Obstacle avoidance control method for self-moving equipment, self-moving equipment and readable storage medium

Abstract

The invention discloses an obstacle avoidance control method for self-moving equipment, the self-moving equipment and a readable storage medium. The method comprises the following steps: determining a collision direction of the self-moving equipment and an obstacle on a planned path through a collision strip arranged on the self-moving equipment; determining a preset obstacle avoidance strategy of the self-moving equipment according to the collision direction, controlling the self-moving equipment to execute obstacle avoidance processing according to the preset obstacle avoidance strategy, and determining whether the self-moving equipment is in an abnormal state or not; and when it is determined that the self-moving device has the abnormal state, controlling the self-moving device to execute exception processing according to a preset exception processing strategy and then complete obstacle avoidance processing. After the self-moving equipment collides with the obstacle, the completeness of cleaning of the working area can be guaranteed through automatic operation, and the completeness of cleaning of the working area can be further guaranteed by detecting abnormal conditions.

Description

Technical Field

[0001] This invention relates to the field of self-moving device control technology, and in particular to a self-moving device obstacle avoidance control method, a self-moving device, and a readable storage medium. Background Technology

[0002] While various backyard cleaning machines, such as snowplows, lawnmowers, and blowers, are available on the market, most still require manual operation and cannot achieve automated operation within a designated area. Although some machines are automated and can operate autonomously within preset areas, the complex and changing working environment makes them prone to collisions with obstacles, causing them to deviate from their intended path. This includes collisions not only within the work area but also along edges, ultimately leading to incomplete cleaning and missed areas.

[0003] Therefore, those skilled in the art urgently need to find an obstacle avoidance control method that enables yard robots to adapt to complex environments. Summary of the Invention

[0004] Therefore, it is necessary to provide a self-moving device obstacle avoidance control method, a self-moving device, and a readable storage medium to address the above-mentioned technical problems, so as to solve the technical problems of incomplete area clearing and omissions caused by collisions between machines and obstacles in the prior art.

[0005] A method for obstacle avoidance control of a self-moving device, the method comprising: The collision direction between the self-moving device and obstacles on the planned path is determined by a collision bar set on the self-moving device. The system determines a preset obstacle avoidance strategy for the self-moving device based on the collision direction, controls the self-moving device to perform obstacle avoidance processing according to the preset obstacle avoidance strategy, and determines whether the self-moving device has an abnormal state. When it is determined that the self-moving device is in an abnormal state, the self-moving device is controlled to perform abnormal handling according to a preset abnormal handling strategy and then complete the obstacle avoidance process.

[0006] A self-moving device includes a collision bar, a walking motor, and a controller, wherein the controller controls the walking motor and the collision bar to implement the steps of the obstacle avoidance control method for the self-moving device described above.

[0007] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described obstacle avoidance control method for self-moving devices.

[0008] The obstacle avoidance control method for self-moving devices provided by this invention includes: determining the collision direction between the self-moving device and obstacles on a planned path using a collision bar set on the self-moving device; determining a preset obstacle avoidance strategy for the self-moving device based on the collision direction; simultaneously controlling the self-moving device to perform obstacle avoidance processing according to the preset obstacle avoidance strategy; and determining whether the self-moving device has an abnormal state; when an abnormal state is determined, controlling the self-moving device to perform abnormal processing according to a preset abnormal processing strategy to complete the obstacle avoidance process. After the self-moving device collides with an obstacle, it first determines the preset obstacle avoidance strategy based on the collision direction with the obstacle, and then determines the preset abnormal processing strategy based on the detected abnormal state during the avoidance process. In this way, not only can the integrity of the work area cleaning be guaranteed through automated operation, but the integrity of the work area cleaning can also be further guaranteed by detecting abnormal situations. Attached Figure Description

[0009] 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.

[0010] Figure 1 This is a flowchart illustrating an obstacle avoidance control method for an automatic mobile device according to an embodiment of the present invention.

[0011] Figure 2 This is a schematic block diagram of a self-moving device according to an embodiment of the present invention. Detailed Implementation

[0012] 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.

[0013] like Figure 1 As shown, an embodiment of the present invention provides an obstacle avoidance control method for a self-moving device, which is applied to a controller in a self-moving device. The controller can also be understood as an MCU (Microcontroller Unit). The method includes the following steps: S10, the collision direction between the self-moving device and the obstacle on the planned path is determined by the collision bar set on the self-moving device.

[0014] Understandably, collision strips can be set in both the front and rear directions of the self-moving device, including an outer collision strip at the front and rear of the device. Each collision strip can have three segments: left, center, and right. Each segment can contain a collision sensor, which can be a photoelectric sensor, pressure sensor, or other similar sensors. Collisions occurring in each segment can be detected by the collision sensor. The planned path can be generated based on the working area of ​​the self-moving device (including working within the area and its boundaries). The shape of the path can be set according to requirements, such as a bow-shaped sweeping path or other common paths. The self-moving device has a working module and a walking module, allowing it to perform tasks such as snow sweeping, lawn mowing, and leaf blowing while moving.

[0015] S20, determine the preset obstacle avoidance strategy of the self-moving device according to the collision direction, control the self-moving device to perform obstacle avoidance processing according to the preset obstacle avoidance strategy, and determine whether the self-moving device has an abnormal state.

[0016] Understandably, the collision direction is confirmed based on the front and rear collision bars. Under the front and rear collision bars, there are also situations involving the front, middle, and right segments. Thus, the collision direction can be confirmed based on the front, middle, and right segments of the front and rear collision bars, including the first target collision direction determined by the front, middle, and rear segments of the front collision bar, the second target collision direction determined by the front, middle, and rear segments of the rear collision bar, and the third target collision direction determined by the front, middle, and rear segments of the front and rear collision bars. The preset obstacle avoidance strategy can determine specific adjustment measures based on different collision directions. Abnormal states can refer to some non-prescribed situations that affect obstacle avoidance during the obstacle avoidance process of the self-moving device, such as the walking motor speed failing to drop to 0, the left or right collision bar being triggered when moving backward, the collision sensor not being activated after 10 seconds, and the collision bar repeatedly colliding at a certain position point.

[0017] S30, when it is determined that the self-moving device has an abnormal state, the self-moving device is controlled to perform abnormal processing according to the preset abnormal processing strategy and then complete the obstacle avoidance process.

[0018] Understandably, the preset exception handling strategy can be determined according to different exception states. Once each exception state is triggered, the corresponding handling measures can be triggered to ultimately get the self-moving device out of the exception situation.

[0019] In the embodiments where steps S10 to S30 are located, after the self-moving device collides with an obstacle, it first determines a preset obstacle avoidance strategy based on the collision direction with the obstacle. At the same time, during the avoidance process, it determines a preset abnormality handling strategy based on the detected abnormal state. In this way, not only can the integrity of the work area cleaning be guaranteed through automated operation, but the integrity of the work area cleaning can also be further guaranteed by detecting abnormal situations.

[0020] In one embodiment, the self-moving device includes a front collision bar and a rear collision bar, both of which include collision scenarios in the front, middle, and rear sections; determining the collision direction between the self-moving device and obstacles on the planned path using the collision bars provided on the self-moving device includes: The first target collision direction between the self-moving device and the obstacle on the planned path is determined by at least one collision situation of the front, middle and rear sections of the front collision strip set on the self-moving device. Alternatively, the second target collision direction between the self-moving device and the obstacle on the planned path can be determined by at least one collision situation of the front, middle and rear sections of the rear collision strip provided on the self-moving device; Alternatively, the collision direction between the self-moving device and an obstacle on the planned path can be determined simultaneously by considering at least one collision scenario of the front, middle, and rear sections of the front collision strip on the self-moving device and by considering at least one collision scenario of the front, middle, and rear sections of the rear collision strip on the self-moving device.

[0021] Understandably, as mentioned above, the self-moving device includes a front collision bar and a rear collision bar, and the front collision bar and the rear collision bar include the front, middle and right segments; Specifically, at least one collision situation in the front, middle, and rear segments of the front collision bar may include a collision triggered by the middle segment of the front collision bar, a collision triggered by the left segment of the front collision bar, a collision triggered by the right segment of the front collision bar, a collision triggered by the left middle segment of the front collision bar, and a collision triggered by the right middle segment of the front collision bar; at least one collision situation in the front, middle, and rear segments of the rear collision bar may include a collision triggered by the middle segment of the rear collision bar, a collision triggered by the left segment of the rear collision bar, a collision triggered by the right segment of the front collision bar, a collision triggered by the left middle segment of the rear collision bar, and a collision triggered by the right middle segment of the rear collision bar; at least one collision situation in the front, middle, and rear segments of the front collision bar and at least one collision situation in the front, middle, and rear segments of the rear collision bar may be combined based on the above situations; The first target collision direction includes the front-middle collision direction, the front-left collision direction, the front-right collision direction, the front-left-middle collision direction, and the front-right-middle collision direction; the second target collision direction includes the rear-middle collision direction, the rear-left collision direction, the rear-right collision direction, the rear-left-middle collision direction, and the rear-right-middle collision direction; the third target collision direction is a combination of the above two situations, such as the front-rear-middle collision direction.

[0022] In one embodiment, the first target collision direction includes a first collision direction, a second collision direction, and a third collision direction; the second target collision direction includes a fourth collision direction, a fifth collision direction, and a sixth collision direction; and the step of determining a preset obstacle avoidance strategy for the self-moving device based on the collision directions, and simultaneously controlling the self-moving device to perform obstacle avoidance processing according to the preset obstacle avoidance strategy, includes: When the collision direction between the self-moving device and the obstacle is determined to be the first collision direction or the fourth collision direction, the walking motor in the self-moving device is controlled to stop working first, and then the device moves backward for a first preset time and then forward for a second preset time. When the collision direction between the self-moving device and the obstacle is determined to be the third collision direction or the fifth collision direction, the walking motor in the self-moving device is controlled to stop working first, and then rotate backward in the opposite direction for a first preset time before moving forward. When the collision direction between the self-moving device and the obstacle is determined to be the third collision direction or the sixth collision direction, the walking motor in the self-moving device is controlled to stop working first, and then the device moves forward for a first preset time before moving backward.

[0023] Understandably, the first collision direction can be the front-middle collision direction, the second collision direction can be the front-left collision direction, the third collision direction can be the front-right collision direction, the fourth collision direction can be the rear-middle collision direction, the fifth collision direction can be the rear-left collision direction, and the sixth collision direction can be the rear-right collision direction. The first preset time and the second preset time can be set according to the requirements. For example, if the first preset time is less than the second preset time (retreat 1s, advance 2s), it is beneficial for the machine to quickly get away from the collision point during the forward movement. If a collision occurs at the front, the machine will retreat by rotating in the opposite direction with angular velocity. If a collision occurs at the rear, the machine will advance by rotating in the opposite direction with angular velocity. That is, different movement directions determine the movement strategy in the opposite direction.

[0024] In one embodiment, determining that the self-moving device has an abnormal state includes: When it is determined that the speed cannot be reduced to the preset speed value after the collision bar collides, it is determined that the self-moving device has the abnormal state; If either the left or right segment of the collision bar is triggered to collide when the self-moving device moves backward, it is determined that the self-moving device is in the abnormal state. If the collision sensor in the collision bar is determined to be in an inactive state, it is determined that the self-moving device has the abnormal state. When it is determined that the collision bar is in a state of continuous collision, it is determined that the self-moving device has the abnormal state.

[0025] Understandably, this embodiment refers to the individual triggering of the corresponding abnormal states by the front middle section, front left section, front right section, rear middle section, rear left section, and rear right section of the collision bar. After a machine collision, the speed must be reduced to a specified value. For example, if the walking motor stops working and the speed of the self-moving device is 0, failure to adjust to the specified value may cause the self-moving device to collide at a higher speed, resulting in greater damage. If the collision is triggered by either the left or right section of the collision bar after the machine moves backward, it indicates that the current collision is at a certain angle and cannot be adjusted by a straight line. If the collision sensor of the machine's collision bar is not activated, it means that the collision sensor cannot transmit an accurate signal to the controller of the self-moving device (the collision action is triggered but no collision signal is generated). If the machine continuously collides at a certain position point, such as colliding twice, it indicates that the machine cannot pass the current position point.

[0026] In other embodiments, the abnormal states triggered separately before, after, and in the middle of the collision bar also include simultaneous triggering of the front left segment, simultaneous triggering of the front right segment, and simultaneous triggering of the front left and right segments. During the operation of the machine, collisions that do not belong to the normal collision direction can be defined as abnormal states.

[0027] In one embodiment, determining that the self-moving device has an abnormal state includes: When the collision bar is triggered after it is determined that the collision bar rotates in a preset direction, the self-moving device is found to be in the abnormal state.

[0028] Understandably, this embodiment refers to the separate triggering of the front left segment, front right segment, rear left segment, and rear right segment into another abnormal state; that is, the machine includes triggering the collision bar again when rotating to the right (corresponding to the left segment) and triggering the collision bar again when rotating to the left (corresponding to the right segment).

[0029] In one embodiment, controlling the self-moving device to perform exception handling according to a preset exception handling strategy and then completing obstacle avoidance includes: Control the self-moving device to pause the automatic work schedule; Alternatively, the walking motor in the self-moving device can be controlled to stop working first and rotate in the opposite direction; Alternatively, the working motor in the self-moving device can be controlled to stop working first, and after a period of time, it can be determined whether the current collision bar is triggered, and then the working motor in the self-moving device can be controlled to continue to stop working; Alternatively, it can be determined that the self-moving device cannot pass its current location, and the self-moving device can be controlled to move to the next path in the automatic work plan.

[0030] Understandably, each of the above-mentioned handling measures corresponds to an abnormal state triggered individually by the front middle section, front left section, front right section, rear middle section, rear left section, and rear right section of the collision bar. Specifically, this includes: when a collision is triggered individually by the front middle section, front left section, front right section, rear middle section, rear left section, or rear right section, and it is determined that the speed of the collision bar cannot be reduced to the preset speed value after the collision, the walking motor and working motor in the self-moving device are controlled to stop working, that is, the automatic work plan is suspended; when a collision is triggered individually by the front middle section, front left section, front right section, rear middle section, rear left section, or rear right section, and it is determined that any segment of the left or right of the collision bar is triggered to collide when the self-moving device moves backward, the walking motor of the self-moving device is controlled to stop immediately. Rotate the device in the opposite direction (e.g., 30 degrees) to avoid collisions. If a collision is triggered individually in the front middle section, front left section, front right section, rear middle section, rear left section, or rear right section, and the collision sensor in the collision bar is determined to be inactive, control the self-moving device to immediately stop the blower motor and pause the automatic work plan. If the current collision bar is triggered again after a period of time, only manual control is allowed, but the self-moving device is not allowed to start the working motor. If a collision is triggered individually in the front middle section or rear middle section, and the collision bar is determined to be in a continuous collision situation, it is determined that the self-moving device cannot pass the current position point, and the self-moving device is controlled to switch to the path of the next automatic work plan based on the current position point.

[0031] In other embodiments, the abnormal states triggered individually before and after the collision bar also include simultaneous triggering of the front left segment, simultaneous triggering of the front right segment, and simultaneous triggering of the front left and right segments. The preset abnormal handling strategy corresponding to the simultaneous triggering of the front left segment may include controlling the walking motor to stop -> rotating backward with angular velocity in the opposite direction for a first preset time -> moving forward -> resuming the automatic work plan; the preset abnormal handling strategy corresponding to the simultaneous triggering of the front right segment may include controlling the walking motor to stop -> rotating backward with angular velocity in the opposite direction for a first preset time -> moving forward -> resuming the automatic work plan; the preset abnormal handling strategy corresponding to the simultaneous triggering of the front left and right segments may include controlling the walking motor to stop -> moving backward after a first preset time -> moving forward -> resuming the automatic work plan.

[0032] In one embodiment, controlling the self-moving device to perform exception handling according to a preset exception handling strategy and then completing obstacle avoidance includes: After controlling the walking motor in the self-moving device to stop for a third preset time, control the self-moving device to rotate in the opposite direction until the collision bar is not triggered; If the collision bar is triggered again during rotation, the walking motor in the self-moving device will stop for a fourth preset time, and the self-moving device will be controlled to move backward.

[0033] Understandably, the above-mentioned handling measures correspond to another abnormal state triggered individually by the front left segment, front right segment, rear left segment, and rear right segment. When the front left segment, front right segment, rear left segment, and rear right segment trigger a collision individually and rotate in one direction, the collision bar is triggered again, and the self-moving device is controlled to immediately stop the walking motor and rotate in the opposite direction (e.g., 15 degrees). If the collision bar is triggered again during rotation, the self-moving device is controlled to immediately stop the walking motor and perform a backward operation (left segment rotates to the right, right segment rotates to the left).

[0034] In one embodiment, the method for controlling the self-moving device to perform exception handling according to a preset exception handling strategy and then complete obstacle avoidance when it is determined that the self-moving device has an abnormal state includes: When it is determined that the collision bar is continuously triggered a preset number of times and the obstacle is still not bypassed, the current position of the self-moving device is used as the starting point to control the self-moving device to plan a new path from the starting point and continue to execute the automatic work plan according to the new path; When it is determined that the collision bar continuously triggers at the boundary, causing the self-moving device to go out of bounds, the out-of-bounds distance of the self-moving device is determined; when the out-of-bounds distance is a preset out-of-bounds distance, the self-moving device is controlled to continue executing the automatic work plan; when the out-of-bounds distance is a preset out-of-bounds distance, the self-moving device is controlled to pause executing the automatic work plan.

[0035] Understandably, this embodiment can be divided into two scenarios: the self-moving device moves within the area and boundary, and the self-moving device goes outside the boundary. Specifically, when the collision bar of the self-moving device is triggered multiple times consecutively and still fails to bypass the obstacle (which can be achieved by combining vision and radar sensing, etc.), a new path is re-planned within the working area of ​​the self-moving device, and the automatic work plan continues to be executed according to the new path. When the collision bar is continuously triggered at the boundary, causing the self-moving device to go outside the boundary, within the preset out-of-bounds distance, the self-moving device continues to execute the automatic work plan (meaning that the current out-of-bounds movement will not affect normal work and can be adjusted by walking). After multiple consecutive triggers, the new path planning will start from the current position of the self-moving device and continue to execute the automatic work plan. After the machine goes outside the preset out-of-bounds distance, the execution of the automatic work plan by the self-moving device will be paused (it cannot be adjusted back).

[0036] The aforementioned obstacle avoidance control method for self-moving devices determines the collision direction between the self-moving device and obstacles on the planned path using a collision bar set on the self-moving device. Based on the collision direction, a preset obstacle avoidance strategy is determined for the self-moving device. Simultaneously, the self-moving device is controlled to execute obstacle avoidance processing according to the preset strategy, and it is determined whether the self-moving device has any abnormal states. If an abnormal state is determined, the self-moving device is controlled to execute an abnormality handling strategy according to a preset abnormality handling strategy to complete the obstacle avoidance process. After a collision with an obstacle, the self-moving device first determines the preset obstacle avoidance strategy based on the collision direction with the obstacle. Simultaneously, during the avoidance process, a preset abnormality handling strategy is determined based on detected abnormal states. In this way, not only can the integrity of the work area cleaning be ensured through automated operation, but the integrity of the work area cleaning can also be further ensured by detecting abnormal situations. Obstacle avoidance can be implemented both within the area and along the edge to prevent obstacles from affecting the blower's operation; the blower can be controlled to detect and handle abnormal states to prevent it from remaining in an abnormal state; obstacle avoidance can also prevent the blower from being interfered with by obstacles, causing it to miss some areas or blow leaves or other objects to be swept to other areas, thus preventing the overall blowing effect from being affected.

[0037] 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.

[0038] like Figure 2 As shown, in one embodiment, the present invention also provides a self-moving device, including a collision bar, a walking motor, and a controller. The controller is used to control the collision bar and the walking motor to perform the steps of the obstacle avoidance control method of the self-moving device described above. The self-moving device can be a snowplow, lawnmower, leaf blower, or other yard robot. In one embodiment, the front and body of the self-moving device are detachable.

[0039] The controller's execution functions correspond one-to-one with the obstacle avoidance control methods for self-moving devices described in the above embodiments. Specific limitations of the controller can be found in the limitations of the obstacle avoidance control methods for self-moving devices described above, and will not be repeated here. Each sub-module in the controller can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in or independent of the processor in the controller in hardware form, or stored in the controller's memory in software form, so that the processor can call and execute the operations corresponding to each sub-module.

[0040] 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 include 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 obstacle avoidance control method for self-moving devices described in the above embodiments.

[0041] 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.

[0042] 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 used as 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 system can be divided into different functional units or modules to complete all or part of the functions described above.

[0043] 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 obstacle avoidance control of a self-moving device, characterized in that, The method includes: The collision direction between the self-moving device and obstacles on the planned path is determined by a collision bar set on the self-moving device. The system determines a preset obstacle avoidance strategy for the self-moving device based on the collision direction, controls the self-moving device to perform obstacle avoidance processing according to the preset obstacle avoidance strategy, and determines whether the self-moving device has an abnormal state. When it is determined that the self-moving device is in an abnormal state, the self-moving device is controlled to perform abnormal handling according to a preset abnormal handling strategy and then complete the obstacle avoidance process.

2. The obstacle avoidance control method for self-moving devices as described in claim 1, characterized in that, The self-moving device includes a front collision bar and a rear collision bar, both of which include collision scenarios for the front, middle, and rear sections; determining the collision direction between the self-moving device and obstacles on the planned path using the collision bars on the self-moving device includes: The first target collision direction between the self-moving device and the obstacle on the planned path is determined by at least one collision situation of the front, middle and rear sections of the front collision strip set on the self-moving device. Alternatively, the second target collision direction between the self-moving device and the obstacle on the planned path can be determined by at least one collision situation of the front, middle and rear sections of the rear collision strip provided on the self-moving device; Alternatively, the collision direction between the self-moving device and an obstacle on the planned path can be determined simultaneously by considering at least one collision scenario of the front, middle, and rear sections of the front collision strip on the self-moving device and by considering at least one collision scenario of the front, middle, and rear sections of the rear collision strip on the self-moving device.

3. The obstacle avoidance control method for self-moving devices as described in claim 2, characterized in that, The first target collision direction includes a first collision direction, a second collision direction, and a third collision direction; the second target collision direction includes a fourth collision direction, a fifth collision direction, and a sixth collision direction; the step of determining a preset obstacle avoidance strategy for the self-moving device based on the collision directions, and simultaneously controlling the self-moving device to perform obstacle avoidance processing according to the preset obstacle avoidance strategy, includes: When the collision direction between the self-moving device and the obstacle is determined to be the first collision direction or the fourth collision direction, the walking motor in the self-moving device is controlled to stop working first, and then the device moves backward for a first preset time and then forward for a second preset time. When the collision direction between the self-moving device and the obstacle is determined to be the third collision direction or the fifth collision direction, the walking motor in the self-moving device is controlled to stop working first, and then rotate backward in the opposite direction for a first preset time before moving forward. When the collision direction between the self-moving device and the obstacle is determined to be the third collision direction or the sixth collision direction, the walking motor in the self-moving device is controlled to stop working first, and then the device moves forward for a first preset time before moving backward.

4. The obstacle avoidance control method for self-moving devices as described in claim 1, characterized in that, The determination that the self-moving device is in an abnormal state includes: When it is determined that the speed cannot be reduced to the preset speed value after the collision bar collides, it is determined that the self-moving device has the abnormal state; If either the left or right segment of the collision bar is triggered to collide when the self-moving device moves backward, it is determined that the self-moving device is in the abnormal state. If the collision sensor in the collision bar is determined to be in an inactive state, it is determined that the self-moving device has the abnormal state. When it is determined that the collision bar is in a state of continuous collision, it is determined that the self-moving device has the abnormal state.

5. The obstacle avoidance control method for self-moving devices as described in claim 4, characterized in that, The determination that the self-moving device is in an abnormal state includes: When the collision bar is triggered after it is determined that the collision bar rotates in a preset direction, the abnormal state of the self-moving device is determined.

6. The obstacle avoidance control method for self-moving devices as described in claim 1 or 4, characterized in that, The process of controlling the self-moving device to perform exception handling according to a preset exception handling strategy and then completing obstacle avoidance includes: Control the self-moving device to pause the automatic work schedule; Alternatively, the walking motor in the self-moving device can be controlled to stop working first and rotate in the opposite direction; Alternatively, the working motor in the self-moving device can be controlled to stop working first, and after a period of time, it can be determined whether the current collision bar is triggered, and then the working motor in the self-moving device can be controlled to continue to stop working; Alternatively, it can be determined that the self-moving device cannot pass its current location, and the self-moving device can be controlled to move to the next path in the automatic work plan.

7. The obstacle avoidance control method for self-moving devices as described in claim 5, characterized in that, The process of controlling the self-moving device to perform exception handling according to a preset exception handling strategy and then completing obstacle avoidance includes: After controlling the walking motor in the self-moving device to stop for a third preset time, control the self-moving device to rotate in the opposite direction until the collision bar is not triggered; If the collision bar is triggered again during rotation, the walking motor in the self-moving device will stop for a fourth preset time, and the self-moving device will be controlled to move backward.

8. The obstacle avoidance control method for self-moving devices as described in claim 1, characterized in that, The method for controlling the self-moving device to perform exception handling according to a preset exception handling strategy and then complete obstacle avoidance when an abnormal state is determined to exist includes: When it is determined that the collision bar is continuously triggered a preset number of times and the obstacle is still not bypassed, the current position of the self-moving device is used as the starting point to control the self-moving device to plan a new path from the starting point and continue to execute the automatic work plan according to the new path; When it is determined that the collision bar continuously triggers at the boundary, causing the self-moving device to go out of bounds, the out-of-bounds distance of the self-moving device is determined; when the out-of-bounds distance is a preset out-of-bounds distance, the self-moving device is controlled to continue executing the automatic work plan; when the out-of-bounds distance is a preset out-of-bounds distance, the self-moving device is controlled to pause executing the automatic work plan.

9. A self-moving device, characterized in that, The device includes a collision bar, a walking motor, and a controller, wherein the controller controls the walking motor and the collision bar to implement the steps of the obstacle avoidance control method for an independent mobile device as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the obstacle avoidance control method for self-moving devices as described in any one of claims 1 to 8.

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