Control method, device and system of self-moving device and computer readable storage medium

Abstract

The embodiment of the invention provides a control method, device and system of a self-moving device and a computer readable storage medium, at least one driving wheel and at least three cliff sensors located on the front side of a first axis are arranged at the bottom of the self-moving device, and when the first cliff sensor is triggered, the first cliff sensor is triggered; when the first cliff sensor at least comprises one of the left front cliff sensor and the right front cliff sensor, the first reaction action is rotation while retreating; when the first cliff sensor is triggered and the first cliff sensor is a front cliff sensor, or the first cliff sensor at least comprises a left front cliff sensor and a right front cliff sensor, the first reaction action is backward. By adopting the scheme, the self-moving equipment executes the corresponding reaction action according to the triggered cliff sensor, and the reaction action is not fixed but is related to the triggered cliff sensor, so that the working efficiency and effect of the self-moving equipment during task execution can be ensured while the cliff is effectively and safely avoided.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to a control method, device, system, and computer-readable storage medium for a self-moving device. Background Technology

[0002] With the rapid development of artificial intelligence (AI) technology, mobile devices are gradually entering people's daily lives, bringing great convenience.

[0003] During the execution of a task, the self-operated device may encounter a cliff, which is an area with a significant drop. To prevent the self-operated device from falling off a cliff, it needs to avoid the cliff when it is detected. Cliffs include, but are not limited to, steps and stairs.

[0004] Clearly, how to safely and effectively avoid cliffs has become an urgent problem to be solved. Summary of the Invention

[0005] This disclosure aims to at least solve one of the technical problems existing in the prior art. The embodiments of this disclosure provide a control method, device, system and computer-readable storage medium for a self-moving device. By executing corresponding reaction actions according to the triggered cliff sensor, the reaction actions are not fixed, but are related to the triggered cliff sensor. While effectively and safely avoiding cliffs, it can also ensure the work efficiency and effect of the self-moving device when performing tasks.

[0006] In a first aspect, embodiments of this disclosure provide a control method for a self-moving device, defining the forward direction of the self-moving device as the front side, and the bottom of the self-moving device being provided with at least one drive wheel and at least three cliff sensors located in front of a first axis, the first axis being the rotation axis of the at least one drive wheel; the at least three cliff sensors include at least one left front cliff sensor located to the left of a second axis, at least one right front cliff sensor located to the right of the second axis, and at least one front cliff sensor located in front of the left front cliff sensor or the right front cliff sensor, the second axis being parallel to the plane where the bottom of the self-moving device is located and perpendicular to the rotation axis; the method includes:

[0007] When the first cliff sensor is triggered, the self-moving device is controlled to perform a first reaction action corresponding to the triggered first cliff sensor. The first reaction action includes: the self-moving device moving backward, or the self-moving device rotating while moving backward. The first cliff sensor includes at least one of the at least three cliff sensors.

[0008] Wherein, when the first cliff sensor includes at least one of the left front cliff sensor or the right front cliff sensor, the first reaction action is: the self-moving device moves backward and rotates, the first reaction action causes the orientation of the self-moving device to change from a first orientation to a second orientation, the angle between the first orientation and the second orientation is greater than a preset angle, and the first orientation is the orientation of the self-moving device when the first cliff sensor is triggered;

[0009] When the first cliff sensor is the front cliff sensor, or when the first cliff sensor includes at least the left front cliff sensor and the right front cliff sensor, the first reaction action is: the self-moving device moves backward.

[0010] In a second aspect, embodiments of this disclosure provide a self-moving device, defining the forward direction of the self-moving device as the front side. The bottom of the self-moving device is provided with at least one drive wheel and at least three cliff sensors located in front of a first axis, the first axis being the rotation axis of the at least one drive wheel. The at least three cliff sensors include at least one left front cliff sensor located to the left of a second axis, at least one right front cliff sensor located to the right of the second axis, and at least one front cliff sensor located in front of either the left or right front cliff sensor. The second axis is parallel to the plane containing the bottom of the self-moving device and perpendicular to the rotation axis. The self-moving device further includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program stored in the memory to implement the method described in the first aspect or various possible implementations of the first aspect.

[0011] Thirdly, embodiments of this disclosure provide an intelligent system including a base station and a self-moving device as described in the second aspect above or various possible implementations of the second aspect.

[0012] Fourthly, embodiments of this disclosure provide a computer-readable storage medium storing computer instructions that, when executed by a processor, are used to implement the method described in the first aspect or various possible implementations of the first aspect.

[0013] The self-moving device control method, device, system, and computer-readable storage medium provided in this disclosure have at least one drive wheel and at least three cliff sensors located on the front side of a first axis at the bottom of the self-moving device. When the first cliff sensor is triggered, and when the first cliff sensor includes at least one of the left front cliff sensor or the right front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating; when the first cliff sensor is triggered, and the first cliff sensor is a front cliff sensor, or when the first cliff sensor includes at least the left front cliff sensor and the right front cliff sensor, the first reaction action is: the self-moving device moves backward. Using this scheme, when the first cliff sensor is triggered, the self-moving device executes a corresponding reaction action based on the triggered cliff sensor. The reaction action is not fixed but depends on the triggered cliff sensor. This effectively and safely avoids cliffs while ensuring the efficiency and effectiveness of the self-moving device in performing tasks, avoiding missed areas of exploration or cleaning. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1A This is a bottom view of a self-moving device provided in an embodiment of this disclosure;

[0016] Figure 1B This is a bottom view of another self-moving device provided in this embodiment of the disclosure;

[0017] Figure 2 This is a flowchart of a control method for a self-moving device provided in an embodiment of this disclosure;

[0018] Figure 3 This is a schematic diagram of a scenario for the control method of the self-moving device provided in an embodiment of this disclosure;

[0019] Figure 4 This is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure;

[0020] Figure 5A This is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure;

[0021] Figure 5B yes Figure 5A A diagram showing the self-moving device in the image after performing its first reaction action;

[0022] Figure 5C This is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure;

[0023] Figure 6A This is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure;

[0024] Figure 6B yes Figure 6A A schematic diagram showing the self-moving device in the image after performing the second reaction action;

[0025] Figure 7 This is a flowchart of a control method for a self-moving device provided in an embodiment of this disclosure;

[0026] Figure 8 This is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure;

[0027] Figure 9 This is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure;

[0028] Figure 10 A schematic diagram of the control device provided in the embodiments of this disclosure;

[0029] Figure 11 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this disclosure. Detailed Implementation

[0030] Self-moving devices, also known as robots, autonomous mobile devices, or self-moving robots, are widely used in various industries because they free up human hands. For example, cleaning robots are a common type of self-moving device that can sweep floors using side brushes and roller brushes, and mop floors with a mop pad, making them very popular.

[0031] Self-operated mobile devices often operate in complex environments, including areas with significant height differences such as steps and stairs—collectively referred to as cliffs or cliff obstacles. When a self-operated mobile device detects a cliff during its movement, it needs to avoid it to prevent falling. In traditional solutions, after detecting a cliff, the self-operated mobile device may initiate avoidance behavior too far away, resulting in incomplete coverage of the area near the cliff and reduced efficiency. Alternatively, it may initiate avoidance behavior only when too close to the cliff, making it impossible to safely avoid the cliff and increasing the risk of falling. Furthermore, existing cliff avoidance behaviors are often simplistic and fixed, such as moving backward in a straight line, leading to low efficiency and a poor user experience.

[0032] Based on this, the present disclosure provides a control method, device, system, and computer-readable storage medium for a self-moving device. Multiple cliff sensors are arranged in front of the rotation axis of the bottom drive wheel of the self-moving device. When at least one cliff sensor is triggered, a corresponding reaction action is executed according to the triggered cliff sensor. The reaction action is not fixed, but depends on which cliff sensors are triggered. While effectively and safely avoiding cliffs, the working efficiency and effect of the self-moving device can be ensured.

[0033] The self-moving device described in this disclosure refers to an electronic device capable of moving autonomously and completing tasks without human intervention. For example, a self-moving device may be a robotic vacuum cleaner that can automatically walk on the ground and perform sweeping and / or mopping tasks; another example is an air purifying robot that can walk in various rooms and purify the air; yet another example is a shopping mall service robot that autonomously walks in the mall and answers questions from users.

[0034] The following description uses a robotic vacuum cleaner as an example to illustrate the self-moving device provided in this embodiment. For illustrative examples, please refer to... Figure 1A .

[0035] Figure 1A This is a bottom view of a self-moving device provided in an embodiment of this disclosure. Please refer to... Figure 1A The self-moving device 100 provided in this embodiment includes a body 10, the bottom of which refers to the side of the self-moving device 100 closest to the surface to be cleaned. The bottom of the self-moving device 100 is provided with a side brush 11, a roller brush 12, a drive wheel 13, and a mop tray 14. The forward direction of the self-moving device 100 is defined as the front side, i.e., the side where M is located in the figure, and the forward direction is the direction from N to M. The side brush 11 and the roller brush 12 are positioned in front of the mop tray 14. Based on this structure, the self-moving device 100 can achieve the effect of sweeping first and then mopping when simultaneously performing sweeping and mopping tasks.

[0036] Please refer to Figure 1A The bottom of the self-moving device 100 is provided with at least one drive wheel 13 and at least three cliff sensors located in front of a first axis. The first axis is the rotation axis of at least one drive wheel 13, as shown by the dashed line PQ in the figure. The at least three cliff sensors include at least one left front cliff sensor 15 located on the left side of the second axis, at least one right front cliff sensor 16 located on the right side of the second axis, and at least one front cliff sensor 17 located in front of the left front cliff sensor 15 or the right front cliff sensor 16. The second axis is parallel to the plane where the bottom of the self-moving device 100 is located and perpendicular to the rotation axis, as shown by the dashed line MN in the figure.

[0037] During its movement, the self-moving device 100 is supported on the surface to be cleaned by the drive wheel 13. When the drive wheel 13 fails to support the surface to be cleaned or becomes suspended in the air, the self-moving device 100 may be at risk of falling. Therefore, the position of the cliff sensor can be referenced by the position of the drive wheel 13. The cliff sensor can be set in front of or behind the drive wheel 13 to detect the situation in front of or behind the drive wheel 13 and prevent the drive wheel 13 from becoming suspended in the air. Figure 1A In the illustrated embodiment, the three cliff sensors are all positioned on the front side of the rotation axis of the drive wheel 13, distributed at the left, center, and right positions on the front side, respectively, to detect various locations on the front side of the self-moving device 100. Furthermore, to ensure the safety of the self-moving device 100 and minimize the amount of the fuselage 10 protruding over the cliff, the cliff sensors can be positioned at the edge of the fuselage 10. Types of cliff sensors include, but are not limited to, infrared sensors, ultrasonic sensors, and Direct Time-of-Flight (dToF) sensors.

[0038] In this embodiment of the disclosure, the self-moving device 100 determines and executes a reaction action based on one or more cliff sensors that are triggered from at least three cliff sensors. After executing the reaction action, the self-moving device 100 plans a target path and travels along the target path. During travel along the target path, if one or more of the at least three cliff sensors are triggered again, the self-moving device 100 determines and executes a reaction action based on the triggered cliff sensor again, then plans a new target path and travels along the new target path, repeating this cycle until the task is completed. The cliff sensors triggered each time may be the same or different; this disclosure does not impose any limitations on this.

[0039] Figure 1B This is a bottom view of another self-moving device provided in this embodiment of the disclosure. Figure 1B The self-moving device shown and Figure 1A The difference in the self-moving device shown is that the bottom of the self-moving device 100 is also provided with at least two cliff sensors located behind the first axis. The at least two cliff sensors include at least one left rear cliff sensor 18 located on the left side of the second axis and at least one right rear cliff sensor 19 located on the right side of the second axis.

[0040] This disclosure does not limit the number and distribution of the left front cliff sensor 15, right front cliff sensor 16, front cliff sensor 17, left rear cliff sensor 18 and right rear cliff sensor 19. Each cliff sensor can be in a straight line with the drive wheel 13, or it can be placed on the outside of the drive wheel 13, thus as close as possible to the edge of the self-moving device 100.

[0041] It should be noted that, although the above Figure 1A , Figure 1B The embodiments of this disclosure are illustrated using the example of a self-moving device 100 equipped with a roller brush 12 and a mop tray 14. However, this disclosure is not limited to this; in other feasible implementations, the self-moving device 100 may not be equipped with a roller brush 12 or a mop tray 14. When the mop tray 14 is not provided, the self-moving device 100 only has a sweeping function and does not have a mopping function.

[0042] It should also be noted that, in order to clearly illustrate the bottom of the mobile device 100, the above... Figure 1A and Figure 1B All views are from below. From this angle, the front cliff sensor 17 is located in front of either the left front cliff sensor 15 or the right front cliff sensor 16; the right front cliff sensor 16 and the right rear cliff sensor 19 are located to the left of the second axis; and the left front cliff sensor 15 and the left rear cliff sensor 18 are located to the right of the second axis. However, in this embodiment, during the movement of the self-moving device 100, the bottom of the self-moving device 100 is not visible to the user; the user is actually viewing the self-moving device 100 from a top-down angle. Therefore, the left front cliff sensor 15, right front cliff sensor 16, left rear cliff sensor 18, and right rear cliff sensor 19 all refer to the result viewed from a top-down angle.

[0043] Furthermore, the self-moving device 100 can have one or more drive wheels 13. The diagram shows two drive wheels 13 as an example. For clarity, the drive wheel on the same side as the right front cliff sensor 16 and the right rear cliff sensor 19 will be referred to as the right drive wheel, and the drive wheel on the same side as the left front cliff sensor 15 and the left rear cliff sensor 18 will be referred to as the left drive wheel. Of course, the drive wheel 13 can also be set to one, such as a tracked drive wheel.

[0044] Below, in conjunction with the above... Figure 1A and Figure 1B This document provides a detailed description of the control method for a self-moving device according to embodiments of the present disclosure. For example, please refer to... Figure 2 . Figure 2 This is a flowchart of a control method for a self-moving device provided in this embodiment of the present disclosure. This embodiment includes:

[0045] 201. The first cliff sensor was triggered.

[0046] In this embodiment of the disclosure, the first cliff sensor is some or all of the at least three cliff sensors disposed at the bottom of the self-moving device and in front of the first axis. The first cliff sensor is triggered when: the height of the first cliff sensor above the ground is greater than a preset height, or the control system of the self-moving device sends the measured information to the first cliff sensor and then issues a trigger signal.

[0047] The self-moving device moves under the drive of its drive wheels and performs tasks, including but not limited to creating an environmental map and cleaning the work area. During the self-moving device's task execution, the first cliff sensor may be triggered. For example, when the self-moving device first enters an unfamiliar environment and is creating an environmental map, the first cliff sensor may be triggered when it walks to the edge area to explore. Similarly, if the self-moving device has already created an environmental map and is performing a global cleaning task, the first cliff sensor may be triggered when cleaning the edge area; or, if the self-moving device has already created an environmental map and is performing a local cleaning task, the first cliff sensor may be triggered when it walks to the edge area. Furthermore, if the self-moving device is woken up or switches from sleep mode to working mode based on a pre-set timed task, the first cliff sensor may be triggered upon entering working mode because it was near a cliff during sleep mode.

[0048] 202. Control the self-moving device to perform a first reaction action corresponding to the triggered first cliff sensor, the first reaction action including: the self-moving device moves backward, or the self-moving device rotates while moving backward, the first cliff sensor including at least one of the at least three cliff sensors.

[0049] In this embodiment of the disclosure, the first cliff sensor is at least one of at least three cliff sensors disposed on the bottom of the self-moving device, in front of the first axis. It can be one cliff sensor, two cliff sensors, or all of them. Therefore, the first cliff sensor can have different combinations, each combination of the first cliff sensor corresponding to a first reaction action. The first reaction actions corresponding to different combinations of the first cliff sensor can be the same or different.

[0050] Wherein, when the first cliff sensor includes at least one of the left front cliff sensor or the right front cliff sensor, the first reaction action is: the self-moving device moves backward and rotates, and the first reaction action causes the orientation of the self-moving device to change from a first orientation to a second orientation, the angle between the first orientation and the second orientation is greater than a preset angle, and the first orientation is the orientation of the self-moving device when the first cliff sensor is triggered.

[0051] Understandably, when either the left or right front cliff sensor of the self-moving device is triggered, it indicates that a cliff exists on one side of the self-moving device, meaning the self-moving device is close to the cliff on its left or right front side. The initial reaction action will necessarily include moving backward. However, to further move the self-moving device away from the cliff and facilitate subsequent path planning, the reaction action should also include rotation. In some embodiments, the preset angle can be a fixed value or a value calculated by the self-moving device based on the actual exploration situation during backward rotation. For example, to reduce the computational load of the setting program in the self-moving device, the preset angle is directly set to a fixed value, such as 15 degrees, 20 degrees, 30 degrees, etc. This disclosure embodiment is not limited.

[0052] When the first cliff sensor includes at least one of the left front cliff sensor or the right front cliff sensor, its combination forms include the following:

[0053] a. Left front cliff sensor only;

[0054] b. Left front cliff sensor and front cliff sensor;

[0055] c. Right front cliff sensor only;

[0056] d. Right front cliff sensor and front cliff sensor.

[0057] When the first cliff sensor is the front cliff sensor, or when the first cliff sensor includes at least the left front cliff sensor and the right front cliff sensor, the first reaction action is: the self-moving device moves backward.

[0058] Understandably, when the front cliff sensor of the self-moving device is triggered, or at least both the left and right front cliff sensors are triggered, it indicates that there is a cliff in front of the self-moving device, meaning the front of the self-moving device is close to the cliff. The reaction action will inevitably be to move backward, with the aim of moving the front of the self-moving device away from the cliff. It should be noted that the terms "left front side," "right front side," and "front side" used to describe the self-moving device in this disclosure refer to the locations of the installed left, right, and front cliff sensors, respectively, indicating the approximate location of the self-moving device through the positions of the installed cliff sensors.

[0059] When the first cliff sensor is a front cliff sensor, or when the first cliff sensor includes at least a left front cliff sensor and a right front cliff sensor, its combination forms include the following:

[0060] e. Front cliff sensor only;

[0061] f. Front cliff sensor, left front cliff sensor, and right front cliff sensor;

[0062] g. Left front cliff sensor, right front cliff sensor.

[0063] The control method for a self-moving device provided in this embodiment includes at least one drive wheel and at least three cliff sensors located on the front side of a first axis at the bottom of the self-moving device. When the first cliff sensor is triggered, and when the first cliff sensor includes at least one of the left front cliff sensor or the right front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating; when the first cliff sensor is triggered, and the first cliff sensor is a front cliff sensor, or when the first cliff sensor includes at least the left front cliff sensor and the right front cliff sensor, the first reaction action is: the self-moving device moves backward. With this approach, when the first cliff sensor is triggered, it indicates that the front edge of the self-moving device is close to the cliff and has moved as close to the cliff as possible. The self-moving device executes a corresponding reaction action based on the triggered cliff sensor. The reaction action is not fixed but depends on the triggered cliff sensor. This effectively and safely avoids cliffs while ensuring the efficiency and effectiveness of the self-moving device in performing tasks, avoiding missed areas of exploration or cleaning.

[0064] As described above, in this embodiment of the present disclosure, when the first cliff sensor is triggered, the first cliff sensor may be any one of the combinations a to g. The first reaction actions under these different combinations will be described in detail below. For example, please refer to... Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of a scenario for the control method of the self-moving device provided in the embodiments of this disclosure. Figure 4 This is a schematic diagram of another scenario for the control method of the self-moving device provided in this disclosure. In the diagram, black-filled circles represent triggered cliff sensors, and gray-filled circles represent untriggered cliff sensors. At least three cliff sensors are provided on the front side of the first axis of self-moving devices 31-36, 39, and 41-46. In addition to at least three cliff sensors on the front side of the first axis, at least two cliff sensors are provided on the rear side of the first axis of self-moving devices 37, 38, 47, and 48. The solid arrows on the self-moving devices in the diagram indicate the direction of travel of the mobile devices.

[0065] When the first cliff sensor is triggered and the combination of the first cliff sensors is either a or b as described above, that is, when the first cliff sensor is the left front cliff sensor, or when the first cliff sensor is the front cliff sensor and the left front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating counterclockwise.

[0066] Please refer to Figure 3 When the front cliff sensor and left front cliff sensor of the self-moving device 31 are triggered, and the left front cliff sensor of the self-moving device 32 is triggered, the self-moving devices 31 and 32 will move backward and rotate counterclockwise respectively, and the trajectory is shown by the dashed arrows on the self-moving devices 31 and 32.

[0067] Similarly, please refer to Figure 4 When the front cliff sensor and left front cliff sensor of the self-moving device 41 are triggered, and the left front cliff sensor of the self-moving device 42 is triggered, the self-moving devices 41 and 42 move backward and rotate counterclockwise respectively, and the trajectory is shown by the dashed arrows on the self-moving devices 41 and 42.

[0068] Using this approach, when the first cliff sensor is either the front cliff sensor or the left front cliff sensor, or when the first cliff sensor is the left front cliff sensor, the self-moving device moves backward while rotating counterclockwise to move the entire body away from the cliff and adjust its front left side to the left, achieving the goal of quickly, successfully, and safely avoiding the cliff. At the same time, it retains optimization space for subsequent path replanning.

[0069] When the first cliff sensor is triggered and the combination of the first cliff sensors is c or d as described above, that is, when the first cliff sensor is the right front cliff sensor, or when the first cliff sensor is the front cliff sensor and the right front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating clockwise.

[0070] Please refer to the following: Figure 3 The front and right front cliff sensors of self-moving device 33 are triggered, the right front cliff sensor of self-moving device 34 is triggered, and the front and right front cliff sensors of self-moving device 39 are triggered. Self-moving devices 33, 34, and 39 rotate clockwise while moving backward, and the trajectory is shown by the dashed arrows on self-moving devices 33, 34, and 39.

[0071] Similarly, please refer to Figure 4 When the front cliff sensor and right front cliff sensor of the self-moving device 43 are triggered, the right front cliff sensor of the self-moving device 44 is triggered, and the self-moving devices 43 and 44 move backward while rotating clockwise, with the trajectory shown by the dashed arrows on the self-moving devices 43 and 44.

[0072] Using this approach, when the first cliff sensor is either the front cliff sensor or the right front cliff sensor, or when the first cliff sensor is the right front cliff sensor, the self-moving device moves backward while rotating clockwise to move the entire body away from the cliff and adjust its front right side to the right, achieving the goal of quickly, successfully, and safely avoiding the cliff. At the same time, it leaves room for optimization in subsequent path replanning.

[0073] When the first cliff sensor is triggered and the combination of the first cliff sensors is e or f as described above, that is, when the first cliff sensor is the front cliff sensor, or when the first cliff sensor is the front cliff sensor, the left front cliff sensor, and the right front cliff sensor, the first reaction action is: to move backward from the self-moving device.

[0074] Please refer to the following: Figure 3 The front cliff sensor of mobile device 35 is triggered, and the front cliff sensor, left front cliff sensor, and right front cliff sensor of mobile device 36 are triggered. Mobile devices 35 and 36 move backward directly, and the trajectory is shown by the dashed arrow on mobile devices 35 and 36.

[0075] Similarly, please refer to Figure 4 The front cliff sensor of self-moving device 45 is triggered, and the front cliff sensor, left front cliff sensor, and right front cliff sensor of self-moving device 46 are triggered. Self-moving devices 45 and 46 move backward directly, with trajectories shown by the dashed arrows on self-moving devices 44 and 46.

[0076] Additionally, when the first cliff sensor is triggered and the combination of the first cliff sensors is g as described above, that is, when the first cliff sensor is the left front cliff sensor and the right front cliff sensor, the first reaction action is: to move backward from the mobile device. Figure 3 and Figure 4 This situation is not shown in the text.

[0077] It should be noted that the above Figure 3 and Figure 4 The diagram illustrates multiple self-moving devices, not that multiple self-moving devices need to perform tasks simultaneously, but rather that different combinations of self-moving devices are shown after the first cliff sensor is triggered.

[0078] Figure 5A This is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure. Figure 5B yes Figure 5A This diagram illustrates the effect of a self-moving device performing its initial reaction. Black-filled circles represent triggered cliff sensors, while gray-filled circles represent untriggered cliff sensors.

[0079] Please refer to Figure 5A Solid lines represent obstacles such as walls and furniture, dashed lines represent cliffs, and solid arrows indicate the direction of travel for the self-moving device. Three cliff sensors are installed on the self-moving device 51, located in front of the first axis. The left front cliff sensor and the front cliff sensor are triggered. The self-moving device 51 executes a first reaction action, which is to move backward while rotating counter-clockwise. The trajectory formed by executing the first reaction action is shown by dashed arrow 54 in the figure. After executing the first reaction action, the self-moving device... Figure 5B The self-moving device 51' is shown in the image. Clearly, by moving backward while rotating counter-clockwise, the body's attitude can be quickly adjusted, allowing the left drive wheel and the left front cliff sensor to move away from the cliff.

[0080] In addition, if only the left front cliff sensor is triggered, the trajectory of the self-moving device executing the first reaction action is the same as the trajectory of the self-moving device when both the left front cliff sensor and the front cliff sensor are triggered, which will not be elaborated here.

[0081] Please continue to refer to Figure 5A Three cliff sensors are installed on the self-moving device 52. The right front cliff sensor and the front cliff sensor are triggered. The self-moving device 52 executes a first reaction action, which is to move backward while rotating clockwise. The trajectory formed by executing the first reaction action is shown by the dashed arrow 55 in the figure. After executing the first reaction action, the self-moving device... Figure 5B The self-moving device 52' is shown in the image. Clearly, by moving backward while rotating clockwise, the body's attitude can be quickly adjusted, allowing the right drive wheel and the right front cliff sensor to move away from the cliff.

[0082] In addition, if only the right front cliff sensor is triggered, the trajectory of the self-moving device executing the first reaction action is the same as the trajectory of the self-moving device when both the right front cliff sensor and the front cliff sensor are triggered, which will not be elaborated here.

[0083] Please continue to refer to Figure 5A Three cliff sensors are installed on the self-moving device 53, and the front cliff sensor is triggered. The self-moving device 51 executes a first reaction action, which is to move backward. During the backward movement, the left and right drive wheels rotate at the same speed and in the same direction, causing the self-moving device to move backward in a straight line. The trajectory formed by executing the first reaction action is shown as the dashed arrow 56 in the figure. After executing the first reaction action, the self-moving device moves as shown in the figure. Figure 5B The self-moving device 53' is shown in the image. Clearly, by reversing in a straight line, it is possible to quickly move both the left and right drive wheels away from the cliff simultaneously.

[0084] In addition, if the left front cliff sensor and the right front cliff sensor are triggered; or if the left cliff sensor, the right cliff sensor and the front cliff sensor are triggered, the trajectory of the self-moving device executing the first reaction action is the same as the trajectory of the self-moving device when only the front cliff sensor is triggered, which will not be elaborated here.

[0085] Optionally, in the above embodiments, the self-moving device should satisfy at least one of the following conditions when performing the first reaction action:

[0086] A. The maximum backward distance is less than or equal to the preset distance.

[0087] By setting a preset distance, when controlling the self-moving device to move away from the cliff, it can ensure that it safely avoids the cliff while also ensuring that it does not miss exploring or cleaning the area near the cliff. For example, the preset distance may be 0.1 meters, 0.2 meters, or 0.15 meters, etc., but this embodiment is not limited to these values. During the self-moving device's backward movement or rotation while backward movement, it can stop after reaching the maximum backward distance, or it can stop before reaching the maximum distance, such as immediately stopping after all triggered cliff sensors are detected to have stopped being triggered. For example, when the backward movement reaches 0.08 meters, all first cliff sensors switch to an untriggered state, and the self-moving device stops performing the first reaction action.

[0088] B. The backward speed is less than or equal to the preset speed.

[0089] By setting a preset speed, when controlling the self-moving device to move away from the cliff, it can be ensured that it safely and smoothly avoids the cliff while keeping its movement small and avoiding excessive changes in motion. For example, the preset speed may be 0.1 meters per second (m / s), 0.2 m / s, etc., but this embodiment is not limited. The faster the backward speed, the faster the device avoids the cliff.

[0090] C. The angular velocity of rotation is less than or equal to the preset angular velocity;

[0091] By setting a preset angular velocity, when controlling the self-moving device to move away from the cliff, it can be ensured that it safely and smoothly avoids the cliff, while also ensuring that its movement amplitude is small and does not cause excessive changes in motion. For example, the preset angular velocity is 0.2 radians per second (rad / s), 0.3 rad / s, etc., and this disclosure is not limited to this embodiment.

[0092] D. The duration of executing the first reaction action is less than or equal to the preset duration.

[0093] By setting a preset duration, when controlling the self-moving device to move away from the cliff, it can ensure both safe and rapid avoidance of the cliff and maintain its working efficiency. For example, the preset duration could be 2 seconds, 5 seconds, etc., but this embodiment is not limited to these examples. Setting a preset duration prevents the self-moving device from continuing to perform meaningless first-response actions for an extended period after avoiding the cliff.

[0094] This approach restricts the various conditions that the self-moving device must meet when performing its first reaction action, preventing excessive backward distance, excessive backward speed, excessive selection angular velocity, and excessive backward time. This allows the self-moving device to perform its first reaction action safely, smoothly, and quickly, thereby improving the efficiency of cliff avoidance.

[0095] Optionally, in the above embodiments, when the first cliff sensor is triggered, after controlling the self-moving device to execute the first reaction action corresponding to the triggered first cliff sensor, the self-moving device continues to detect the status of each of the first cliff sensors. When each of the first cliff sensors switches from the triggered state to the untriggered state, the self-moving device stops executing the first reaction action.

[0096] In this embodiment, when the first cliff sensor is triggered, the self-moving device begins to execute a first reaction action. Regarding the end time of the first reaction action, in one approach, the self-moving device determines whether to stop executing the first reaction action based on the aforementioned condition A or condition D. For example, if the backward distance equals a preset distance, the self-moving device stops executing the first reaction action; or, if the duration of the first reaction action exceeds a preset duration, the self-moving device stops executing the first reaction action. In another approach, it is not necessary to set the aforementioned condition A or condition D; instead, the self-moving device stops executing the first reaction action when all triggered first cliff sensors switch to an untriggered state. In this case, since none of the first cliff sensors are triggered, and none of the cliff sensors at the bottom of the self-moving device are triggered, the self-moving device successfully avoids the cliff.

[0097] With this approach, during the execution of the first reaction action by the self-moving device, when all the first cliff sensors switch to an untriggered state, the self-moving device stops executing the first reaction action, thus enabling the self-moving device to stop executing the first reaction action in a timely manner, thereby improving the efficiency of cliff avoidance while successfully avoiding the cliff.

[0098] Optional, please continue to refer to Figure 1BThe bottom of the self-moving device is also equipped with at least two cliff sensors located behind the first axis. These at least two cliff sensors include at least one left rear cliff sensor located on the left side of the second axis and at least one right rear cliff sensor located on the right side of the second axis. Based on this design, when the second cliff sensor is triggered, the self-moving device is controlled to perform a second reaction action corresponding to the triggered second cliff sensor. The second reaction action includes the self-moving device rotating while moving forward. The second cliff sensor includes one of the at least two cliff sensors.

[0099] In this embodiment of the disclosure, the second cliff sensor is either the left or right rear cliff sensor among at least two cliff sensors located behind the first axis. The second cliff sensor is triggered when: the height of the second cliff sensor above the ground is greater than a preset height, or the control system issues a trigger signal after the second cliff sensor sends the measured information to the control system of the self-moving device.

[0100] During the execution of a task by the self-moving device, a second cliff sensor may be triggered, for example, during the creation of an environmental map, global cleaning, or localized cleaning. When the second cliff sensor is not triggered, the self-moving device continues to execute the task. When the second cliff sensor is triggered, the self-moving device executes a second reaction action corresponding to the triggered second cliff sensor, which includes rotating the self-moving device while moving forward.

[0101] In this embodiment, when the second cliff sensor is either a left rear cliff sensor or a right rear cliff sensor, the self-moving device rotates while moving forward. The direction of rotation depends on the specific position of the second cliff sensor. For example, when the second cliff sensor is a left rear cliff sensor, the rotation direction is clockwise; and when the second cliff sensor is a right rear cliff sensor, the rotation direction is counterclockwise. When both the left and right rear cliff sensors are triggered, the self-moving device moves forward in a straight line.

[0102] With this approach, when the second cliff sensor is triggered, the self-moving device executes a corresponding second reaction action based on the triggered cliff sensor. The second reaction action involves the self-moving device moving forward while rotating, and the direction of rotation depends on the specific type of the second cliff sensor. This makes the second reaction action more effective, achieving the goal of quickly and safely avoiding cliffs while ensuring the safety of the self-moving device.

[0103] Optionally, in the above embodiments, when the second cliff sensor is a right rear cliff sensor, the second reaction action is: the self-moving device rotates counterclockwise while moving forward. For example, please refer to... Figure 6A and Figure 6B . Figure 6AThis is another scenario illustration of the control method for the self-moving device provided in the embodiments of this disclosure. Figure 6B yes Figure 6A A schematic diagram of the self-moving device after it has completed the second reaction action.

[0104] Please refer to Figure 6A Solid lines represent obstacles such as walls and furniture, while dashed lines represent cliffs. Solid arrows on the self-moving device 61 indicate the direction of travel. The self-moving device 61 is equipped with three cliff sensors located in front of the first axis and two cliff sensors located behind the first axis. The right rear cliff sensor is triggered. The self-moving device 61 executes a second reaction action, which involves moving forward while rotating counter-clockwise. The trajectory formed by executing the second reaction action is shown by dashed arrow 63 in the figure. After executing the second reaction action, the self-moving device... Figure 6B The self-moving device 61' is shown in the image. Clearly, by moving forward while rotating counter-clockwise, the device can quickly adjust its attitude, moving the right drive wheel and the right rear cliff sensor away from the cliff.

[0105] Additionally, please refer to Figure 3 and Figure 4 When the right rear cliff sensor of self-moving device 37 and self-moving device 47 is triggered, self-moving device 37 and self-moving device 47 move forward while rotating counterclockwise, and the trajectory is shown by the dashed arrow on self-moving device 37 and self-moving device 47.

[0106] Using this approach, when the second cliff sensor is the right rear cliff sensor, the drone moves forward while rotating counterclockwise to move the entire body away from the cliff, simultaneously moving its right rear side away from the cliff, thus achieving the goal of quickly, successfully, and safely avoiding the cliff. At the same time, it retains optimization space for subsequent path replanning.

[0107] Optionally, in the above embodiments, when the second cliff sensor is the left rear cliff sensor, the second reaction action is: the self-moving device moves forward while rotating clockwise.

[0108] Please continue to refer to Figure 6A The self-moving device 62 is equipped with three cliff sensors located in front of the first axis and two cliff sensors located behind the first axis. The left rear cliff sensor is triggered. The self-moving device 62 executes a second reaction action, which is a clockwise rotation while moving forward. The trajectory formed by executing the second reaction action is as follows... Figure 6A As shown by the dashed arrow 64. After completing the second reaction action, the self-moving device... Figure 6B The self-moving device 62' is shown in the image. Clearly, by moving forward while rotating clockwise, the body's attitude can be quickly adjusted, allowing the left drive wheel and the left rear cliff sensor to move away from the cliff.

[0109] Additionally, please refer to Figure 3 and Figure 4 When the left rear cliff sensor of self-moving device 38 and self-moving device 48 is triggered, self-moving device 38 and self-moving device 48 move forward while rotating clockwise, and the trajectory is shown by the dashed arrow on self-moving device 38 and self-moving device 48.

[0110] Using this approach, when the second cliff sensor is the left rear cliff sensor, the self-moving mechanism advances while rotating clockwise to move the entire aircraft away from the cliff, simultaneously moving its left rear side away from the cliff, thus achieving the goal of quickly, successfully, and safely avoiding the cliff. At the same time, it retains optimization space for subsequent path replanning.

[0111] The above embodiments focus on describing the reaction actions of the mobile device when different cliff sensors are triggered after the mobile device detects a cliff. The following describes in detail the subsequent behavior of the mobile device after performing the first or second reaction action.

[0112] In this embodiment of the disclosure, after the self-mobile device completes the first reaction action or the second reaction action, it continues to perform path planning, and after planning the first target path or the second target path, it travels along the corresponding first target path or the second target path. For example, please refer to Figure 7 .

[0113] Figure 7 This is a flowchart of a control method for a self-moving device provided in an embodiment of this disclosure. This embodiment includes:

[0114] 701. When the first cliff sensor is triggered, the self-moving device is controlled to perform a first reaction action corresponding to the triggered first cliff sensor.

[0115] For details, please refer to the descriptions of the above embodiments, which will not be repeated here. After the mobile device completes the first reaction action, step 702 is executed.

[0116] 702. Control the self-moving device to travel along a first target path, wherein the first target path is a path planned by the self-moving device based on the first obstacle closest to the current position of the self-moving device after the self-moving device has performed the first reaction action.

[0117] In this embodiment of the disclosure, after the self-mobile device completes the first reaction action, a path is planned based on the first obstacle closest to the current position of the self-mobile device, thereby obtaining the first target path. The first obstacle can be a cliff, wall, base station, table, chairs, etc., and this embodiment of the disclosure is not limited thereto.

[0118] Please refer to Figure 5A and Figure 5BThe current position of the mobile device after performing its first reaction action, such as Figure 5B As shown. For the self-moving device 51', the left wall is the first obstacle closest to its current position. Therefore, the self-moving device 51' plans a first target path from its current position to the left wall, which is shown as the double-dotted line 57 with arrows in the figure. After the self-moving device 51' reaches the left wall along the first target path, it moves along the edge of the left wall.

[0119] For the self-moving device 52', obstacle 501 is the first obstacle closest to the current position. Therefore, the self-moving device 52' plans a first target path from the current position to obstacle 501, which is shown as the double-dotted line 58 with arrows in the figure. After the self-moving device 52' reaches obstacle 501 along the first target path, it moves along the edge of obstacle 501.

[0120] For the self-moving device 53', the lower wall is the closest first obstacle to its current position. Therefore, the self-moving device 53' plans a first target path from its current position to the lower wall, which is shown as the double-dotted line 59 with arrows in the figure. After the self-moving device 53' reaches the lower wall along the first target path, it moves along the edge of the lower wall.

[0121] Please refer to Figure 6A and Figure 6B The current position of the mobile device after performing the second reaction action is as follows: Figure 6B As shown. For the self-moving device 61', the upper wall is the first obstacle closest to its current position. Therefore, the self-moving device 61' plans a first target path from its current position to the upper wall, which is shown as the double-dotted line 65 with arrows in the figure. After the self-moving device 61' reaches the upper wall along the first target path, it moves along the edge of the upper wall.

[0122] For the self-moving device 62', the lower wall is the closest first obstacle to its current position. Therefore, the self-moving device 62' plans a first target path from its current position to the lower wall, which is shown as the double-dotted line 66 with arrows in the figure. After the self-moving device 62' reaches the lower wall along the first target path, it then moves along the edge of the upper wall.

[0123] 703. During the journey along the first target path, is the third cliff sensor triggered? If the third cliff sensor is triggered, proceed to step 704; if the third cliff sensor is not triggered, return to step 702.

[0124] In this embodiment of the disclosure, the third cliff sensor may be the same as the first cliff sensor, or it may be a different cliff sensor from the first cliff sensor.

[0125] Figure 5C This is another scenario illustration of the control method for a self-moving device provided in this disclosure. (And...) Figure 5A , Figure 5B The difference is, Figure 5C In the image, the area below is not a wall but a continuous cliff. As the mobile device moves along the first target path and gets closer to the cliff, a third cliff sensor is triggered. For example, the third cliff sensor could be the front cliff sensor, which would then be triggered; or it could be both the front and left cliff sensors, in which case both would be triggered.

[0126] 704. Control the self-moving device to perform a third reaction action corresponding to the triggered third cliff sensor.

[0127] When the third cliff sensor is triggered, the self-moving device executes the third reaction action corresponding to the third cliff sensor. For details on the third reaction action, please refer to the description of the first reaction action above; it will not be repeated here.

[0128] As described above, in this embodiment, when a cliff is detected during the movement of the self-moving device (i.e., when the first cliff sensor is triggered), the self-moving device executes a first reaction action and plans a first target path. Then, the self-moving device moves along the first target path. If a cliff sensor is triggered again during this movement (i.e., a third cliff sensor is triggered), the self-moving device executes a second reaction action and plans a second target path. Then, it moves along the second target path… Thus, the behavioral logic of the self-moving device is: moving along the target path → cliff sensor triggered → executing reaction action → planning target path, forming a closed loop. By determining and executing the reaction action based on the triggered cliff sensor, the self-moving device can reasonably, safely, and quickly avoid cliffs. Moreover, after executing the reaction action, there is no need for mechanical exploration; instead, it directly plans the target path based on the first obstacle closest to the current position and moves along the target path, thereby improving task execution efficiency.

[0129] Optionally, after the self-mobile device performs the first or second reaction action, it plans a first target path based on the first obstacle closest to its current position and travels along the first target path. During travel, when a second obstacle appears, the self-mobile device plans a second target path and travels along it. This second target path is the travel path between the self-mobile device and the second obstacle after the second obstacle is detected and its location is determined. After the self-mobile device travels along the second target path to the second obstacle, it moves along the edge of the second obstacle. For example, please refer to... Figure 8 .

[0130] Figure 8 This is another scenario illustration of the control method for the self-moving device provided in this disclosure. Please refer to... Figure 8 As the mobile device 52' moves along the first target path towards obstacle 501, it encounters obstacle 502. Compared to obstacle 501, obstacle 502 is closer to the mobile device 52'. This obstacle 502 is referred to as the second obstacle. It can be an obstacle that did not appear before the mobile device 52' planned the first target path, or an obstacle 502 that is discovered during the movement of the mobile device 52' after it has planned the first target path. Alternatively, there may be a second obstacle around the mobile device 52' when it planned the first target path, but due to the direction of movement of the mobile device 52', the limitation of the detection range of the mobile device 52''s sensors, etc., obstacle 501 is closer to the current position.

[0131] The self-moving device 52' plans a second target path based on the obstacle 502, which is shown by the double-dotted arrow 50 in the figure. After the self-moving device 52' reaches the obstacle 502 along the second target path, it moves along the edge of the obstacle 502.

[0132] This approach allows the self-moving device to proceed along a second target path if it encounters a closer obstacle while traveling along the first target path. This reduces the probability of sudden collisions and minimizes unnecessary travel such as detours, thereby improving task execution efficiency.

[0133] In the above embodiments, after the self-mobile device performs the first reaction action or the second reaction action, it successfully plans the first target path or the second target path. However, in some cases, the self-mobile device cannot plan the first target path. When the first target path is not planned, the self-mobile device is controlled to output a prompt message, which indicates that the self-mobile device is stuck.

[0134] Figure 9 This is another scenario illustration of the control method for the self-moving device provided in this disclosure. Please refer to... Figure 9 The dotted lines represent cliffs, and the self-moving device is surrounded by cliffs on its front, left, and right sides. Unable to plan a reverse path, the self-moving device perceives itself as trapped. After performing its first or second reaction action, and still unable to plan a first or second target path, the self-moving device issues a prompt via voice, light, or sends a prompt to the user's terminal device. Once the user realizes the self-moving device is trapped, they manually extricate themselves, for example, by carrying the self-moving device to another location.

[0135] This approach allows for timely output of prompts after the mobile device completes its response action, even before a target path is planned, thus preventing the mobile device from being stuck for an extended period and improving task execution efficiency.

[0136] Optionally, in the above embodiments, after the self-moving device completes the first reaction action or the second reaction action, before controlling the self-moving device to move along the first target path or the second target path, if the direction of the self-moving device's forward movement is inconsistent with the direction of the starting point of the first target path or the second target path, the self-moving device is controlled to rotate so that the direction of the self-moving device's forward movement is consistent with the direction of the starting point of the first target path or the second target path.

[0137] In this embodiment of the disclosure, the forward direction of the self-moving device is perpendicular to the first axis and parallel to the second axis. Please refer to... Figure 5B After executing the first reaction action, the forward direction of the self-moving device 51' is shown by the solid arrow on the self-moving device 51' in the figure. The first target path is shown by the double-dotted line 57 with a solid arrow in the figure. The direction of the starting point of the first target path is the tangent direction of the starting point. Obviously, the forward direction is consistent with the direction of the starting point of the first target path. The self-moving device 51' does not need to adjust its direction by self-rotation, but moves directly along the first target path.

[0138] For the self-moving device 52', its forward direction is shown by the solid arrow on the self-moving device 52' in the figure, and the first target path is shown by the double-dotted line 58 with an arrow in the figure. Clearly, the forward direction is not the same as the direction of the starting point of the first target path. The self-moving device 51' adjusts its direction by rotating clockwise or counterclockwise so that the forward direction of the self-moving device 52' is consistent with the direction of the starting point of the first target path. Afterwards, the self-moving device travels along the first target path.

[0139] Similarly, for the self-moving device 53', its forward direction is shown by the solid arrow on the self-moving device 53' in the figure, and the first target path is shown by the double-dotted line 59 with an arrow in the figure. Clearly, the forward direction and the direction of the starting point of the first target path are not the same. The self-moving device 53' adjusts its direction by rotating clockwise or counterclockwise so that its forward direction is consistent with the direction of the starting point of the first target path. Afterwards, the self-moving device travels along the first target path.

[0140] In this approach, the self-moving device adjusts its direction of travel by rotating to align it with the starting point of the first target path. Only then does it proceed along the first target path, ensuring that the self-moving device's trajectory matches the target path and improving its travel efficiency along that path.

[0141] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein. For details not disclosed in the apparatus embodiments of this disclosure, please refer to the embodiments of the method disclosed herein.

[0142] Figure 10 This is a schematic diagram of a control device provided in an embodiment of this disclosure. The control device 1000 is integrated on a self-moving device. The forward direction of the self-moving device is defined as the front side. At least one drive wheel and at least three cliff sensors located in front of a first axis are disposed at the bottom of the self-moving device. The first axis is the rotation axis of the at least one drive wheel. The at least three cliff sensors include at least one left front cliff sensor disposed to the left of a second axis, at least one right front cliff sensor disposed to the right of the second axis, and at least one front cliff sensor disposed in front of either the left or right front cliff sensor. The second axis is parallel to the plane containing the bottom of the self-moving device and perpendicular to the rotation axis. The control device 1000 includes a first control module 101. Optionally, the control device 1000 further includes a second control module 102 and a third control module 103.

[0143] A first control module 101 is configured to control the self-moving device to perform a first reaction action corresponding to the triggered first cliff sensor when the first cliff sensor is triggered. The first reaction action includes: the self-moving device moving backward, or the self-moving device rotating while moving backward. The first cliff sensor includes at least one of the at least three cliff sensors. Specifically, when the first cliff sensor includes at least one of the left front cliff sensor or the right front cliff sensor, the first reaction action is: the self-moving device rotating while moving backward. The first reaction action causes the orientation of the self-moving device to change from a first orientation to a second orientation. The angle between the first orientation and the second orientation is greater than a preset angle. The first orientation is the orientation of the self-moving device when the first cliff sensor is triggered. When the first cliff sensor is the front cliff sensor, or when the first cliff sensor includes at least the left front cliff sensor and the right front cliff sensor, the first reaction action is: the self-moving device moving backward.

[0144] In one feasible implementation, when the first cliff sensor is the front cliff sensor and the left front cliff sensor, or when the first cliff sensor is the left front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating counterclockwise.

[0145] In one feasible implementation, when the first cliff sensor is the front cliff sensor and the right front cliff sensor, or when the first cliff sensor is the right front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating clockwise.

[0146] In one feasible implementation, when the self-moving device performs the first reaction action, it should satisfy at least one of the following conditions: the maximum backward distance is less than or equal to a preset distance, the backward speed is less than or equal to a preset speed, the rotational angular velocity is less than or equal to a preset angular velocity, and the duration of performing the first reaction action is less than or equal to a preset duration.

[0147] In one feasible implementation, the bottom of the self-moving device is further provided with at least two cliff sensors located behind the first axis. The at least two cliff sensors include at least one left rear cliff sensor located on the left side of the second axis and at least one right rear cliff sensor located on the right side of the second axis. The second control module 102 is used to control the self-moving device to perform a second reaction action corresponding to the triggered second cliff sensor when the second cliff sensor is triggered. The second reaction action includes: the self-moving device moves forward while rotating. The second cliff sensor includes one of the at least two cliff sensors.

[0148] In one feasible implementation, when the second cliff sensor is the right rear cliff sensor, the second reaction action is: the self-moving device moves forward while rotating counterclockwise.

[0149] In one feasible implementation, when the second cliff sensor is the left rear cliff sensor, the second reaction action is: the self-moving device moves forward while rotating clockwise.

[0150] In one feasible implementation, when the first cliff sensor is triggered, the first control module 101 controls the self-moving device to perform a first reaction action corresponding to the triggered first cliff sensor, and then controls the self-moving device to stop performing the first reaction action when each cliff sensor in the first cliff sensor switches from the triggered state to the non-triggered state.

[0151] In one feasible implementation, when the first cliff sensor is triggered, the first control module 101 controls the self-moving device to perform a first reaction action corresponding to the triggered first cliff sensor. Then, the third control module 103 controls the self-moving device to travel along a first target path. The first target path is a travel path planned by the self-moving device based on the first obstacle closest to the current position of the self-moving device after the self-moving device has performed the first reaction action.

[0152] The first control module 101 is further configured to, during the process of the self-moving device traveling along the first target path, when the third cliff sensor is triggered, control the self-moving device to perform a third reaction action corresponding to the triggered third cliff sensor, wherein the third cliff sensor includes at least one of the at least three cliff sensors, and the third reaction action includes: the self-moving device moving backward, or the self-moving device rotating while moving backward.

[0153] In one feasible implementation, the third control module 103 is further configured to control the self-moving device to travel along the second target path when a second obstacle appears during the process of the self-moving device traveling along the first target path;

[0154] Wherein, the distance between the second obstacle and the self-moving device is less than the distance between the first obstacle and the self-moving device, and the second target path is a travel path planned based on the second obstacle.

[0155] In one feasible implementation, the third control module 103 is further configured to control the self-moving device to output a prompt message when the self-moving device fails to plan the first target path after performing the first reaction action, the prompt message being used to indicate that the self-moving device is trapped.

[0156] In one feasible implementation, after the self-moving device completes the first reaction action, before the third control module 103 controls the self-moving device to move along the first target path, it is further configured to control the self-moving device to rotate when the forward direction of the self-moving device is inconsistent with the direction of the starting point of the first target path, so that the forward direction of the self-moving device is consistent with the direction of the starting point of the first target path.

[0157] The control device provided in this embodiment can perform the actions of the self-moving device in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0158] Figure 11 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this disclosure. Figure 11 As shown, the self-moving device 100 includes:

[0159] Processor 111 and memory 112;

[0160] The memory 112 stores computer instructions;

[0161] The processor 111 executes the computer instructions stored in the memory 112, causing the processor 111 to perform the control method implemented by the self-moving device as described above.

[0162] The specific implementation process of processor 111 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0163] Optionally, the self-moving device 100 also includes a communication component 113. The processor 111, memory 112, and communication component 113 can be connected via a bus 114.

[0164] This disclosure also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, are used to implement the control method implemented by the self-moving device described above.

[0165] This disclosure also provides a computer program product comprising a computer program that, when executed by a processor, implements the control method described above for self-moving devices.

[0166] In addition, this disclosure also provides an intelligent system, which includes the aforementioned self-moving device and a base station. The self-moving device can interface with the base station, and the base station is used to maintain the self-moving device. The base station is also known as a workstation, maintenance station, charging station, etc. Taking a cleaning robot as an example, the base station's maintenance of the self-moving device includes, but is not limited to: charging, dust collection, mop washing, drying, pumping out wastewater and / or adding clean water, etc. It can be understood that the self-moving device can perform at least one of the following tasks within the base station:

[0167] a. The base station charges the self-moving equipment.

[0168] b. The base station collects waste from the mobile device into its dust collection container.

[0169] c. Cleaning cleaning components (e.g., mops, rollers, etc.) of self-moving equipment within the base station.

[0170] d. The base station replenishes water to the water tank of the self-moving device.

[0171] e. The base station collects the dirt from the wastewater box of the self-moving device into its own waste container.

[0172] The maintenance types described above are merely illustrative and should not be construed as limiting this disclosure. The self-moving devices described herein include, but are not limited to, robotic vacuum cleaners, robotic mops, combined sweeper and mop machines, floor scrubbers, vacuum cleaners, and other self-moving devices, which include, but are not limited to, those with cleaning functions.

[0173] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0174] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method for a self-moving device, characterized in that, The forward direction of the self-moving device is defined as the front side. At least one drive wheel and at least three cliff sensors located in front of a first axis are disposed at the bottom of the self-moving device. The first axis is the rotation axis of the at least one drive wheel. The at least three cliff sensors include at least one left front cliff sensor disposed to the left of a second axis, at least one right front cliff sensor disposed to the right of the second axis, and at least one front cliff sensor disposed in front of either the left or right front cliff sensor. The second axis is parallel to the plane containing the bottom of the self-moving device and perpendicular to the rotation axis. The method includes: The first cliff sensor was triggered; The self-moving device is controlled to perform a first reaction action corresponding to the triggered first cliff sensor. The first reaction action includes: the self-moving device moving backward, or the self-moving device rotating while moving backward. The first cliff sensor includes at least one of the at least three cliff sensors. Wherein, when the first cliff sensor includes at least one of the left front cliff sensor or the right front cliff sensor, the first reaction action is: the self-moving device moves backward and rotates, the first reaction action causes the orientation of the self-moving device to change from a first orientation to a second orientation, the angle between the first orientation and the second orientation is greater than a preset angle, and the first orientation is the orientation of the self-moving device when the first cliff sensor is triggered; When the first cliff sensor is the front cliff sensor, or when the first cliff sensor includes at least the left front cliff sensor and the right front cliff sensor, the first reaction action is: the self-moving device moves backward.

2. The method according to claim 1, characterized in that, When the first cliff sensor is the front cliff sensor and the left front cliff sensor, or when the first cliff sensor is the left front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating counterclockwise.

3. The method according to claim 1, characterized in that, When the first cliff sensor is the front cliff sensor and the right front cliff sensor, or when the first cliff sensor is the right front cliff sensor, the first reaction action is: the self-moving device moves backward while rotating clockwise.

4. The method according to any one of claims 1 to 3, characterized in that, When the self-moving device performs the first reaction action, at least one of the following conditions must be met: The maximum backward distance is less than or equal to a preset distance, the backward speed is less than or equal to a preset speed, the rotational angular velocity is less than or equal to a preset angular velocity, and the duration of executing the first reaction action is less than or equal to a preset duration.

5. The method according to any one of claims 1 to 3, characterized in that, The bottom of the self-moving device is also provided with at least two cliff sensors located behind the first axis. The at least two cliff sensors include at least one left rear cliff sensor located on the left side of the second axis and at least one right rear cliff sensor located on the right side of the second axis. The method further includes: The second cliff sensor was triggered; The self-moving device is controlled to perform a second reaction action corresponding to the triggered second cliff sensor. The second reaction action includes: the self-moving device rotating while moving forward, and the second cliff sensor includes one of the at least two cliff sensors.

6. The method according to claim 5, characterized in that, When the second cliff sensor is the right rear cliff sensor, the second reaction action is: the self-moving device moves forward while rotating counterclockwise.

7. The method according to claim 5, characterized in that, When the second cliff sensor is the left rear cliff sensor, the second reaction action is: the self-moving device moves forward while rotating clockwise.

8. The method according to any one of claims 1 to 3, characterized in that, After controlling the self-moving device to perform a first reaction action corresponding to the triggered first cliff sensor, the method further includes: When each cliff sensor in the first cliff sensor switches from the triggered state to the non-triggered state, the self-moving device is controlled to stop executing the first reaction action.

9. The method according to any one of claims 1 to 3, characterized in that, After controlling the self-moving device to perform a first reaction action corresponding to the triggered first cliff sensor, the method further includes: Control the self-moving device to travel along a first target path, which is a travel path planned by the self-moving device based on the first obstacle closest to the current position of the self-moving device after the self-moving device has completed the first reaction action; During the movement of the self-moving device along the first target path, when the third cliff sensor is triggered, the self-moving device is controlled to perform a third reaction action corresponding to the triggered third cliff sensor. The third cliff sensor includes at least one of the at least three cliff sensors. The third reaction action includes: the self-moving device moving backward, or the self-moving device rotating while moving backward.

10. The method according to claim 9, characterized in that, The method further includes: When a second obstacle appears while the self-moving device is traveling along the first target path, the self-moving device is controlled to travel along the second target path. Wherein, the distance between the second obstacle and the self-moving device is less than the distance between the first obstacle and the self-moving device, and the second target path is a travel path planned based on the second obstacle.

11. The method according to claim 9, characterized in that, The method further includes: When the self-moving device fails to plan the first target path after performing the first reaction action, the self-moving device is controlled to output a prompt message, which is used to indicate that the self-moving device is stuck.

12. The method according to claim 9, characterized in that, After controlling the self-moving device to execute the first reaction action corresponding to the triggered first cliff sensor, and before controlling the self-moving device to travel along the first target path, the method further includes: When the forward direction of the self-moving device is not consistent with the direction of the starting point of the first target path, the self-moving device is controlled to rotate so that the forward direction of the self-moving device is consistent with the direction of the starting point of the first target path.

13. A self-moving device, wherein the forward direction of the self-moving device is defined as the front side, and at least one drive wheel and at least three cliff sensors located in front of a first axis are disposed at the bottom of the self-moving device, the first axis being the rotation axis of the at least one drive wheel; the at least three cliff sensors include at least one left front cliff sensor disposed to the left of a second axis, at least one right front cliff sensor disposed to the right of the second axis, and at least one front cliff sensor disposed in front of the left front cliff sensor or the right front cliff sensor, the second axis being parallel to the plane containing the bottom of the self-moving device and perpendicular to the rotation axis, characterized in that, Also includes: A processor and a memory, the memory for storing a computer program, the processor for executing the computer program stored in the memory to implement the method of any one of claims 1 to 12.

14. An intelligent system, characterized in that, include: Base station; The self-moving device according to claim 13, wherein the base station is at least used for maintaining the self-moving device.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 12.

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