Self-moving device, control method and apparatus therefor, and readable storage medium

Abstract

This invention proposes a self-moving device, its control method and apparatus, and a readable storage medium. The self-moving device includes a moving mechanism. The control method for the self-moving device includes: acquiring local map data of the obstacle area when an obstacle is detected; and controlling the moving mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement based on the local map data, so that the self-moving device leaves the obstacle area or its movement trajectory forms a closed loop. Through this control method, when encountering obstacles during cleaning, the self-moving device performs obstacle avoidance actions based on the local map data of the obstacle area. The calculation is simple, it reduces collisions with obstacles, and improves the accuracy and comprehensiveness of obstacle avoidance.

Description

Technical Field

[0001] This invention relates to the field of machine control technology, and more specifically, to a self-moving device and its control method and apparatus, and a readable storage medium. Background Technology

[0002] When a self-operated mobile device encounters obstacles that block its planned cleaning route during the cleaning process, it needs to go around the obstacles to continue the cleaning task.

[0003] However, existing self-moving devices typically carry multiple sensors for obstacle detection and avoidance. Traditional sensors, such as line laser sensors, lack sufficient accuracy in recognizing low obstacles and have blind spots, making them prone to colliding with obstacles in these blind spots during obstacle avoidance. Furthermore, the obstacle avoidance process of self-moving devices relies on obstacle data observed by tracking sensors, requiring complex calculations. If tracking is lost, collisions with obstacles are also likely to occur during obstacle avoidance. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] Therefore, the first aspect of the present invention is to provide a control method for a self-moving device.

[0006] A second aspect of the present invention is to provide a control device for a self-moving device.

[0007] A third aspect of the invention is to provide a self-moving device.

[0008] A fourth aspect of the present invention is to provide a readable storage medium.

[0009] In view of this, according to a first aspect of the present invention, a control method for a self-moving device is proposed. The self-moving device includes a moving mechanism. The control method includes: acquiring local map data of the obstacle area when an obstacle is detected; and controlling the moving mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement according to the local map data, so that the self-moving device leaves the obstacle area or the movement trajectory of the self-moving device forms a closed loop.

[0010] The execution subject of the control method for a self-moving device provided by this invention can be a self-moving device, a processor within a self-moving device, or a control device for a self-moving device. It can also be determined according to actual usage requirements, and is not specifically limited here. To more clearly describe the control method for a self-moving device provided by this invention, the following description uses the control device of the self-moving device as the execution subject of the control method.

[0011] Specifically, in the control method for the self-moving device provided by this invention, during the cleaning process of the self-moving device, when the control device detects an obstacle in the forward direction, the control device acquires local map data of the obstacle area in real time. Based on the acquired local map data, it controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement until the self-moving device leaves the obstacle area, triggers a new collision, or the movement trajectory of the self-moving device forms a closed loop. Thus, when the self-moving device encounters an obstacle during the cleaning process, it controls the self-moving device to perform obstacle avoidance actions based on the local map data of the obstacle area. This calculation is simple, reduces collisions with obstacles, improves the accuracy and comprehensiveness of obstacle avoidance, and enhances the robustness and success rate of obstacle avoidance for the self-moving device.

[0012] The control method for the self-moving device according to the present invention may further have the following additional technical features:

[0013] In some technical solutions, optionally, before controlling the mobile mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement based on local map data, the control method may further include: detecting the angle range of obstacles blocking the self-moving device; using the center of the self-moving device as the rotation center, controlling the mobile mechanism to drive the self-moving device to rotate in the second direction by a first angle, wherein the first angle is related to the angle range.

[0014] In this technical solution, before the control device of the self-moving device sequentially executes the following actions—arc-shaped movement in the first direction, turning in the second direction, and straight movement—the control device also detects the range of angles at which obstacles can obstruct the self-moving device's progress based on a virtual collision algorithm. Then, using the center of the self-moving device as the rotation center, the control device rotates the moving mechanism on the self-moving device, causing it to rotate a first angle in the second direction. The specific value of the first angle is related to the detected angle range. After rotating the self-moving device a first angle in the second direction, its forward direction and the obstacle can be parallel. This preparatory action before the self-moving device performs obstacle avoidance maneuvers facilitates subsequent smooth obstacle avoidance and improves the accuracy and success rate of obstacle avoidance.

[0015] In some technical solutions, optionally, after controlling the mobile mechanism to rotate the self-moving device in the second direction by a first angle, the control method further includes: controlling the mobile mechanism to drive the self-moving device to move straight until the distance between the center of the self-moving device and the obstacle is greater than a first threshold range.

[0016] In this technical solution, after the control device of the self-moving device controls the rotation of the moving mechanism on the self-moving device to rotate the self-moving device in the second direction by a first angle, the control device also controls the moving mechanism to move forward to propel the self-moving device straight ahead. During this forward movement, the control device acquires local map data of the obstacle area in real time and calculates the distance between the obstacle and the center of the self-moving device based on this data. If the distance exceeds a first threshold, the control device stops the moving mechanism and initiates an obstacle avoidance maneuver. By controlling the self-moving device to move away from the obstacle before it performs the obstacle avoidance maneuver, the device's operating space is increased, facilitating the subsequent smooth execution of the obstacle avoidance maneuver and improving the accuracy and success rate of obstacle avoidance.

[0017] In some technical solutions, optionally, the moving mechanism includes a first moving component and a second moving component. Based on local map data, the moving mechanism is controlled to sequentially perform arc-shaped movement along a first direction, turning in a second direction, and moving straight. This includes: determining the distance information between the self-moving device and the obstacle based on the local map data, and controlling the moving mechanism to sequentially perform arc-shaped movement along the first direction, turning in the second direction, and moving straight based on the distance information; wherein, arc-shaped movement along the first direction includes controlling the second moving component to rotate the self-moving device towards the first direction with the first moving component as the rotation center until the distance information meets a first condition; turning in the second direction includes controlling the moving mechanism to rotate the self-moving device towards the second direction by a second angle with the center of the self-moving device as the rotation center; and moving straight includes controlling the moving mechanism to move the self-moving device straight for a first distance.

[0018] In this technical solution, the control device of the self-moving device dynamically determines the distance information between the obstacle and the self-moving device based on the acquired local map data. Furthermore, based on the determined distance information, i.e., the dynamic distance between the obstacle and the self-moving device, the control device controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight-line movement.

[0019] The aforementioned moving mechanism includes a second moving component and a first moving component. During the process of the moving mechanism on the self-moving device being controlled by the control device to move in an arc along a first direction, the control device uses the first moving component as the rotation center and controls the second moving component to rotate, causing the self-moving device to rotate in the first direction. While the self-moving device is rotating in the first direction, the control device dynamically determines the distance information between the obstacle and the self-moving device based on real-time local map data of the obstacle area. If the distance information and its changes meet a set first condition, the control device then controls the moving mechanism to perform a second-direction turn. Specifically, the control device uses the center of the self-moving device as the rotation center and controls the moving mechanism to rotate, causing the self-moving device to rotate a second angle in the direction away from the obstacle, i.e., the second direction. Further, the control device then controls the moving mechanism to move forward, causing the self-moving device to travel a first distance in a straight line. Thus, based on the dynamic distance between the obstacle and the self-moving device, controlling the moving mechanism to sequentially perform the above actions enables the self-moving device to move forward around the obstacle along a certain arc path, thereby successfully achieving obstacle avoidance.

[0020] In some technical solutions, optionally, the first condition is that during the process of the second moving component driving the self-moving device to rotate, the distance information shows a trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the distance information change curve is greater than the second threshold.

[0021] In this technical solution, the aforementioned first condition can specifically be: during the rotation of the self-moving device towards the first direction, the distance information between the obstacle and the self-moving device exhibits a trend of first decreasing and then increasing, and the difference between the current distance information between the obstacle and the self-moving device and the minimum value of the distance information change curve is greater than a set second threshold. Thus, using the distance information between the obstacle and the self-moving device and its changes as the basis for action switching ensures the accuracy of action switching, thereby ensuring the accuracy of obstacle avoidance actions and improving the robustness and success rate of obstacle avoidance by the self-moving device.

[0022] In some technical solutions, optionally, after controlling the mobile mechanism to sequentially perform arc-shaped movement in a first direction, turning in a second direction, and moving straight according to local map data, the control method further includes: recording the position of the mobile device; if the distance between the current position and the initial position of the mobile device is greater than a third threshold, controlling the mobile mechanism to sequentially perform turning in the first direction and arc-shaped movement in the second direction; and updating the initial position of the mobile device to the current position.

[0023] In this technical solution, after the control device of the self-moving device begins to control the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement, the control device of the self-moving device also records the position of the self-moving device in real time and calculates the distance between the real-time recorded current position of the self-moving device and the originally recorded initial position of the self-moving device. If the calculated distance value is greater than a set third threshold, the control device of the self-moving device then controls the moving mechanism on the self-moving device to sequentially perform turning in the first direction and arc-shaped forward movement in the second direction. Furthermore, after the control device of the self-moving device controls the moving mechanism on the self-moving device to sequentially perform turning in the first direction and arc-shaped forward movement in the second direction, the control device of the self-moving device stores the real-time position of the self-moving device at this time as the initial position of the self-moving device, so as to use the current position of the self-moving device as the starting point for the next distance calculation.

[0024] Specifically, controlling the movement mechanism to sequentially perform a first-direction turn and then advance in an arc along a second direction can shorten the distance between the self-moving device and the obstacle, causing the self-moving device to retreat towards the obstacle. In this way, after the self-moving device has advanced a certain distance, controlling it to retreat allows it to move precisely around the obstacle along a specific arc path, reducing blind spots, improving the comprehensiveness of the cleaning task, and increasing the robustness of obstacle avoidance.

[0025] In some technical solutions, optionally, the first directional steering includes controlling the moving mechanism to rotate the self-moving device in the first direction with the center of rotation of the self-moving device as the rotation center until the local map data of the obstacle area is successfully acquired; the second directional arc-shaped forward movement includes controlling the first moving component to rotate the self-moving device in the second direction with the second moving component as the rotation center until the distance information meets the first condition.

[0026] In this technical solution, during the process of the self-moving device's control device controlling the moving mechanism on the self-moving device to perform a first-direction turn, the control device uses the center of the self-moving device as the rotation center and controls the moving mechanism on the self-moving device to rotate, causing it to rotate towards the direction closer to the obstacle, i.e., the first direction. During this rotation, the control device acquires real-time local map data of the obstacle area. After successfully acquiring the local map data, the control device then controls the moving mechanism to perform an arc-shaped movement along a second direction. Specifically, the control device uses the second moving component of the self-moving device as the rotation center and controls the first moving component to rotate, causing it to rotate towards the second direction. During this rotation, the control device dynamically determines the distance between the obstacle and the self-moving device based on the real-time local map data of the obstacle area. If the distance information and its changes meet the aforementioned first condition, the control device pauses the arc-shaped movement along the second direction and continues to sequentially perform the actions of arc-shaped movement along the first direction, turning in the second direction, and then moving straight.

[0027] Thus, after the self-moving device moves forward a certain distance, based on the dynamic distance between the obstacle and the self-moving device, it is controlled to retreat a certain distance towards the obstacle. This compensates for the blind spots of the sensors on the self-moving device, allowing it to move precisely around the obstacle along a certain arc path, reducing the cleaning blind spots, improving the comprehensiveness of the cleaning task, and increasing the robustness of the self-moving device in obstacle avoidance.

[0028] According to a second aspect of the present invention, a control device for a self-moving device is provided. The self-moving device includes a moving mechanism. The control device includes: an acquisition unit for acquiring local map data of an obstacle area when an obstacle is detected; and a control unit for controlling the moving mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement according to the local map data, so that the self-moving device leaves the obstacle area or the movement trajectory of the self-moving device forms a closed loop.

[0029] Specifically, the control device for the self-moving device provided by this invention includes an acquisition unit and a control unit. During the self-moving device's cleaning task, when an obstacle is detected in the forward direction, the acquisition unit acquires local map data of the obstacle area in real time. The control unit then controls the moving mechanism on the self-moving device to sequentially perform arc-shaped movement in a first direction, turning in a second direction, and moving straight, based on the acquired local map data, until the self-moving device leaves the obstacle area, triggers a new collision, or its movement trajectory forms a closed loop. Thus, when the self-moving device encounters an obstacle during the cleaning task, it is controlled to perform obstacle avoidance actions based on the local map data of the obstacle area. This calculation is simple, reduces collisions with obstacles, improves the accuracy and comprehensiveness of obstacle avoidance, and enhances the robustness and success rate of obstacle avoidance for the self-moving device.

[0030] According to a third aspect of the present invention, a self-moving device is provided, comprising a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and when the program or instructions are executed by the processor, implement the steps of the control method for the self-moving device as described in any of the above-described technical solutions. Therefore, the self-moving device proposed in the third aspect of the present invention possesses all the beneficial effects of the control method for the self-moving device in any of the technical solutions of the first aspect described above, and will not be elaborated further here.

[0031] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the control method for the self-moving device as described in any of the above-described technical solutions. Therefore, the readable storage medium proposed in the fourth aspect of the present invention possesses all the beneficial effects of the control method for the self-moving device in any of the technical solutions of the first aspect, and will not be elaborated further here.

[0032] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0034] Figure 1 One of the flowcharts illustrating the control method for a self-moving device according to an embodiment of the present invention is shown;

[0035] Figure 2 A second schematic flowchart of the control method for a self-moving device according to an embodiment of the present invention is shown;

[0036] Figure 3 The third schematic flowchart of the control method for the self-moving device according to an embodiment of the present invention is shown;

[0037] Figure 4 The fourth flowchart illustrates the control method for a self-moving device according to an embodiment of the present invention.

[0038] Figure 5 A flowchart illustrating the obstacle avoidance process of a self-moving device according to an embodiment of the present invention is shown;

[0039] Figure 6 One schematic diagram of a control method for a self-moving device according to an embodiment of the present invention is shown;

[0040] Figure 7 The diagram below shows a second schematic of the control method for a self-moving device according to an embodiment of the present invention.

[0041] Figure 8 The third schematic diagram illustrates the control method for a self-moving device according to an embodiment of the present invention;

[0042] Figure 9 The fourth schematic diagram illustrates the control method for a self-moving device according to an embodiment of the present invention.

[0043] Figure 10 The fifth schematic diagram illustrates the control method of the self-moving device according to an embodiment of the present invention;

[0044] Figure 11 This invention illustrates a graph showing the change in distance information in the control method of a self-moving device according to an embodiment of the present invention.

[0045] Figure 12 A structural block diagram of the control device for a self-moving device according to an embodiment of the present invention is shown;

[0046] Figure 13 A structural block diagram of a self-moving device according to an embodiment of the present invention is shown. Detailed Implementation

[0047] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0048] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0049] The following is combined Figures 1 to 13 The self-moving device, its control method and apparatus, and the readable storage medium provided in this application will be described in detail through specific embodiments and application scenarios.

[0050] In one embodiment of the present invention, such as Figure 1 As shown, the control method for the self-moving device may specifically include the following steps 102 and 104:

[0051] Step 102: Obtain local map data of the obstacle area;

[0052] Step 104: Based on the local map data, control the moving mechanism to sequentially perform arc-shaped movement in the first direction, turning in the second direction, and moving straight.

[0053] The execution subject of the control method for a self-moving device provided by this invention can be a self-moving device, a processor within a self-moving device, or a control device for a self-moving device. It can also be determined according to actual usage requirements, and is not specifically limited here. To more clearly describe the control method for a self-moving device provided by this invention, the following description uses the control device of the self-moving device as the execution subject of the control method.

[0054] The control method for self-moving devices provided by this invention is used to improve the robustness and success rate of obstacle avoidance for self-moving devices.

[0055] The aforementioned self-moving device is equipped with a moving mechanism, which can drive the self-moving device to rotate or move.

[0056] Furthermore, the aforementioned self-moving device may also be equipped with different sensors such as laser sensors and radar sensors. The control device of the self-moving device can detect whether there are obstacles in the forward direction of the self-moving device based on the sensing data detected by different sensors.

[0057] In practical applications, the aforementioned self-moving devices include, but are not limited to, sweeping machines, floor scrubbers, vacuum cleaners, and service robots, etc., without specific restrictions.

[0058] Specifically, in the control method for the self-moving device provided by this invention, during the cleaning process of the self-moving device, when the control device detects an obstacle in the forward direction, the control device acquires local map data of the obstacle area in real time. Based on the acquired local map data, it controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement until the self-moving device leaves the obstacle area, triggers a new collision, or the movement trajectory of the self-moving device forms a closed loop. Thus, when the self-moving device encounters an obstacle during the cleaning process, it controls the self-moving device to perform obstacle avoidance actions based on the local map data of the obstacle area. This calculation is simple, reduces collisions with obstacles, improves the accuracy and comprehensiveness of obstacle avoidance, and enhances the robustness and success rate of obstacle avoidance for the self-moving device.

[0059] During the operation of the self-moving device, the control device maintains a fixed-size local map corresponding to the self-moving device in real time. For example, based on sensor data from the right side and the forward direction of the self-moving device, a fixed-size local map is maintained in real time. Figure 6 As shown, the local map 502 is represented by a two-dimensional grid. During the operation of the self-moving device, the control device of the self-moving device stores the sensor data detected by each sensor on the self-moving device and the dynamic coordinate information of the self-moving device into the local map in real time. When the self-moving device encounters an obstacle during the cleaning task, the control device of the self-moving device queries the local map of the self-moving device at its current position, and then, based on the acquired local map, controls the self-moving device to perform corresponding obstacle avoidance actions, enabling the self-moving device to successfully bypass the obstacle.

[0060] In other words, the control method for the self-moving device provided by this invention utilizes the sensor data from the sensors mounted on the self-moving device. Through multi-frame accumulation, historical data observed by each sensor on the self-moving device is recorded, and the local map is updated in real time. This allows for real-time querying of the local map data of the self-moving device to assist in obstacle avoidance. This approach is compatible with different types of sensors, eliminates the need for complex calculations to achieve obstacle avoidance for the self-moving device, and improves its robustness and success rate in obstacle avoidance.

[0061] Furthermore, the first direction corresponds to the edge-following mode of the self-moving device. When the self-moving device is on the right edge, the first direction is right; when the self-moving device is on the left edge, the first direction is left. In practical applications, when the moving mechanism performs arc-shaped movement along the first direction, the first direction can be a variable direction, such as the direction of the tangent of the arc. No specific restrictions are imposed here.

[0062] Furthermore, the second direction described above is opposite to the first direction. The second direction corresponds to the edge-following mode of the self-device. When the self-device is on the right edge, the second direction is left, and when the self-device is on the left edge, the second direction is right. No specific restrictions are imposed here.

[0063] In some embodiments of the present invention, optionally, such as Figure 2 As shown, prior to step 104 above, the control method may further include steps 108 and 110 as follows:

[0064] Step 108: Detect the angle range of obstacles blocking the self-moving device;

[0065] Step 110: Using the center of the self-moving device as the rotation center, control the moving mechanism to drive the self-moving device to rotate in the second direction by a first angle;

[0066] The first angle is related to the angle range.

[0067] In this embodiment, before the control device of the self-moving device controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in the first direction, turn in the second direction, and straight movement, the control device of the self-moving device also detects the angle range within which obstacles can block the forward movement of the self-moving device based on a virtual collision algorithm. Then, with the center of the self-moving device as the rotation center, the control device controls the moving mechanism on the self-moving device to rotate, causing the self-moving device to rotate a first angle towards the second direction. The specific value of the first angle is related to the detected angle range. After the self-moving device rotates a first angle towards the second direction, its forward direction and the obstacle can be parallel. In this way, controlling the self-moving device to perform a preparatory action before controlling it to perform obstacle avoidance maneuvers facilitates the subsequent smooth execution of obstacle avoidance maneuvers, improving the accuracy and success rate of obstacle avoidance.

[0068] In some embodiments of the present invention, optionally, such as Figure 2 As shown, after step 110 above, the control method may further include the following step 112:

[0069] Step 112: Control the moving mechanism to drive the self-moving device straight until the distance between the center of the self-moving device and the obstacle is greater than the first threshold range.

[0070] In this embodiment, such as Figure 9As shown, after the control device of the self-moving device controls the rotating mechanism on the self-moving device 200 to rotate the self-moving device 200 in the second direction by a first angle, the control device also controls the rotating mechanism to move forward, so that the self-moving device 200 moves straight. During the forward movement of the rotating mechanism, the control device acquires local map data of the obstacle area in real time and calculates the distance between the obstacle 504 and the center of the self-moving device based on the acquired local map data. If the distance between the obstacle 504 and the center of the self-moving device exceeds a first threshold range, the control device stops the rotating mechanism from moving forward and starts the rotating mechanism to perform an obstacle avoidance maneuver. Thus, by controlling the self-moving device to move a certain distance away from the obstacle before performing the obstacle avoidance maneuver, the self-moving device has more room to maneuver, facilitating the subsequent smooth execution of the obstacle avoidance maneuver and improving the accuracy and success rate of obstacle avoidance.

[0071] The specific range of values ​​for the first threshold mentioned above can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0072] In some embodiments of the present invention, optionally, the aforementioned moving mechanism may specifically include a first moving member and a second moving member, and based on this, such as Figure 3 As shown, step 104 above may specifically include the following step 106:

[0073] Step 106: Based on local map data, determine the distance information between the self-moving device and the obstacle, and control the moving mechanism to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement based on the distance information;

[0074] Among them, advancing in an arc along the first direction includes using the first moving part as the rotation center and controlling the second moving part to drive the self-moving device to rotate toward the first direction until the distance information meets the first condition;

[0075] The second direction steering includes using the center of the self-moving device as the rotation center, and controlling the moving mechanism to drive the self-moving device to rotate in the second direction by a second angle;

[0076] Straight travel includes controlling the moving mechanism to drive the self-moving device to travel the first straight distance.

[0077] In this embodiment, the control device of the self-moving device dynamically determines the distance information between the obstacle and the self-moving device based on the acquired local map data. Further, the control device of the self-moving device then controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight-line movement based on the determined distance information, i.e., the dynamic distance between the obstacle and the self-moving device.

[0078] Specifically, the aforementioned moving mechanism may include a second moving component and a first moving component. The first moving component may specifically be the right wheel of the self-moving device, and the second moving component may specifically be the left wheel of the self-moving device.

[0079] Based on this, during the process of the control device of the self-moving device controlling the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement along the first direction, such as... Figure 7 As shown, the control device of the self-moving device uses the first moving part of the self-moving device 200 as the rotation center and controls the second moving part of the self-moving device 200 to rotate, so that it drives the self-moving device 200 to rotate in the first direction. During the rotation of the self-moving device 200 in the first direction, the control device dynamically determines the distance information between the obstacle 504 and the self-moving device 200 based on real-time local map data of the obstacle area. When the distance information and its changes meet a set first condition, the control device controls the moving mechanism on the self-moving device 200 to pause the arc-shaped forward movement along the first direction and controls the moving mechanism to begin the turning movement in the second direction.

[0080] Specifically, such as Figure 8 As shown, during the process of the control device of the self-moving device controlling the moving mechanism on the self-moving device 200 to perform the second direction turning action, the control device of the self-moving device takes the center of the self-moving device as the rotation center and controls the moving mechanism on the self-moving device 200 to rotate, so that it drives the self-moving device 200 to rotate a second angle in the direction away from the obstacle 504, i.e., the second direction.

[0081] Furthermore, during the process of the control device of the self-moving device controlling the moving mechanism on the self-moving device to perform a straight movement, the control device of the self-moving device directly controls the moving mechanism to move forward so that it drives the self-moving device to travel a first distance in a straight line.

[0082] Thus, as Figure 10 As shown, based on the dynamic distance between the obstacle 504 and the self-moving device 200, the moving mechanism on the self-moving device 200 is controlled to sequentially perform the actions of moving forward in an arc along the first direction, turning in the second direction, and moving straight, so that the self-moving device 200 can move forward around the obstacle 504 along a certain arc path, thereby successfully achieving obstacle avoidance.

[0083] The specific values ​​of the second angle and the first distance can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0084] In some embodiments of the present invention, optionally, the first condition is as follows: during the process of the second moving member driving the self-moving device to rotate, the distance information shows a trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the distance information change curve is greater than the second threshold.

[0085] In this embodiment, the aforementioned first condition may specifically be: during the process where the control device of the self-moving device uses the first moving part of the self-moving device as the rotation center and controls the second moving part of the self-moving device to rotate, so as to drive the self-moving device to rotate in the first direction, the distance information between the obstacle and the self-moving device dynamically determined by the control device of the self-moving device shows a trend of first decreasing and then increasing, and the current distance information between the obstacle and the self-moving device is compared with the distance information change curve (e.g., Figure 11 The difference between the minimum values ​​(as shown) is greater than the set second threshold.

[0086] In other words, in the control method for the self-moving device provided by this invention, during the rotation of the self-moving device towards the first direction, the control device of the self-moving device dynamically determines the distance information between the obstacle and the self-moving device based on real-time local map data of the obstacle area, and generates a distance information change curve. Based on this, if the distance information change curve shows a trend of first decreasing and then increasing with the rotation angle of the self-moving device, and if the difference between the current distance information between the obstacle and the self-moving device and the minimum value in the generated distance information change curve is greater than a set second threshold, the control device of the self-moving device determines that the moving mechanism has completed the arc-shaped forward movement along the first direction in this round, and controls the moving mechanism to begin executing the second-direction turning movement. Thus, by using the distance information between the obstacle and the self-moving device and its changes as the basis for switching between the arc-shaped forward movement along the first direction and the second-direction turning movement, the accuracy of the movement switching is ensured, thereby ensuring the accuracy of the obstacle avoidance movement and improving the robustness and success rate of obstacle avoidance by the self-moving device.

[0087] The specific value of the first threshold can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0088] In some embodiments of the present invention, optionally, such as Figure 4 As shown, after step 104 above, the control method may further include steps 114 to 118 as follows:

[0089] Step 114: Record the location of the mobile device;

[0090] Step 116: If the distance between the current position and the initial position of the self-moving device is greater than the third threshold, control the moving mechanism to sequentially perform a first directional turn and then move forward in an arc along the second direction.

[0091] Step 118: Update the initial location of the self-moving device to the current location.

[0092] In this embodiment, after the control device of the self-moving device begins to control the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement, the control device of the self-moving device also records the position of the self-moving device in real time and calculates the distance between the real-time recorded current position of the self-moving device and the originally recorded initial position of the self-moving device. If the calculated distance value is greater than a set third threshold, the control device of the self-moving device then controls the moving mechanism on the self-moving device to sequentially perform the turning in the first direction and arc-shaped forward movement in the second direction. Furthermore, after the control device of the self-moving device controls the moving mechanism on the self-moving device to sequentially perform the turning in the first direction and arc-shaped forward movement in the second direction, the control device of the self-moving device stores the real-time position of the self-moving device at this time as the initial position of the self-moving device, so as to use the current position of the self-moving device as the starting point for the next distance calculation.

[0093] The aforementioned first-direction turning and second-direction arc-shaped forward movement can be referred to as a "look-back" action. Controlling the moving mechanism to sequentially execute the first-direction turning and the second-direction arc-shaped forward movement reduces the distance between the self-moving device and the obstacle, causing the self-moving device to retreat towards the obstacle. Thus, after the self-moving device has moved a certain distance, controlling its retreat allows it to move precisely around the obstacle along a specific arc path, reducing blind spots, improving the comprehensiveness of the cleaning task, and increasing its robustness in obstacle avoidance.

[0094] Furthermore, the aforementioned third threshold is related to the body radius of the self-moving device and the farthest observation distance of the sensors on the self-moving device. Specifically, the aforementioned third threshold can be the sum of the body radius of the self-moving device and the farthest observation distance of the sensors on the self-moving device.

[0095] In practical applications, those skilled in the art can set the specific value of the third threshold according to the actual situation, and no specific restrictions are imposed here.

[0096] Furthermore, in practical applications, when the moving mechanism moves in an arc along the second direction, the second direction can be a changing direction, such as the direction of the tangent of the arc, without any specific restrictions.

[0097] In some embodiments of the present invention, optionally, the first directional steering includes controlling the moving mechanism to rotate the self-moving device toward the first direction with the center of rotation of the self-moving device as the rotation center until local map data of the obstacle area is successfully acquired; the arc-shaped advance along the second direction includes controlling the first moving member to rotate the self-moving device toward the second direction with the second moving member as the rotation center until the distance information meets the first condition.

[0098] In this embodiment, during the process of the self-moving device's control device controlling the moving mechanism on the self-moving device to perform a first-direction turn, the control device uses the center of the self-moving device as the rotation center and controls the moving mechanism on the self-moving device to rotate, causing it to rotate towards the direction closer to the obstacle, i.e., the first direction. During this rotation, the control device acquires local map data of the obstacle area in real time. After successfully acquiring the local map data, the control device pauses the first-direction turn and begins to move in an arc along a second direction.

[0099] During the process of the self-moving device's control unit controlling the moving mechanism to perform an arc-shaped forward movement along the second direction, the control unit uses the second moving component of the self-moving device as a rotation center and controls the first moving component to rotate, causing the self-moving device to rotate in the second direction. While the self-moving device is rotating in the second direction, the control unit dynamically determines the distance information between the obstacle and the self-moving device based on real-time local map data of the obstacle area. If the distance information and its changes meet the aforementioned first condition, the control unit controls the moving mechanism to pause the arc-shaped forward movement along the second direction and then controls the moving mechanism to continue sequentially performing the aforementioned arc-shaped forward movement along the first direction, turning in the second direction, and straight-line movement.

[0100] Thus, after the self-moving device has moved forward a certain distance, based on the dynamic distance between the obstacle and the self-moving device, it is controlled to retreat a certain distance in the direction closer to the obstacle. This interspersed back-looking action during the self-moving device's obstacle-avoidance movement compensates for the blind spots of the sensors on the self-moving device, allowing it to move precisely around the obstacle along a certain arc path. This reduces the cleaning blind spots, improves the comprehensiveness of the cleaning task, and increases the robustness of the self-moving device in obstacle avoidance.

[0101] In summary, such as Figure 5 As shown, the obstacle avoidance process for the self-moving device provided in this embodiment of the invention may specifically include the following steps 402 to 416:

[0102] Step 402: Turn left to be parallel to the obstacle and begin the obstacle maneuver;

[0103] Step 404: Determine whether a virtual collision or obstacle avoidance has been completed. If yes, end the process; otherwise, proceed to step 406.

[0104] Step 406, draw an arc to the right front;

[0105] Step 408, turn left;

[0106] Step 410, proceed straight;

[0107] Step 412, determine: if a review is needed, proceed to step 414; otherwise, proceed to step 404.

[0108] Step 414, turn right;

[0109] Step 416, draw an arc to the left front.

[0110] After step 416 is completed, step 404 is executed.

[0111] Furthermore, step 406 is equivalent to performing the action of moving forward in an arc along the first direction, step 408 is equivalent to performing the action of turning in the second direction, step 410 is equivalent to performing the action of moving straight, step 414 is equivalent to performing the action of turning in the first direction, and step 416 is equivalent to performing the action of moving forward in an arc along the second direction.

[0112] In one embodiment of the present invention, a control device for a self-moving device is also provided. For example... Figure 12 As shown, Figure 12 A structural block diagram of a control device 300 for a self-moving device according to an embodiment of the present invention is shown. The self-moving device includes a moving mechanism, and the control device 300 specifically includes an acquisition unit 302 and a control unit 304.

[0113] The acquisition unit 302 is used to acquire local map data of the obstacle area when an obstacle is detected;

[0114] The control unit 304 is used to control the moving mechanism to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement according to local map data, so that the self-moving device leaves the obstacle area or the movement trajectory of the self-moving device is in a closed loop state.

[0115] The control device 300 for the self-moving device provided in this embodiment of the invention is used to improve the robustness and success rate of obstacle avoidance of the self-moving device.

[0116] The aforementioned self-moving device is equipped with a moving mechanism, which can drive the self-moving device to rotate or move.

[0117] Furthermore, the aforementioned self-moving device can also be equipped with different sensors such as laser sensors and radar sensors. The sensing data detected by different sensors can be used to detect whether there are obstacles in the forward direction of the self-moving device.

[0118] Specifically, such as Figure 12 As shown, the control device 300 for the self-moving device provided by the present invention includes an acquisition unit 302, a processing unit 306, and a control unit 304. During the self-moving device's cleaning task, when the processing unit 306 detects an obstacle in the forward direction, the acquisition unit 302 acquires local map data of the obstacle area in real time. The control unit 304 then controls the moving mechanism on the self-moving device to sequentially perform arc-shaped movement in a first direction, turning in a second direction, and moving straight, based on the acquired local map data, until the self-moving device leaves the obstacle area, triggers a new collision, or its movement trajectory forms a closed loop. Thus, when the self-moving device encounters an obstacle during the cleaning task, it is controlled to perform obstacle avoidance actions based on the local map data of the obstacle area. This calculation is simple, reduces collisions with obstacles, improves the accuracy and comprehensiveness of obstacle avoidance, and enhances the robustness and success rate of obstacle avoidance for the self-moving device.

[0119] During the operation of the self-moving device, the processing unit 306 maintains a fixed-size local map corresponding to the self-moving device in real time. For example, it maintains a fixed-size local map based on sensor data from the right side and the forward direction of the self-moving device. This local map is represented using a two-dimensional grid. During the operation of the self-moving device, the processing unit 306 stores the sensor data detected by each sensor on the self-moving device and the dynamic coordinate information of the self-moving device into the local map in real time. When the self-moving device encounters an obstacle during the cleaning task, the acquisition unit 302 queries the local map of the self-moving device at its current position. Based on the acquired local map, it controls the self-moving device to perform corresponding obstacle avoidance actions, enabling the self-moving device to successfully bypass the obstacle.

[0120] In other words, the control device 300 for the self-moving device provided by this invention utilizes the sensing data from the sensors mounted on the self-moving device to record historical data observed by each sensor through multi-frame accumulation, and updates the local map in real time. This allows for real-time querying of the local map data of the self-moving device to assist in obstacle avoidance. This approach is compatible with different types of sensors, eliminates the need for complex calculations to achieve obstacle avoidance for the self-moving device, and improves the robustness and success rate of obstacle avoidance.

[0121] In some embodiments of the present invention, optionally, before controlling the moving mechanism to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement according to local map data, the processing unit 306 is further configured to: detect the angle range of obstacles blocking the self-moving device; the control unit 304 is further configured to: control the moving mechanism to rotate the self-moving device toward the second direction by a first angle with the center of the self-moving device as the rotation center, wherein the first angle is related to the angle range.

[0122] In some embodiments of the present invention, optionally, after the control mechanism drives the self-moving device to rotate a first angle in the second direction, the control unit 304 is further configured to: control the control mechanism to drive the self-moving device to move straight until the distance between the center of the self-moving device and the obstacle is greater than a first threshold range.

[0123] In some embodiments of the present invention, optionally, the moving mechanism includes a first moving member and a second moving member, and the processing unit 306 is further configured to: determine the distance information between the self-moving device and the obstacle based on local map data; the control unit 304 is specifically configured to: control the moving mechanism to sequentially perform arc-shaped forward movement along a first direction, turning in a second direction, and straight movement based on the distance information; wherein, arc-shaped forward movement along the first direction includes controlling the second moving member to rotate the self-moving device toward the first direction with the first moving member as the rotation center until the distance information meets the first condition; turning in the second direction includes controlling the moving mechanism to rotate the self-moving device toward the second direction by a second angle with the center of the self-moving device as the rotation center; and straight movement includes controlling the moving mechanism to drive the self-moving device to move straight for a first distance.

[0124] In some embodiments of the present invention, optionally, the first condition is that during the process of the second moving member driving the self-moving device to rotate, the distance information shows a trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the distance information change curve is greater than the second threshold.

[0125] In some embodiments of the present invention, optionally, after controlling the mobile mechanism to sequentially perform arc-shaped movement along a first direction, turning in a second direction, and moving straight according to local map data, the processing unit 306 is further configured to: record the position of the self-moving device; the control unit 304 is further configured to: control the mobile mechanism to sequentially perform turning in the first direction and arc-shaped movement along the second direction when the distance between the current position and the initial position of the self-moving device is greater than a third threshold; the processing unit 306 is further configured to: update the initial position of the self-moving device to the current position.

[0126] In some embodiments of the present invention, optionally, the first directional steering includes controlling the moving mechanism to rotate the self-moving device toward the first direction with the center of rotation of the self-moving device as the rotation center until local map data of the obstacle area is successfully acquired; the arc-shaped advance along the second direction includes controlling the first moving member to rotate the self-moving device toward the second direction with the second moving member as the rotation center until the distance information meets the first condition.

[0127] In one embodiment of the present invention, a self-moving device is also proposed. For example... Figure 13 As shown, Figure 13 A structural block diagram of a self-moving device 200 provided in an embodiment of the present invention is shown. The self-moving device 200 includes:

[0128] Memory 202, which stores programs or instructions;

[0129] The processor 204 executes the above-described program or instructions to implement the steps of the control method for the self-moving device as described in any of the above embodiments.

[0130] The self-moving device 200 provided in this embodiment includes a memory 202 and a processor 204. When the program or instructions in the memory 202 are executed by the processor 204, they implement the steps of the self-moving device control method as described in any of the above embodiments. Therefore, the self-moving device 200 has all the beneficial effects of the self-moving device control method described in any of the above embodiments, which will not be repeated here.

[0131] Specifically, the memory 202 and the processor 204 can be connected via a bus or other means. The processor 204 may include one or more processing units, such as a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0132] Furthermore, such as Figure 13 As shown, the self-moving device 200 also includes a moving mechanism 206, which can drive the self-moving device 200 to rotate or move.

[0133] Among them, such as Figure 13 As shown, the aforementioned moving mechanism 206 may specifically include a first moving member 208 and a second moving member 210. Specifically, the first moving member 208 may be the right wheel of the self-moving device 200, and the second moving member 210 may be the left wheel of the self-moving device 200.

[0134] In practical applications, the aforementioned self-moving devices 200 include, but are not limited to, sweeping machines, floor scrubbers, vacuum cleaners, and service robots, etc., without specific restrictions.

[0135] In one embodiment of the present invention, a readable storage medium is also provided. A program or instructions are stored thereon, which, when executed by a processor, implement the steps of the control method for the self-moving device as described in any of the above embodiments.

[0136] The readable storage medium provided in this embodiment of the invention stores programs or instructions that, when executed by a processor, can implement the steps of the self-moving device control method as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the self-moving device control method in any of the above embodiments, which will not be elaborated further here.

[0137] Specifically, the aforementioned readable storage medium can include any medium capable of storing or transmitting information. Examples of readable storage media include electronic circuits, semiconductor memory devices, read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), flash memory, erasable ROM (EROM), magnetic tape, floppy disk, optical disk, hard disk, fiber optic media, radio frequency (RF) links, optical data storage devices, etc. Code segments can be downloaded via computer networks such as the Internet and intranets.

[0138] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, unless otherwise expressly specified and limited. The terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0139] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0140] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0141] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a self-moving device, characterized in that, The self-moving device includes a moving mechanism, and the control method includes: When an obstacle is detected, acquire local map data of the obstacle area; Based on the local map data, the mobile mechanism is controlled to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement, so that the self-moving device leaves the obstacle area or the movement trajectory of the self-moving device is in a closed loop state. The moving mechanism includes a first moving component and a second moving component. Controlling the moving mechanism according to the local map data to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement includes: Based on the local map data, the distance information between the self-moving device and the obstacle is determined, and the moving mechanism is controlled to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement based on the distance information; The step of moving forward in an arc along the first direction includes controlling the second moving member to rotate the self-moving device toward the first direction with the first moving member as the rotation center until the distance information meets the first condition. The second directional steering includes controlling the moving mechanism to rotate the self-moving device in the second direction by a second angle with the center of the self-moving device as the rotation center; Straight travel includes controlling the moving mechanism to drive the self-moving device to travel a first distance in a straight line; The first condition is that during the process of the second moving component driving the self-moving device to rotate, the distance information shows a trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the distance information change curve is greater than the second threshold.

2. The control method for a self-moving device according to claim 1, characterized in that, Before controlling the mobile mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement based on the local map data, the control method further includes: Detect the angular range at which the obstacle blocks the self-moving device; With the center of the self-moving device as the rotation center, the moving mechanism is controlled to drive the self-moving device to rotate in a second direction by a first angle, the first angle being related to the angle range.

3. The control method for a self-moving device according to claim 2, characterized in that, After the control method involves controlling the moving mechanism to rotate the self-moving device in the second direction by a first angle, the control method further includes: The mobile mechanism is controlled to drive the self-moving device straight until the distance between the center of the self-moving device and the obstacle is greater than a first threshold range.

4. The control method for a self-moving device according to claim 1, characterized in that, After controlling the mobile mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement based on the local map data, the control method further includes: Record the location of the self-moving device; If the distance between the current position and the initial position of the self-moving device is greater than a third threshold, the moving mechanism is controlled to sequentially perform a first directional turn and then move forward in an arc along the second direction. Update the initial location of the self-moving device to its current location.

5. The control method for a self-moving device according to claim 4, characterized in that, The first directional steering includes controlling the moving mechanism to rotate the self-moving device toward the first direction with the center of the self-moving device as the rotation center, until the local map data of the obstacle area is successfully acquired. The arc-shaped movement along the second direction includes using the second moving member as the rotation center, controlling the first moving member to drive the self-moving device to rotate in the second direction until the distance information meets the first condition.

6. A control device for a self-moving device, characterized in that, The self-moving device includes a moving mechanism, and the control device includes: The acquisition unit is used to acquire local map data of the obstacle area when an obstacle is detected. The control unit is used to control the mobile mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement according to the local map data, so that the self-moving device leaves the obstacle area or the movement trajectory of the self-moving device is in a closed loop state. The moving mechanism includes a first moving component and a second moving component. The control unit is further configured to determine the distance information between the self-moving device and the obstacle based on the local map data. Specifically, the control unit is configured to control the moving mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight movement based on the distance information. The arc-shaped forward movement in the first direction includes controlling the second moving component to rotate the self-moving device toward the first direction with the first moving component as the rotation center until the distance information meets a first condition. The turning in the second direction includes controlling the moving mechanism to rotate the self-moving device toward the second direction by a second angle with the center of the self-moving device as the rotation center. Straight movement includes controlling the moving mechanism to drive the self-moving device straight for a first distance. The first condition is that during the process of the second moving component driving the self-moving device to rotate, the distance information shows a trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the distance information change curve is greater than the second threshold.

7. A self-moving device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the control method for the self-moving device as described in any one of claims 1 to 5.

8. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the control method for the self-moving device as described in any one of claims 1 to 5.

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