solution provided in this application embodiment, if the self-moving device determines, based on ranging data, that there is no cliff at its location (i.e., ground), the self-moving device can control itself to continue executing preset instructions (such as continuing forward or turning) or continue moving along a preset path to pass through the location and complete the navigation or cleaning task. For example, if the self-moving device determines, based on ranging data, that there is no cliff at its location (i.e., ground), the self-moving device can control the drive motor to continue driving the wheels of the self-moving device forward. If the self-moving device determines, based on ranging data, that there is a cliff at its location, the self-moving device can control the drive motor to stop driving the wheels of the self-moving device forward or drive the wheels of the self-moving device to turn to avoid the cliff. Of course, if the self-moving device determines, based on ranging data, that there is a cliff at its location, it can also replan the path to avoid the cliff during the completion of the navigation or cleaning task, or it can mark the location as a cliff on the map of the area.

[0121] If the mobile device determines, based on the infrared sensor, that the area detected by the infrared sensor is carpeted and not a cliff, and if it is currently performing a cleaning task, it can retract the side brush to prevent it from getting tangled, or raise the mop to avoid wetting the carpet, or adjust the suction power, such as reducing it. Alternatively, if the mobile device is currently in wet mopping mode, it can skip the carpeted area or switch from wet mopping to vacuuming mode.

[0122] like Figure 3 As shown, Figure 3 The cliff detection device shown can implement the steps of the cliff detection method performed by the aforementioned self-moving device. This cliff detection device can be installed on the self-moving device. For example, the cliff detection device can be a software unit, hardware unit, or a combination of both built into the self-moving device; it can also be integrated into an automatic cleaning device as a standalone attachment; or it can exist as a standalone self-moving device. The cliff detection device includes ultrasonic sensors and infrared photodiode sensors, such as... Figure 3 As shown, Figure 3 A cliff detection device provided in this application embodiment may include:

[0123] Processor 301 is used to control the ultrasonic sensor to emit ultrasonic waves towards the ground where the self-moving device is located and to collect ranging data. The ranging data reflects the distance of the self-moving device from the ground. For example, the ranging data reflects the distance of the self-moving device from the ground at a target location. In response to invalid ranging data output by the ultrasonic sensor, processor 301 is also used to determine whether the self-moving device has detected a cliff at the target location based on the infrared phototransistor sensor.

[0124] In one possible implementation of this application, the processor 301 is configured to, in response to invalid ranging data output by the ultrasonic sensor, acquire the intensity of the infrared light reflected from the ground of the self-moving device after the infrared photodiode sensor emits infrared light toward the ground of the target location; the processor 301 is configured to determine whether a cliff or carpet is detected at the target location (e.g., the ground detection area corresponding to the infrared photodiode sensor) based on the intensity of the infrared light received after the infrared photodiode sensor emits infrared light.

[0125] In one possible implementation of this application, the processor 301 is specifically configured to determine that the self-moving device has detected a cliff at the target location if the intensity of the received infrared light is lower than a preset intensity threshold; or, the processor 301 is specifically configured to determine that the self-moving device has not detected a cliff at the target location if the intensity of the received infrared light is greater than or equal to the preset intensity threshold.

[0126] In one possible implementation of this application, the processor 301 is further configured to, in response to invalid ranging data output by the ultrasonic sensor, control the infrared photocell sensor to emit infrared light at the target location toward a reflective object (such as the ground); and acquire the intensity of the infrared light received after reflection by the reflective object through the infrared photocell sensor.

[0127] In one possible implementation of this application, the processor 301 is further configured to determine, in response to ranging data output by the ultrasonic sensor, whether the self-moving device has detected a cliff at the target location.

[0128] In one possible implementation of this application, the processor 301 is specifically configured to respond to ranging data output by the ultrasonic sensor, and when the ranging data indicates that the distance of the self-moving device from the ground at the target location is greater than or equal to a preset distance, determine that the self-moving device has detected a cliff at the target location; and when the ranging data indicates that the distance of the self-moving device from the ground is less than the preset distance, determine that the self-moving device has not detected the cliff at the target location.

[0129] In one possible implementation of this application, the processor 301 is further configured to control the infrared photodiode sensor to emit infrared light during the process of controlling the ultrasonic sensor to collect the distance from the ground of the mobile device; and to obtain the intensity of the infrared light received after being reflected by the target position through the infrared photodiode sensor.

[0130] Specifically, the processor 301 is also used to control the infrared emitting sensor in the infrared pair sensor to emit infrared light and to control the intensity of the infrared receiving sensor in the infrared pair sensor to receive the infrared light reflected from the ground at the target location during the process of controlling the ultrasonic sensor to collect the distance of the mobile device from the ground.

[0131] In one possible implementation of this application, the processor 301 is further configured to, upon determining that the self-mobile device has detected a cliff at the target location, control the self-mobile device to execute an obstacle avoidance strategy or control the self-mobile device to pass through the cliff according to the height of the cliff, and / or mark the location of the cliff in a preset map.

[0132] In one possible implementation of this application, both the ultrasonic sensor and the infrared pair sensor are mounted on the bottom of the self-moving device, with the ultrasonic sensor mounted on the right front side or left front side of the bottom of the self-moving device, and the infrared pair sensor mounted on the self-moving device behind the ultrasonic sensor.

[0133] For example, the ultrasonic sensor is installed on the bottom right front side of the self-moving device.

[0134] Specifically, the bottom of an automated mobile device can refer to the side of the device facing the road or operating surface during movement, i.e., the side of the device closest to the ground or operating surface. In addition to various sensors, this bottom can also house mechanical components such as left and right drive wheels and swivel wheels.

[0135] The front side of the bottom refers to the side facing the direction of travel as the mobile device moves. When the mobile device moves, the front side of the bottom is always the side that is about to encounter new terrain, while the rear side is the terrain area that the mobile device has already traversed during its movement.

[0136] In another possible embodiment of this application, the cliff detection device may include one or more modules or units, each module or unit being used to implement the steps in the method described above. These modules or units may be deployed in a processor.

[0137] Based on the same inventive concept, such as Figure 4 As shown, Figure 4 The self-moving device provided in this application embodiment may include:

[0138] At least one processor 400 ( Figure 4Only one is shown in the diagram. A memory 401 and a computer program 402 stored in the memory 401 and executable on at least one processor 400, wherein the processor 400, when executing the computer program 402, implements the steps of any of the above method embodiments. The self-moving device may include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art will understand that... Figure 4 This is merely an example of a self-moving device and does not constitute a limitation on the self-moving device. It may include more or fewer components than illustrated, or combine certain components, or different components, such as input / output devices, network access devices, etc. The processor 400 may be a Central Processing Unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. In some embodiments, the memory 401 may be an internal storage unit of the self-moving device, such as a hard disk or memory of the self-moving device. In other embodiments, the memory 401 may be an external storage device of the self-moving device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Furthermore, the memory 401 may include both internal storage units and external storage devices of the self-moving device. The memory 401 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 401 can also be used to temporarily store data that has been output or will be output.

[0139] Based on the same inventive concept, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the cliff detection method described in any of the above embodiments.

[0140] Those skilled in the art will understand that embodiments of the present invention can be provided as methods or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can be implemented on one or more computer-usable storage media containing computer-usable program code.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0142] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of the above-described method performed by the self-moving device.

[0143] This application provides a computer program product that, when run on a self-moving device, enables the self-moving device to perform the steps executed by the self-moving device in the above method.

[0144] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0145] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Those skilled in the art will recognize that the units and algorithm steps of the examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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. In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of modules or units is merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs. The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application 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. These 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 this application, and should all be included within the protection scope of this application.

Claims

1. A cliff detection method, characterized in that, The method is applied to a self-moving device, the self-moving device including an ultrasonic sensor and an infrared photocell sensor, and the method includes: The ultrasonic sensor is controlled to emit ultrasonic waves toward the ground where the self-moving device is located and to collect ranging data. The ranging data is used to determine the distance of the self-moving device from the ground. If the ranging data output by the ultrasonic sensor is invalid, the infrared phototransistor sensor determines whether the self-moving device has detected a cliff at the target location.

2. The method according to claim 1, characterized in that, If the ranging data output by the ultrasonic sensor is invalid, then the determination of whether the self-moving device has detected a cliff at the target location based on the infrared photocell sensor includes: If the ranging data output by the ultrasonic sensor is invalid, the intensity of the infrared light received after the infrared photodiode sensor emits infrared light is obtained. The intensity of the received infrared light is used to determine whether the self-moving device has detected a cliff at the target location.

3. The method according to claim 2, characterized in that, The step of determining whether the self-moving device has detected a cliff at the target location based on the intensity of the received infrared light includes: If the intensity of the received infrared light is lower than a preset intensity threshold, it is determined that the self-moving device has detected a cliff at the target location. If the intensity of the received infrared light is greater than or equal to a preset intensity threshold, it is determined that the self-moving device has not detected a cliff at the target location.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: In response to the ranging data output by the ultrasonic sensor, it is determined whether the self-moving device has detected a cliff at the target location.

5. The method according to claim 4, characterized in that, The step of determining whether the self-moving device has detected a cliff at the target location in response to the ranging data output by the ultrasonic sensor includes: In response to the ranging data output by the ultrasonic sensor, when the distance from the ground is greater than or equal to a preset distance, it is determined that the self-moving device has detected a cliff at the target location; When the distance from the ground is less than a preset distance, it is determined that the self-moving device has not detected the cliff at the target location.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: During the operating time of the ultrasonic sensor, the infrared photodiode sensor is controlled to emit infrared light; and the intensity of the infrared light received after reflection from the target location is obtained through the infrared photodiode sensor; or, If the ranging data output by the ultrasonic sensor is invalid, the infrared photodiode sensor is controlled to emit infrared light; and the intensity of the infrared light received after being reflected from the target position is obtained through the infrared photodiode sensor.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: If the self-moving device detects the cliff at the target location, the self-moving device is controlled to execute an obstacle avoidance strategy or to cross the cliff based on the height of the cliff above the ground, and / or the location of the cliff is marked on a preset map.

8. A cliff detection device, characterized in that, The device is used in a self-moving device, and includes an ultrasonic sensor and an infrared phototransistor sensor; wherein, the device further includes: A processor is used to control the ultrasonic sensor to emit ultrasonic waves and collect ranging data, the ranging data being used to determine the distance of the self-moving device from the ground. The processor is further configured to, in response to invalid ranging data output by the ultrasonic sensor, determine whether the self-moving device has detected a cliff at the target location based on the infrared phototransistor sensor.

9. The apparatus according to claim 8, characterized in that, The processor is also used for: If the ranging data output by the ultrasonic sensor is invalid, the intensity of the infrared light received after the infrared photodiode sensor emits infrared light is obtained. The intensity of the received infrared light is used to determine whether the self-moving device has detected a cliff at the target location.

10. The apparatus according to claim 9, characterized in that, The processor is configured to determine that the self-moving device has detected a cliff at the target location if the intensity of the received infrared light is lower than a preset intensity threshold; or, to determine that the self-moving device has not detected a cliff at the target location if the intensity of the received infrared light is greater than or equal to the preset intensity threshold.

11. The apparatus according to claim 9 or 10, characterized in that, The processor is further configured to, in response to the ranging data output by the ultrasonic sensor, determine whether the self-moving device has detected a cliff at the target location.

12. The apparatus according to claim 11, characterized in that, The processor is further configured to, in response to the ranging data output by the ultrasonic sensor, determine that the self-moving device has detected a cliff at the target location when the ranging data indicates that the distance of the self-moving device from the ground at the target location is greater than or equal to a preset distance; When the ranging data indicates that the distance of the mobile device from the ground is less than a preset distance, it is determined that the mobile device has not detected the cliff at the target location.

13. The apparatus according to any one of claims 8 to 12, characterized in that, The processor is also configured to control the infrared photodiode sensor to emit infrared light; and to acquire the intensity of the infrared light received after being reflected by the target location through the infrared photodiode sensor.

14. The apparatus according to any one of claims 8 to 13, characterized in that, The processor is also configured to, upon determining that the self-moving device has detected the cliff at the target location, control the self-moving device to execute an obstacle avoidance strategy or control the self-moving device to pass through the cliff according to the height of the cliff, and / or mark the location of the cliff in a preset map.

15. The apparatus according to any one of claims 8 to 14, characterized in that, Both the ultrasonic sensor and the infrared phototransistor sensor are mounted on the bottom of the self-moving device, with the ultrasonic sensor mounted on the right front side or left front side of the bottom of the self-moving device, and the infrared phototransistor sensor mounted on the self-moving device behind the ultrasonic sensor.

16. A self-moving device, characterized in that, The self-moving device includes: an ultrasonic sensor, an infrared phototransistor sensor, and a processor configured to perform the method according to any one of claims 1-7.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1-7.

18. A computer program product, characterized in that, When the computer program product is run on a self-moving device, it causes the self-moving device to perform the method as described in any one of claims 1-7.

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