Control method and device of a self-moving device, and self-moving device

Abstract

This application discloses a control method, apparatus, and self-moving device for a mobile device. The self-moving device includes a main body with a height-adjustable ranging component mounted on its top. The main body also includes a spatial information sensor. The control method for the self-moving device includes: acquiring real-time location information of the self-moving device; and controlling the lifting state of the ranging component based on historical map information and the real-time location information. The historical map information includes the location information and height information of the low-lying space. By intelligently controlling the lifting state of the ranging component using historical map information and real-time location information, the self-moving device can adapt to environments at different heights without relying on additional distance sensors, preventing the self-moving device from bumping into the ranging component when passing through low-lying spaces.

Description

Technical Field

[0001] This application belongs to the field of automatic control, and in particular relates to a control method, cleaning method, device and electronic equipment for self-moving equipment. Background Technology

[0002] With the rapid development of artificial intelligence and sensor technology, self-moving devices, such as intelligent robotic vacuum cleaners, lawn mowing robots, and security patrol robots, have been widely adopted in people's daily lives and industrial production. These devices, by integrating multiple sensors and intelligent algorithms, achieve autonomous environmental perception, map building, and path planning, greatly improving automation levels and user experience.

[0003] Typically, self-moving devices have a retractable laser distance sensor (LDS) mounted on their top to construct a two-dimensional or three-dimensional map of the surrounding environment. Therefore, it is necessary to provide a method for controlling the LDS, enabling the self-moving device to perceive potential low-impact collision risks in real time while in motion. Summary of the Invention

[0004] Embodiments of this application provide a control method, apparatus, and self-moving device for a self-moving device.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of the embodiments of this application, a control method for a self-moving device is provided. The self-moving device includes a device body, and a liftable ranging component is disposed on the top of the device body. The method includes: Obtain the real-time location information of the self-moving device; Based on historical map information and the real-time location information, the lifting and lowering state of the ranging component is controlled; wherein, the historical map information includes the location information and height information of the low-ceiling space.

[0007] In some possible implementations of this application, controlling the lifting and lowering state of the ranging component based on historical map information and the real-time location information includes: If, based on the historical map information and the real-time location information, it is detected that there is a low-lying section in the path to be moved by the self-moving device that passes through a low-lying space, the self-moving device is controlled to pass through the low-lying space along the low-lying section while the ranging component is in the retracted state. Wherein, the passable height of the low-profile space is greater than the first height and less than or equal to the second height, the first height is the height of the self-moving device when the ranging component is in the retracted state, and the second height is the height of the self-moving device when the ranging component is in the raised state.

[0008] In some possible embodiments of this application, controlling the self-moving device to pass through the low-lying space along the low-lying road section while the ranging component is in a retracted state includes: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through the low-lying space along the low-lying road section.

[0009] In some possible embodiments of this application, controlling the self-moving device to pass through the low-lying space along the low-lying road section while the ranging component is in a retracted state includes: If the ranging component is in the raised state, obtain the area of ​​the projected region of the low space on the moving surface; If the area of ​​the projection region is greater than or equal to a preset area threshold, and it is determined that the edge of the self-moving device reaches the low road section, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through the low space along the low road section.

[0010] In some possible embodiments of this application, the method further includes: Determine the projection area of ​​the low-profile space onto the moving surface; Determine the starting point of the path to be moved in the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

[0011] In some possible embodiments of this application, controlling the ranging component to descend to a retractable state based on the calibrated position and the real-time location information of the self-moving device includes: After detecting that the self-moving device has moved to the calibration position, during the movement of the self-moving device, the interval distance between the self-moving device and the calibration position is determined based on the real-time location information; The ranging component is controlled to descend to a retracted state based on the specified interval distance.

[0012] In some possible embodiments of this application, the method further includes: Determine the projection area of ​​the low-profile space onto the moving surface; Based on the location of the projection area and the placement position of the ranging component on the top of the device body, a distance threshold is determined; The step of controlling the ranging component to descend to a retracted state based on the interval distance includes: If the interval distance reaches the distance threshold, the ranging component is controlled to descend to a retracted state.

[0013] In some possible embodiments of this application, determining the distance threshold based on the position of the projection area and the placement position of the ranging component on the top of the device body includes: When the self-moving device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

[0014] In some possible embodiments of this application, the ranging component is disposed on the top of the device body, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved; Controlling the ranging component to descend to a retracted state based on the interval distance includes: If the interval distance is detected to reach a first threshold, the ranging component is controlled to descend to a retracted state; wherein, the first threshold is half the length of the device body along the direction of movement.

[0015] In some possible embodiments of this application, controlling the lifting and lowering state of the ranging component based on historical map information and the real-time location information further includes: If, based on the historical map information and the real-time location information, it is detected that the self-moving device is in a non-low-profile space, the path to be moved within the preset range of the self-moving device is in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. Wherein, the passable height of the non-low-ceiling space is greater than the third height, and the third height is greater than the second height.

[0016] In some possible embodiments of this application, the method further includes: During the movement of the self-moving device, the historical map information is updated based on the altitude information corresponding to multiple locations collected by the spatial information sensor.

[0017] In some possible implementations of this application, the height information includes at least one of height value and height type.

[0018] According to a second aspect of the embodiments of this application, the self-moving device includes a device body, and a liftable ranging component is disposed on the top of the device body. The self-moving device is used for: Obtain the real-time location information of the self-moving device; Based on historical map information and the real-time location information, the lifting and lowering state of the ranging component is controlled; wherein, the historical map information includes the location information and height information of the low-ceiling space.

[0019] In some possible embodiments of this application, when the self-moving device controls the lifting state of the ranging component based on historical map information and the real-time location information, it is used for: If, based on the historical map information and the real-time location information, it is detected that there is a low-lying section in the path to be moved by the mobile device that passes through a low-lying space, then, with the ranging component in a retracted state, the mobile device passes through the low-lying space along the low-lying section. Wherein, the passable height of the low-profile space is greater than the first height and less than or equal to the second height, the first height is the height of the self-moving device when the ranging component is in the retracted state, and the second height is the height of the self-moving device when the ranging component is in the raised state.

[0020] In some possible embodiments of this application, the self-moving device, with the ranging component in a retracted state, traverses the low-lying space along the low-lying road section for: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retracted state so as to pass through the low-lying space along the low road section.

[0021] In some possible embodiments of this application, when the self-moving device is in the retracted state and passes through the low-lying space along the low-lying road section, it is used for: If the ranging component is in the raised state, obtain the area of ​​the projected region of the low space on the moving surface; If the area of ​​the projection region is greater than or equal to a preset area threshold, and it is determined that the edge of the self-moving device has reached the low road section, the ranging component is controlled to descend to a retracted state so as to pass through the low space along the low road section.

[0022] In some possible embodiments of this application, the self-moving device is further used for: Determine the projection area of ​​the low-profile space onto the moving surface; Determine the starting point of the path to be moved in the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

[0023] In some possible embodiments of this application, when the self-moving device controls the ranging component to descend based on the calibration position and the real-time position information of the self-moving device, it is used to: After detecting that the self-moving device has moved to the calibration position, during the movement of the self-moving device, the interval distance between the self-moving device and the calibration position is determined based on the real-time location information; The ranging component is controlled to descend to a retracted state based on the specified interval distance.

[0024] In some possible embodiments of this application, the self-moving device is further used for: Determine the projection area of ​​the low-profile space onto the moving surface; Based on the location of the projection area and the placement position of the ranging component on the top of the device body, a distance threshold is determined; The step of controlling the ranging component to descend to a retracted state based on the interval distance includes: If the interval distance reaches the distance threshold, the ranging component is controlled to descend to a retracted state.

[0025] In some possible embodiments of this application, when the self-moving device determines a distance threshold based on the position of the projection area and the placement position of the ranging component on the top of the device body, it is used to: When the self-moving device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

[0026] In some possible embodiments of this application, the ranging component is disposed on the top of the device body, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved; When the self-moving device controls the ranging component to descend to a retracted state based on the interval distance, it is used for: If the interval distance is detected to reach a first threshold, the ranging component is controlled to descend to a retracted state; wherein, the first threshold is half the length of the device body along the direction of movement.

[0027] In some possible embodiments of this application, when the self-moving device controls the lifting state of the ranging component based on historical map information and the real-time location information, it is further configured to: If, based on the historical map information and the real-time location information, it is detected that the self-moving device is in a non-low-profile space, the path to be moved within the preset range of the self-moving device is in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. Wherein, the passable height of the non-low-ceiling space is greater than the third height, and the third height is greater than the second height.

[0028] In some possible embodiments of this application, the self-moving device is further used for: During the movement of the self-moving device, the historical map information is updated based on the altitude information corresponding to multiple locations collected by the spatial information sensor.

[0029] In some possible implementations of this application, the height information includes at least one of height value and height type.

[0030] According to a third aspect of the embodiments of this application, a control device for a self-moving device is provided. The self-moving device includes a device body, and a liftable ranging component is disposed on the top of the device body. The device includes: The acquisition module is used to acquire the real-time location information of the self-moving device; The control module is used to control the lifting and lowering state of the ranging component based on historical map information and the real-time location information; wherein, the historical map information includes the location information and height information of the low-lying space.

[0031] In some possible embodiments of this application, when the control module controls the lifting and lowering state of the ranging component based on historical map information and the real-time location information, it is used to: If, based on the historical map information and the real-time location information, it is detected that there is a low-lying section in the path to be moved by the self-moving device that passes through a low-lying space, the self-moving device is controlled to pass through the low-lying space along the low-lying section while the ranging component is in the retracted state. Wherein, the passable height of the low-profile space is greater than the first height and less than or equal to the second height, the first height is the height of the self-moving device when the ranging component is in the retracted state, and the second height is the height of the self-moving device when the ranging component is in the raised state.

[0032] In some possible embodiments of this application, when the control module controls the self-moving device to pass through the low-lying space along the low-lying road section while the ranging component is in the retracted state, it is used to: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through the low-lying space along the low-lying road section.

[0033] In some possible embodiments of this application, when the control module controls the self-moving device to pass through the low-lying space along the low-lying road section while the ranging component is in the retracted state, it is used to: If the ranging component is in the raised state, obtain the area of ​​the projected region of the low space on the moving surface; If the area of ​​the projection region is greater than or equal to a preset area threshold, and it is determined that the edge of the self-moving device reaches the low road section, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through the low space along the low road section.

[0034] In some possible embodiments of this application, the apparatus further includes a first determining module, configured to: Determine the projection area of ​​the low-profile space onto the moving surface; Determine the starting point of the path to be moved in the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

[0035] In some possible embodiments of this application, when the control module controls the ranging component to descend to a retracted state based on the calibration position and the real-time position information of the self-moving device, it is used to: After detecting that the self-moving device has moved to the calibration position, during the movement of the self-moving device, the interval distance between the self-moving device and the calibration position is determined based on the real-time location information; The ranging component is controlled to descend to a retracted state based on the specified interval distance.

[0036] In some possible embodiments of this application, the apparatus further includes a second determining module, configured to: Determine the projection area of ​​the low-profile space onto the moving surface; Based on the location of the projection area and the placement position of the ranging component on the top of the device body, a distance threshold is determined; When the control module controls the ranging component to descend to the retracted state based on the interval distance, it is used for: If the interval distance reaches the distance threshold, the ranging component is controlled to descend to a retracted state.

[0037] In some possible embodiments of this application, when the second determining module determines the distance threshold based on the position of the projection area and the placement position of the ranging component on the top of the device body, it is used for: When the self-moving device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

[0038] In some possible embodiments of this application, the ranging component is disposed on the top of the device body, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved; When the control module controls the ranging component to descend to the retracted state based on the interval distance, it is used to: If the interval distance is detected to reach a first threshold, the ranging component is controlled to descend to a retracted state; wherein, the first threshold is half the length of the device body along the direction of movement.

[0039] In some possible embodiments of this application, when the control module controls the lifting and lowering state of the ranging component based on historical map information and the real-time location information, it is further configured to: If, based on the historical map information and the real-time location information, it is detected that the self-moving device is in a non-low-profile space, the path to be moved within the preset range of the self-moving device is in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. Wherein, the passable height of the non-low-ceiling space is greater than the third height, and the third height is greater than the second height.

[0040] In some possible embodiments of this application, the apparatus further includes an updating module for: During the movement of the self-moving device, the historical map information is updated based on the altitude information corresponding to multiple locations collected by the spatial information sensor.

[0041] In some possible implementations of this application, the height information includes at least one of height value and height type.

[0042] According to a fourth aspect of the embodiments of this application, a self-moving device is provided, including a device body and a robotic arm connected to the device body, a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the steps of the method described in the above embodiments.

[0043] According to a fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the methods described in the above embodiments.

[0044] According to a sixth aspect of the present application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the methods described in the above embodiments.

[0045] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application.

[0046] The beneficial effects of the technical solutions provided in this application are: By intelligently controlling the lifting and lowering state of the ranging component using historical map information and real-time location information, the self-moving device can adapt to environments of different heights without relying on additional distance sensors. This avoids the self-moving device from bumping into the ranging component when passing through low spaces, improving the reliability and service life of the device, and enhancing the device's autonomy and adaptability in complex environments.

[0047] By automatically detecting low-lying spaces and controlling the ranging components to pass through low-lying sections of these spaces while in a retracted state, collision damage to the ranging components can be avoided, improving the equipment's mobility and reliability in confined environments.

[0048] When historical map information includes passable elevation values ​​for different areas, it is possible to determine more precisely whether passage is possible, supporting more complex decision-making.

[0049] When historical map information contains different elevation types for different areas, determining the elevation type in advance can simplify the judgment process during the movement of the self-moving device and improve the control efficiency of the self-moving device.

[0050] By dynamically updating historical map information, mobile devices can adapt to environmental changes, improving map accuracy and device adaptability.

[0051] When the ranging component is in the raised state, the corresponding calibration position is recorded when the edge of the self-moving device reaches the low road section. Based on the calibration position and the real-time position information of the self-moving device, the ranging component is controlled to descend to the storage state. This allows for precise control of the timing of the ranging component's descent, avoiding descent too early or too late. It also prevents the ranging component from colliding with the top wall of the low space while raising it as high as possible, ensuring that the device passes through the low space smoothly.

[0052] The influence of low-rise spaces on the movement of self-moving devices is determined by the area of ​​the projection area. When the area of ​​the projection area is greater than or equal to a preset area threshold, and it is determined that the edge of the self-moving device reaches the low-rise section, the ranging component is directly controlled to descend to a storage state to improve the operating efficiency of the self-moving device.

[0053] By determining the distance between the self-moving device and the calibrated position based on the real-time location information, the descent timing of the ranging component can be precisely controlled to avoid the ranging component descent too early, affecting navigation, or descent too late, causing a collision.

[0054] By combining the location of the projection area and the setting position of the ranging component on the top of the device body, a distance threshold is determined. When the distance between the real-time location information of the self-moving device and the calibrated position reaches the distance threshold, the ranging component is controlled to descend to the storage state. The customized distance threshold can adapt to different device structures and environments, improving the flexibility and accuracy of the ranging component control.

[0055] When the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved, if the interval distance is detected to reach a first threshold, the ranging component is controlled to descend to a storage state. The first threshold is half the length of the main body of the device along the moving direction. This simplifies the calculation process, improves the response speed, and ensures that the ranging component passes through the low space without being bumped.

[0056] If the self-moving device is detected to be in a non-low-profile space, and the path to be moved within the preset range of the self-moving device is also in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. The ranging component can be automatically raised within a safe space to restore navigation and detection functions. Attached Figure Description

[0057] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 A top view of a self-moving device provided as an example of this application; Figure 2 This is a schematic diagram of the structure of the self-moving device provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the self-moving device provided in the embodiments of this application; Figure 4 A flowchart illustrating a control method for a self-moving device provided in an embodiment of this application; Figure 5 A rear view of the self-moving device provided as an example for this application; Figure 6 A rear view of the self-moving device provided as an example for this application; Figure 7 A schematic diagram illustrating the passable height as an example of this application; Figure 8 A schematic diagram illustrating the passable height as an example of this application; Figure 9 A schematic diagram of a low-ceilinged space provided as an example of this application; Figure 10 A schematic diagram of historical map information provided as an example for this application; Figure 11 A schematic diagram of historical map information provided as an example for this application; Figure 12 A top view of a self-moving device provided as an example for this application; Figure 13 A top view of a self-moving device provided as an example for this application; Figure 14 This is a schematic diagram of the structure of a control device for a self-moving device provided in an embodiment of this application; Figure 15 This is a schematic diagram of the structure of an electronic device for controlling a self-moving device, provided in an embodiment of this application. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0060] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0061] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0062] It should also be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of these terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described.

[0063] Typically, self-moving devices have a height-adjustable distance sensor (LDS) mounted on top to create a two-dimensional or three-dimensional map of the surrounding environment. The descent is triggered by a bumper (microswitch or contact switch) on the LDS cover, but this method wears down the LDS's height and the bumper's lifespan, and it's prone to getting stuck or scratching furniture. Another method uses a height sensor on top of the device to detect low-ceilinged spaces and lower the LDS in advance to avoid collisions, but this requires additional distance sensors, increasing product cost.

[0064] This application determines whether to lower the LDS based on a saved low-profile map and the machine's real-time location information, without relying on the bumper on the LDS cover for triggering, thus avoiding the self-moving device getting stuck or scratching furniture; it also eliminates the need to install sensors on the top of the machine to measure height, saving additional sensor costs.

[0065] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0066] First, the structure of the self-moving device described in this application will be explained. For example... Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of the present invention. The self-moving device can be a cleaning robot such as a sweeping robot, mopping robot, or sweeping and mopping robot, or any electronic device or intelligent device that can move or operate automatically, such as an automatic lawnmower or snowplow. Specifically, for example... Figure 1 As shown, the device may include: The device body 100 has a liftable ranging component 200 on its top. When raised, the ranging component 200 is higher than the upper surface of the device body 100. The ranging component 200 is equipped with a ranging sensor (not shown in the figure). The ranging sensor is used to measure the distance data between the ranging component 200 and the surrounding environmental objects in the horizontal direction.

[0067] The main body of the device 100 may also include a controller configured to control the movement of the device and to locate and / or build a map using distance data. The controller is also configured to control the lifting and lowering state of the ranging component 200. At a specific position where the ranging component 200 will collide but the main body of the device 100 will not collide, the controller will lower the ranging component 200 to a position where no collision will occur, and then control the device to continue moving along the currently set path.

[0068] In other words, when walking into a low-ceilinged space, if the passable height of the low-ceilinged space is greater than the height of the self-moving device when the ranging component 200 is in the retracted state, and the passable height of the low-ceilinged space is less than or equal to the height of the self-moving device when the ranging component 200 is in the raised state, the controller can control the ranging component 200 to lower to the retracted state in order to pass through the low-ceilinged space.

[0069] Figure 2 This is a schematic diagram of the device structure of a self-moving device provided by some possible embodiments of the present invention. For example... Figure 2As shown, the main body 100 of the equipment can be a mobile platform with drive wheels. The drive motor of the drive wheels is electrically connected to the controller. The controller can move the equipment by controlling the rotation of the drive wheels. The direction of movement of the equipment can be changed by controlling the speed difference between the drive wheels on both sides of the equipment. The main body 100 of the equipment can also be loaded with various functional components, such as roller brushes, side brushes, vacuum cleaners, and other cleaning parts. Figure 2 As shown, the device body 100 has an approximately flat upper surface. The ranging component 200 can have at least a raised state and a retracted state. Typically, a ranging sensor can be installed inside the ranging component 200. In the raised state, the ranging component 200 protrudes relative to the upper surface of the device body 100, exposing the ranging sensor and allowing it to function normally to measure the distance data between the self-moving device and environmental objects around it. In the retracted state, the ranging component 200 can be lowered below the upper surface of the device body 100, or lowered to a position where its top is flush with the upper surface of the device body 100, or lowered to other specific positions. In the retracted state, the ranging sensor cannot perform measurements normally, and the controller can control the ranging sensor to stop working or stop acquiring measurement data from the ranging sensor. In this example, the ranging sensor can be a laser triangulation ranging device (LDS). The LDS can be installed inside the ranging component. The light emitting end and light receiving end of the LDS can be located on the side of the ranging component 200. Rotation of the ranging component 200 can cause the LDS to rotate 360° horizontally, thereby acquiring distance data from environmental objects around the device to the ranging component. The controller can perform positioning and / or component mapping based on the distance data. Of course, in other embodiments of the present invention, the ranging sensor can also be other types of sensors, and this application does not limit this. In addition, in the above embodiments, the shape and size of the ranging component 200 and the device body 100 shown in the figures are exemplary, and the present invention does not limit them.

[0070] In some possible embodiments of this application, the ranging component 200 can be connected inside the main body 100 of the equipment via its lifting device. The controller raises or lowers the ranging component 200 by controlling the lifting device. The lifting device can be a hydraulic or pneumatic lifting device, or a mechanically driven lifting device. This invention does not limit the type of lifting device; implementers can choose any type of lifting device based on the actual installation space and actual needs of the equipment, as long as it can achieve the raising and lowering of the ranging component 200.

[0071] In some possible implementations of this application, such as Figure 3 As shown, the side wall of the device body 100 may also include a spatial information sensor 300, which may be located in front of the side wall along the moving direction of the self-moving device.

[0072] Understandably, the spatial information sensor 300 can also be set at other locations on the side wall of the main body 100 of the device, as long as it can acquire spatial information in front of it during the movement of the self-moving device.

[0073] In some possible embodiments of this application, a control method for a self-moving device is provided. The execution subject of the control method for the self-moving device can be the self-moving device itself, and more specifically, the execution subject can be the controller of the self-moving device.

[0074] In some possible implementations, the self-moving device includes a main body, and a retractable ranging component is disposed on the top of the main body, such as... Figure 4 As shown, the method may include: Step S401: Obtain the real-time location information of the mobile device.

[0075] The self-moving device may also include a positioning system, which can acquire or calculate the device's position coordinates (X, Y) and orientation (θ) in a known or unknown environment in real time.

[0076] The positioning system may include an inertial measurement unit (IMU), a visual odometry (VO), or an encoder, etc., which are not limited in this application.

[0077] In practice, mobile devices can obtain real-time location information through a positioning system.

[0078] Step S402: Based on historical map information and real-time location information, control the lifting and lowering state of the ranging component.

[0079] The historical map information includes the location information and height information of the low-rise space.

[0080] In practical implementation, the historical map information is generated based on the height information corresponding to multiple locations collected by spatial information sensors, recording the height information of obstacles at multiple locations in the environment. Historical map information can be generated based on data collected by spatial information sensors. Historical map information can be stored in grid form or vector form; this application does not limit the specific storage format of historical map information.

[0081] The height information can include the height information of obstacles. Combining the height information of obstacles can determine whether an obstacle is insurmountable or passable.

[0082] like Figure 5 As shown, Figure 5Here is a rear view of a self-moving device in an example. You can see that there is an insurmountable obstacle in front of the self-moving device along its direction of movement.

[0083] like Figure 6 As shown, Figure 6 Here is a rear view of a self-moving device in an example. You can see that the front of the self-moving device is passable along the direction of movement of the self-moving device.

[0084] Among them, spatial information sensors can be sensors used to collect environmental spatial information, which can acquire height, distance or three-dimensional point cloud data at different locations in the environment, such as visual sensors, lidar or time of flight (TOF) sensors.

[0085] In the specific implementation process, the spatial information sensor collects spatial information within the field of view during the movement of the self-moving device, and determines historical map information based on the spatial information. Accordingly, when the spatial information sensor is a visual sensor, the spatial information is image information; when the spatial information sensor is a lidar sensor or a TOF sensor, the spatial information is point cloud data.

[0086] It is understandable that as the mobile device moves, the historical map information can be continuously updated as the spatial information collected by the spatial information sensor is updated.

[0087] In specific implementation, the self-moving device may also include a memory, which may include an embedded Multi Media Card (eMMC), Dynamic Random-Access Memory (DRAM), etc. This application does not limit the specific hardware type of the memory. Historical map information can be stored in the memory; historical map information can also be stored in a cloud server that communicates with the self-moving device.

[0088] The lifting state includes either the raised state or the retracted state.

[0089] In practice, based on historical map information and real-time location information, the self-moving device can determine whether the ranging component needs to be lowered. For example, if historical map information indicates that there is a low-lying space ahead, allowing the self-moving device to pass only when the ranging component is in a retracted state, then the ranging component will be lowered to avoid a collision.

[0090] In the above embodiments, the lifting and lowering state of the ranging component is intelligently controlled by historical map information and real-time location information. The self-moving device can adapt to environments of different heights without relying on additional distance sensors, avoiding collisions with the ranging component when the self-moving device passes through low spaces, improving the reliability and service life of the device, and enhancing the autonomy and adaptability of the device in complex environments.

[0091] The process of controlling the lifting and lowering state of the ranging component will be described in detail below with reference to the embodiments.

[0092] In some possible implementations of this application, step S402, based on historical map information and real-time location information, controls the lifting and lowering state of the ranging component, and may include: If, based on historical map information and real-time location information, it is detected that there is a low-lying section in the path to be moved by the self-moving device that passes through a low-lying space, the self-moving device is controlled to pass through the low-lying space along the low-lying section while the ranging component is in the retracted state.

[0093] Among them, the passable height of the low-ceilinged space is greater than the first height and less than or equal to the second height, and the low-ceilinged section is the part of the path that passes through the low-ceilinged space in the path to be moved.

[0094] The passable height is the maximum height that the self-moving device can safely pass through on the moving surface. It is the height of the top wall of the low space above the moving surface, which is usually determined by the height characteristics of environmental obstacles.

[0095] In practice, the passable height is determined based on the height difference between the top wall of the space where the self-moving device is located and the moving surface of the self-moving device.

[0096] like Figure 7 As shown, taking the self-moving device 701 moving on the ground as an example, the passable height is determined by the height difference between the surface 702a of the area 702 near the ground 703 and the ground 703 (the height of the ground 703 is 0). The height of the ground 703 is 0, which is determined by the height of the surface 702a, i.e., H shown in the figure.

[0097] like Figure 8 As shown, Figure 8 There is a carpet 802 on the ground 800. The self-moving device 801 moves across the carpet 802, that is, the moving surface is the surface of the carpet 802. At this time, the passable height is determined by the surface 803a of the area 803 close to the carpet 802 and the height difference between the surface 803 and the carpet 802, that is, H shown in the figure.

[0098] The first height is the height of the self-moving device when the ranging component is in the retracted state. When the ranging component is in the retracted state, it can be lowered to below the upper surface of the device body or to a position where its top is flush with the upper surface of the device body. In other words, the first height can be the height of the device body.

[0099] The second height refers to the height of the self-moving device when the ranging component is in the raised state.

[0100] In practice, the passable height of the low-profile space is greater than the first height and less than or equal to the second height. In other words, the self-moving device can pass through the low-profile space when the ranging component is in the retracted state, and the self-moving device cannot be completely in the low-profile space when the ranging component is in the raised state.

[0101] In the specific implementation process, if it is detected that there is a low-lying section in the path to be moved by the self-moving device that passes through a low-lying space, and the ranging component of the self-moving device is already in the retracted state, the self-moving device can be directly controlled to pass through the low-lying space; if the ranging component of the self-moving device is in the raised state, it is necessary to control the ranging component to descend to the retracted state in order to pass through the low-lying space.

[0102] like Figure 9 As shown, the self-moving device 901 passes through the low space 902, where the height H of the low space 902 is greater than the first height h1 and less than the second height h2. Therefore, when the ranging component is in the raised state, it is necessary to control the ranging component to descend to the retracted state in order to pass through the area.

[0103] In the above embodiments, by automatically detecting low-lying spaces and controlling the ranging component to pass through low-lying sections of low-lying spaces in a retracted state, collision damage to the ranging component can be avoided, thereby improving the device's mobility and reliability in confined environments.

[0104] The process of detecting low-ceilinged spaces will be described below with reference to specific examples.

[0105] In some possible implementations of this application, the height information includes at least one of height value and height type.

[0106] The height value is the height of the obstacle at each specific location (e.g., in centimeters or meters), as well as the passable height of the obstacle.

[0107] Among them, the height type is a type label obtained by classifying based on the height value. The height type can include impassable areas and passable areas. Passable areas can be further divided into low-rise spaces and non-low-rise spaces.

[0108] In some possible implementations, if the historical map information only includes the height values ​​corresponding to each location, the passable height value corresponding to the area to be traversed can be compared with the first height and the second height to determine whether the self-moving device can pass.

[0109] like Figure 10 As shown, Figure 10 Here is some historical map information for an example. Figure 10 In the example, the self-moving device moves on the ground. The historical map information contains the passable height values ​​of obstacles in different areas. The maximum height that the spatial information sensor of the self-moving device can detect is 50cm, the first height is 10cm, and the second height is 15cm. It can be seen that areas greater than 15cm are passable areas, and areas of 12cm are low spaces.

[0110] In the above embodiments, when the historical map information contains passable height values ​​for different areas, it is possible to determine more precisely whether passage is possible, supporting more complex decision-making.

[0111] In some other possible implementations, if the historical map information includes altitude type, the accessibility of the mobile device can be determined directly by the altitude type.

[0112] like Figure 11 As shown, Figure 11 Here is some historical map information for an example. Figure 11 In the example, the mobile device moves on the ground, and the historical map information contains the altitude type of different areas. Therefore, it can be determined whether the mobile device can pass through by directly using the altitude type.

[0113] In the above embodiments, when the historical map information contains different regional height types, the height type is determined in advance, which can simplify the judgment process and improve the control efficiency of the self-moving device during its movement.

[0114] In some possible implementations of this application, the method further includes: During the movement of the mobile device, historical map information is updated based on the altitude information corresponding to multiple locations collected by spatial information sensors.

[0115] In the specific implementation process, if the historical map information contains multiple height values, the historical map information can be updated by collecting the height values ​​of each location in real time; if the historical map information contains height types, the corresponding height values ​​of each location can be collected in real time, the height type can be determined, and then the historical map information can be updated based on the height type.

[0116] In the above embodiments, by dynamically updating historical map information, the mobile device can adapt to environmental changes, thereby improving map accuracy and device adaptability.

[0117] The following will describe the specific process of controlling the lifting and lowering state of the ranging component with reference to the embodiments.

[0118] In some possible embodiments of this application, controlling a self-moving device to pass through a low-lying space along a low-lying road section while the ranging component is in a retracted state includes: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through low-lying spaces along low-lying road sections.

[0119] The calibration position is the position coordinate recorded when the edge of the device body reaches a low road section during the movement of the self-moving device, and is used as a reference point to control the descent of the ranging component.

[0120] Among them, the equipment edge is the outer boundary of the equipment body, which usually refers to the front edge of the equipment body in the direction of movement.

[0121] In the specific implementation process, when the front edge of the main body of the device reaches the starting point of the low road section in the direction of movement, the current position is recorded as the calibration position by the positioning system. The self-moving device continues to move and determines the interval distance between the self-moving device and the calibration position based on the real-time position information. When the interval distance reaches the preset threshold, the self-moving device triggers the lifting mechanism to lower the ranging component to the storage state.

[0122] like Figure 12 As shown, Figure 12 This is a top view of a self-moving device in one example of this application. With the ranging component in the raised state, when the front edge 120a of the self-moving device 120 reaches the starting point of the low road section 121 along the direction of movement, the current position is recorded as the calibration position 122. It can be understood that in this example, the position recorded is the center 120b of the main body of the self-moving device 120. The self-moving device continues to move and determines the interval distance between the self-moving device 120 and the calibration position 122 based on the real-time position information. When the interval distance reaches a preset threshold, the self-moving device triggers the lifting mechanism to lower the ranging component to the storage state.

[0123] In the above embodiments, when the ranging component is in the raised state, the corresponding calibration position is recorded when the edge of the self-moving device reaches the low road section. Based on the calibration position and the real-time position information of the self-moving device, the ranging component is controlled to descend to the retracted state. The timing of the descent of the ranging component can be precisely controlled to avoid descent too early or too late. The ranging component can be raised as much as possible while avoiding collision with the top wall of the low space, ensuring that the device passes through the low space smoothly.

[0124] In some possible embodiments of this application, controlling a self-moving device to pass through low-lying spaces along low-lying road sections while the ranging component is in a retracted state may include: (1) If the ranging component is in the raised state, obtain the area of ​​the projection region of the low space on the moving surface; (2) If the area of ​​the projection area is greater than or equal to the preset area threshold, and the edge of the self-moving device reaches the low road section, the ranging component is controlled to descend to the storage state so that the self-moving device passes through the low space along the low road section.

[0125] The preset area threshold can be a pre-set threshold, for example, the preset area threshold can be 0.5 square centimeters.

[0126] In practice, if the area of ​​the projection area is less than the preset area threshold, it can be considered that the low space does not hinder the movement of the self-moving device; if the area of ​​the projection area is greater than or equal to the preset area threshold, it can be considered that the low space hinders the movement of the self-moving device.

[0127] In the specific implementation process, if the area of ​​the projection area is greater than or equal to the preset area threshold, and it is determined that the edge of the self-moving device reaches the low road section, it is not necessary to record the calibration position. The ranging component can be directly controlled to descend to the storage state so that the self-moving device can pass through the low space along the low road section.

[0128] For example, the low space is the space under the bed. If the projected area is greater than 0.5 square centimeters (preset threshold) and the front edge of the self-moving device reaches the under-bed entrance, the ranging component is controlled to descend, allowing the self-moving device to enter the under-bed for cleaning.

[0129] In the above embodiments, the influence of the low space on the movement of the self-moving device is determined by the area of ​​the projection area of ​​the low space. When the area of ​​the projection area is greater than or equal to a preset area threshold and it is determined that the edge of the self-moving device reaches the low road section, the ranging component is directly controlled to descend to the storage state, thereby improving the operating efficiency of the self-moving device.

[0130] The following will describe, with reference to an embodiment, the specific process of determining the edge of the self-moving device to reach the low road section.

[0131] In some possible implementations of this application, the method further includes: Determine the projection area of ​​the low-ceilinged space onto the moving surface; Determine the starting point of the path to be moved within the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

[0132] In the specific implementation process, the intersection of the path to be moved and the projection area can be determined, thus obtaining the starting point of the path to be moved in the projection area.

[0133] In the specific implementation process, the real-time location information of the self-moving device can be detected. When the device projection of the self-moving device on the moving surface reaches the starting point, it can be determined that the edge of the self-moving device has reached the low road section.

[0134] In some possible implementations of this application, controlling the ranging component to descend to a retractable state based on the calibration position and the real-time location information of the self-moving device may include: After detecting that the self-moving device has moved to the calibration position, the distance between the self-moving device and the calibration position is determined based on real-time location information during the movement of the self-moving device. The ranging component descends to its retracted state based on the interval distance control.

[0135] The calibration position can be understood as the position corresponding to when the mobile device begins to prepare for descent of the ranging component.

[0136] In the specific implementation process, after the self-moving device moves to the calibration position, the distance between the self-moving device and the calibration position is determined based on the real-time location information during the movement of the self-moving device. When the distance reaches a certain distance, the ranging component is controlled to descend to the storage state in order to pass through low-profile spaces.

[0137] In the above embodiments, by determining the distance between the self-moving device and the calibrated position based on real-time location information, the timing of the descent of the ranging component is precisely controlled, avoiding the ranging component from descent too early and affecting navigation, or descent too late and causing a collision.

[0138] The following will describe the specific process of the ranging component descending based on the interval distance control, with reference to the embodiments.

[0139] In some possible implementations of this application, the method further includes: (1) Determine the projection area of ​​the low space onto the moving surface; (2) Determine the distance threshold based on the location of the projection area and the setting position of the ranging component on the top of the device body.

[0140] The ranging component, controlled by the interval distance, descends to a retractable state, which may include: If the distance between the points reaches the distance threshold, the ranging component will be controlled to descend into a retracted state.

[0141] The distance threshold is a custom distance value calculated based on the projection area and the setting position of the ranging component, which is used to determine when the ranging component descends.

[0142] Understandably, the distance threshold is used to ensure that the ranging component remains in an upward position as much as possible without colliding with low-ceilinged spaces.

[0143] In some possible embodiments of this application, determining the distance threshold based on the location of the projection area and the placement position of the ranging component on the top of the device body may include: When the mobile device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

[0144] In the specific implementation process, the distance between the component projection and the projection area of ​​the low-ceiling space can be determined, and then a distance threshold can be determined based on the distance between the component projection and the projection area of ​​the low-ceiling space.

[0145] In practice, a distance threshold can be set to be less than the distance between the component projection and the projection area of ​​the low space, leaving a distance for the distance measuring component to be stored, thus preventing the distance measuring component from colliding with the low space.

[0146] For example, if the ranging component is located at the rear of the device body and the starting point of the projection area is 15cm away from the front edge of the device, the distance threshold can be determined to be 12cm, which can include a safety margin; when the interval distance is detected to reach 12cm, the ranging component is controlled to descend to the storage state.

[0147] In the above embodiments, the distance threshold is determined by combining the position of the projection area and the setting position of the ranging component on the top of the device body. When the detected interval distance reaches the distance threshold, the ranging component is controlled to descend to the storage state. The customized distance threshold can adapt to different device structures and environments, improving the flexibility and accuracy of the ranging component control.

[0148] In some possible embodiments of this application, the ranging component is disposed on the top of the device body, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved.

[0149] The ranging component descends to its retracted state based on the interval distance control, including: If the detected interval distance reaches the first threshold, the ranging component is controlled to descend to the storage state.

[0150] The first threshold is half the length of the device body along the direction of movement.

[0151] like Figure 13 As shown, with the forward direction as the X direction, the ranging component is set on the top of the main body of the device, on the side opposite to the forward direction, that is, the ranging component is set on the rear of the top wall of the main body of the device; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved, that is, the boundary of the low space is along the Y direction.

[0152] In the specific implementation process, the first threshold is half the length of the main body of the equipment along the direction of movement. When the interval distance reaches the first threshold, that is, when the center of the main body of the equipment reaches the starting point of the low road section, the ranging component is controlled to descend, which can effectively prevent the ranging component from hitting the low space.

[0153] For example, if the diameter of the self-moving device is 30cm and the first threshold is 15cm, after detecting that the self-moving device has moved to the calibration position and moved 15cm from the calibration position, the ranging component is controlled to descend to ensure that the ranging component is in a retracted state before entering the low space.

[0154] In the above embodiment, when the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved, if the detected interval distance reaches the first threshold, the ranging component is controlled to descend to the storage state. The first threshold is half the length of the main body of the device along the moving direction. This can simplify the calculation process, improve the response speed, and ensure that the ranging component passes through the low space without being bumped.

[0155] In some possible implementations of this application, controlling the lifting and lowering state of the ranging component based on historical map information and real-time location information further includes: If, based on historical map information and real-time location information, it is detected that the self-moving device is in a non-low-profile space, the path to be moved within the preset range of the self-moving device is in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise.

[0156] Among them, the passable height of non-low-ceiling spaces is greater than the third height, and the third height is greater than the second height.

[0157] The second height is the height of the self-moving device when the ranging component is in the raised state. The passable height of non-low-profile spaces is greater than the third height, and the third height is greater than the second height. That is, the self-moving device does not need to control the ranging component to descend to pass through non-low-profile spaces.

[0158] In the specific implementation process, if the self-moving device is detected to be in a non-low space, and the path to be moved within the preset range is also in a non-low space, that is, the self-moving device can keep the ranging component in the rising state in the current and the path to be moved within the preset range, then the ranging component can be controlled to rise.

[0159] The preset range can be a specified range around the self-mobile device, for example, within a 1m range around the self-mobile device.

[0160] In the above embodiments, if it is detected that the self-moving device is in a non-low-profile space, and the path to be moved within the preset range of the self-moving device is in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise, and the ranging component can be automatically raised within a safe space to restore navigation and detection functions.

[0161] In some possible embodiments of this application, a self-moving device is provided. The self-moving device includes a device body, a liftable ranging component is disposed on the top of the device body, and the device body also includes a spatial information sensor. The self-moving device is used for: Obtain real-time location information from the mobile device; Based on historical map information and real-time location information, the lifting and lowering state of the ranging component is controlled, wherein the historical map information includes the location information and height information of the low-ceiling space.

[0162] In some possible embodiments of this application, when the self-moving device controls the lifting state of the ranging component based on historical map information and real-time location information, it is used for: If, based on historical map information and real-time location information, it is detected that there is a low-lying section in the path to be moved by the mobile device that passes through a low-lying space, then, with the ranging component in a retracted state, the device will pass through the low-lying space along the low-lying section. The passable height of the low-ceiling space is greater than the first height and less than or equal to the second height. The first height is the height of the self-moving device when the ranging component is in the retracted state, and the second height is the height of the self-moving device when the ranging component is in the raised state.

[0163] In some possible embodiments of this application, the self-moving device, with the ranging component in a retracted state, traverses low-lying spaces along low-lying road sections for: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retracted state to pass through low-lying spaces along low-lying road sections.

[0164] In some possible embodiments of this application, when the self-moving device, with the ranging component in a retracted state, passes through low-ceilinged spaces along low-ceilinged roads, it is used for: If the ranging component is in the raised state, obtain the area of ​​the projected region of the low space on the moving surface; If the area of ​​the projection area is greater than or equal to the preset area threshold, and the edge of the self-moving device is determined to reach the low road section, the ranging component is controlled to descend to the storage state so as to pass through the low space along the low road section.

[0165] In some possible implementations of this application, the self-moving device is also used for: Determine the projection area of ​​the low-ceilinged space onto the moving surface; Determine the starting point of the path to be moved within the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

[0166] In some possible embodiments of this application, when the self-moving device controls the ranging component to descend based on the calibrated position and the real-time position information of the self-moving device, it is used for: After detecting that the self-moving device has moved to the calibration position, the distance between the self-moving device and the calibration position is determined based on real-time location information during the movement of the self-moving device. The ranging component descends to its retracted state based on the interval distance control.

[0167] In some possible implementations of this application, the self-moving device is also used for: Determine the projection area of ​​the low-ceilinged space onto the moving surface; The distance threshold is determined based on the location of the projection area and the placement of the ranging component on the top of the device body. The ranging component descends to its retracted state based on the interval distance control, including: If the distance between the points reaches the distance threshold, the ranging component will be controlled to descend into a retracted state.

[0168] In some possible embodiments of this application, when the self-moving device determines a distance threshold based on the position of the projection area and the placement position of the ranging component on the top of the device body, it is used for: When the mobile device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

[0169] In some possible embodiments of this application, the ranging component is disposed on the top of the device body, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved; When the self-moving device lowers the ranging component to its retracted state based on interval distance control, it is used for: If the detected interval distance reaches the first threshold, the ranging component is controlled to descend to the storage state; wherein, the first threshold is half the length of the main body of the device along the direction of movement.

[0170] In some possible embodiments of this application, when the self-moving device controls the lifting and lowering state of the ranging component based on historical map information and real-time location information, it is also used for: If, based on historical map information and real-time location information, it is detected that the self-moving device is in a non-low-profile space, the path to be moved within the preset range of the self-moving device is in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. Among them, the passable height of non-low-ceiling spaces is greater than the third height, and the third height is greater than the second height.

[0171] In some possible implementations of this application, the self-moving device is also used for: During the movement of the mobile device, historical map information is updated based on the altitude information corresponding to multiple locations collected by spatial information sensors.

[0172] In some possible implementations of this application, the height information includes at least one of height value and height type.

[0173] The aforementioned self-moving device intelligently controls the lifting and lowering state of the ranging component through historical map information and real-time location information. The self-moving device can adapt to environments of different heights without relying on additional distance sensors, avoiding collisions with the ranging component when passing through low spaces, improving the reliability and service life of the device, and enhancing the device's autonomy and adaptability in complex environments.

[0174] By automatically detecting low-lying spaces and controlling the ranging components to pass through low-lying sections of these spaces while in a retracted state, collision damage to the ranging components can be avoided, improving the equipment's mobility and reliability in confined environments.

[0175] When historical map information includes passable elevation values ​​for different areas, it is possible to determine more precisely whether passage is possible, supporting more complex decision-making.

[0176] When historical map information contains different elevation types for different areas, determining the elevation type in advance can simplify the judgment process during the movement of the self-moving device and improve the control efficiency of the self-moving device.

[0177] By dynamically updating historical map information, mobile devices can adapt to environmental changes, improving map accuracy and device adaptability.

[0178] With the ranging component in the raised state, when the edge of the self-moving device reaches the low-lying section, the corresponding calibration position is recorded. Based on the calibration position and the real-time position information of the self-moving device, the ranging component is controlled to descend to the retracted state. The timing of the descent of the ranging component can be precisely controlled to avoid descent too early or too late. While raising the ranging component as much as possible, it is possible to avoid the ranging component colliding with the top wall of the low-lying space, ensuring that the device passes through the low-lying space smoothly.

[0179] The influence of low-rise spaces on the movement of self-moving equipment is determined by the area of ​​the projection area. When the area of ​​the projection area is greater than or equal to a preset area threshold and it is determined that the edge of the self-moving equipment reaches the low-rise road section, the ranging component is directly controlled to descend to the storage state to improve the operating efficiency of the self-moving equipment.

[0180] By determining the distance between the self-moving device and the calibrated location based on real-time location information, the descent timing of the ranging component is precisely controlled, avoiding premature descent that could affect navigation, or premature descent that could lead to a collision.

[0181] The distance threshold is determined by combining the location of the projection area and the setting position of the ranging component on the top of the device. When the detected interval distance reaches the distance threshold, the ranging component is controlled to descend to the storage state. The customizable distance threshold can adapt to different device structures and environments, improving the flexibility and accuracy of the ranging component control.

[0182] When the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved, if the detected interval distance reaches the first threshold, the ranging component is controlled to descend to the storage state. The first threshold is half the length of the main body of the device along the moving direction. This can simplify the calculation process, improve the response speed, and ensure that the ranging component passes through the low space without being bumped.

[0183] If the self-moving device is detected to be in a non-low-profile space, and the path to be moved within the preset range of the self-moving device is also in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. The ranging component can be automatically raised within a safe space to restore navigation and detection functions.

[0184] In some possible embodiments of this application, a control device 140 for a self-moving device is provided. The self-moving device includes a device body, and a liftable ranging component is disposed on the top of the device body. The device 140 includes: The acquisition module 1401 is used to acquire the real-time location information of the self-moving device; The control module 1402 is used to control the lifting and lowering state of the ranging component based on historical map information and real-time location information. The historical map information includes the location information and height information of the low-lying space.

[0185] In some possible embodiments of this application, when the control module 1402 controls the lifting and lowering state of the ranging component based on historical map information and real-time location information, it is used for: If, based on historical map information and real-time location information, it is detected that there is a low-lying section in the path to be moved by the self-moving device that passes through a low-lying space, the self-moving device is controlled to pass through the low-lying space along the low-lying section while the ranging component is in the retracted state. The passable height of the low-ceiling space is greater than the first height and less than or equal to the second height. The first height is the height of the self-moving device when the ranging component is in the retracted state, and the second height is the height of the self-moving device when the ranging component is in the raised state.

[0186] In some possible embodiments of this application, when the control module 1402 controls the self-moving device to pass through a low-lying space along a low-lying road section while the ranging component is in a retracted state, it is used to: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through low-lying spaces along low-lying road sections.

[0187] In some possible embodiments of this application, when the control module 1402 controls the self-moving device to pass through a low-lying space along a low-lying road section while the ranging component is in a retracted state, it is used to: If the ranging component is in the raised state, obtain the area of ​​the projected region of the low space on the moving surface; If the area of ​​the projection area is greater than or equal to the preset area threshold, and it is determined that the edge of the self-moving device reaches the low road section, the ranging component is controlled to descend to the storage state so that the self-moving device can pass through the low space along the low road section.

[0188] In some possible embodiments of this application, the apparatus further includes a first determining module, configured to: Determine the projection area of ​​the low-ceilinged space onto the moving surface; Determine the starting point of the path to be moved within the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

[0189] In some possible embodiments of this application, when the control module 1402 controls the ranging component to descend to a retracted state based on the calibration position and the real-time position information of the self-moving device, it is used to: After detecting that the self-moving device has moved to the calibration position, during the movement of the self-moving device, the interval distance between the self-moving device and the calibration position is determined based on the real-time location information; The ranging component descends to its retracted state based on the interval distance control.

[0190] In some possible embodiments of this application, the device 140 further includes a second determining module, used for: Determine the projection area of ​​the low-ceilinged space onto the moving surface; The distance threshold is determined based on the location of the projection area and the placement of the ranging component on the top of the device body. When the control module 1402 controls the ranging component to descend to the retracted state based on the interval distance, it is used to: If the distance between the points reaches the distance threshold, the ranging component will be controlled to descend into a retracted state.

[0191] In some possible embodiments of this application, when the second determining module determines the distance threshold based on the position of the projection area and the setting position of the ranging component on the top of the device body, it is used for: When the mobile device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

[0192] In some possible embodiments of this application, the ranging component is disposed on the top of the device body, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved; When the control module 1402 controls the ranging component to descend to the retracted state based on the interval distance, it is used to: If the detected interval distance reaches the first threshold, the ranging component is controlled to descend to the storage state; wherein, the first threshold is half the length of the main body of the device along the direction of movement.

[0193] In some possible embodiments of this application, when controlling the lifting and lowering state of the ranging component based on historical map information and real-time location information, the control module 1402 is also used for: If, based on historical map information and real-time location information, it is detected that the self-moving device is in a non-low-profile space, the path to be moved within the preset range of the self-moving device is in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. Among them, the passable height of non-low-ceiling spaces is greater than the third height, and the third height is greater than the second height.

[0194] In some possible embodiments of this application, the apparatus further includes an updating module for: During the movement of the mobile device, historical map information is updated based on the altitude information corresponding to multiple locations collected by spatial information sensors.

[0195] In some possible implementations of this application, the height information includes at least one of height value and height type.

[0196] The aforementioned control device for the self-moving device intelligently controls the lifting and lowering state of the ranging component using historical map information and real-time location information. The self-moving device can adapt to environments at different heights without relying on additional distance sensors, avoiding collisions with the ranging component when passing through low spaces, improving the reliability and service life of the device, and enhancing the device's autonomy and adaptability in complex environments.

[0197] By automatically detecting low-lying spaces and controlling the ranging components to pass through low-lying sections of these spaces while in a retracted state, collision damage to the ranging components can be avoided, improving the equipment's mobility and reliability in confined environments.

[0198] When historical map information includes passable elevation values ​​for different areas, it is possible to determine more precisely whether passage is possible, supporting more complex decision-making.

[0199] When historical map information contains different elevation types for different areas, determining the elevation type in advance can simplify the judgment process during the movement of the self-moving device and improve the control efficiency of the self-moving device.

[0200] By dynamically updating historical map information, mobile devices can adapt to environmental changes, improving map accuracy and device adaptability.

[0201] With the ranging component in the raised state, when the edge of the self-moving device reaches the low-lying section, the corresponding calibration position is recorded. Based on the calibration position and the real-time position information of the self-moving device, the ranging component is controlled to descend to the retracted state. The timing of the descent of the ranging component can be precisely controlled to avoid descent too early or too late. While raising the ranging component as much as possible, it is possible to avoid the ranging component colliding with the top wall of the low-lying space, ensuring that the device passes through the low-lying space smoothly.

[0202] The influence of low-rise spaces on the movement of self-moving equipment is determined by the area of ​​the projection area. When the area of ​​the projection area is greater than or equal to a preset area threshold and it is determined that the edge of the self-moving equipment reaches the low-rise road section, the ranging component is directly controlled to descend to the storage state to improve the operating efficiency of the self-moving equipment.

[0203] By determining the distance between the self-moving device and the calibrated location based on real-time location information, the timing of the descent of the ranging component can be precisely controlled, avoiding premature descent that could affect navigation, or premature descent that could lead to a collision.

[0204] The distance threshold is determined by combining the location of the projection area and the setting position of the ranging component on the top of the device. When the detected interval distance reaches the distance threshold, the ranging component is controlled to descend to the storage state. The customizable distance threshold can adapt to different device structures and environments, improving the flexibility and accuracy of the ranging component control.

[0205] When the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved, if the detected interval distance reaches the first threshold, the ranging component is controlled to descend to the storage state. The first threshold is half the length of the main body of the device along the moving direction. This can simplify the calculation process, improve the response speed, and ensure that the ranging component passes through the low space without being bumped.

[0206] If the self-moving device is detected to be in a non-low-profile space, and the path to be moved within the preset range of the self-moving device is also in a non-low-profile space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. The ranging component can be automatically raised within a safe space to restore navigation and detection functions.

[0207] In one alternative embodiment, an electronic device is provided, such as Figure 15 As shown, Figure 15 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this application.

[0208] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0209] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 15 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0210] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0211] The memory 4003 stores computer programs that execute embodiments of this application, and its execution is controlled by the processor 4001. The processor 4001 executes the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0212] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments.

[0213] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0214] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0215] The above are only optional implementation methods for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A control method for a self-moving device, characterized in that, The self-moving device includes a main body, and a height-adjustable ranging component is disposed on the top of the main body. The method includes: Obtain the real-time location information of the self-moving device; Based on historical map information and the real-time location information, the lifting and lowering state of the ranging component is controlled; wherein, the historical map information includes the location information and height information of the low-ceiling space.

2. The method according to claim 1, characterized in that, The control of the lifting and lowering state of the ranging component based on historical map information and real-time location information includes: If, based on the historical map information and the real-time location information, it is detected that there is a low-lying section in the path to be moved by the self-moving device that passes through a low-lying space, the self-moving device is controlled to pass through the low-lying space along the low-lying section while the ranging component is in the retracted state. Wherein, the passable height of the low-ceiling space is greater than the first height and less than or equal to the second height, the first height is the height of the self-moving device when the ranging component is in the retracted state, and the second height is the height of the self-moving device when the ranging component is in the raised state.

3. The method according to claim 2, characterized in that, Controlling the self-moving device to pass through the low-lying space along the low-lying road section when the ranging component is in the retracted state includes: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through the low-lying space along the low-lying road section.

4. The method according to claim 2, characterized in that, Controlling the self-moving device to pass through the low-lying space along the low-lying road section when the ranging component is in the retracted state includes: If the ranging component is in the raised state, obtain the area of ​​the projected region of the low-profile space on the moving surface of the self-moving device; If the area of ​​the projection region is greater than or equal to a preset area threshold, and it is determined that the edge of the self-moving device reaches the low road section, the ranging component is controlled to descend to a retractable state so that the self-moving device can pass through the low space along the low road section.

5. The method according to claim 3 or 4, characterized in that, The method further includes: Determine the projection area of ​​the low-profile space onto the moving surface; Determine the starting point of the path to be moved in the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

6. The method according to claim 3, characterized in that, The step of controlling the ranging component to descend to a retractable state based on the calibrated position and the real-time position information of the self-moving device includes: After detecting that the self-moving device has moved to the calibration position, during the movement of the self-moving device, the interval distance between the self-moving device and the calibration position is determined based on the real-time location information; The ranging component is controlled to descend to a retracted state based on the specified interval distance.

7. The method according to claim 6, characterized in that, The method further includes: Determine the projection area of ​​the low-profile space onto the moving surface of the self-moving device; Based on the location of the projection area and the placement position of the ranging component on the top of the device body, a distance threshold is determined; The step of controlling the ranging component to descend to a retracted state based on the interval distance includes: If the interval distance reaches the distance threshold, the ranging component is controlled to descend to a retracted state.

8. The method according to claim 7, characterized in that, Determining the distance threshold based on the position of the projection area and the placement position of the ranging component on the top of the device body includes: When the self-moving device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

9. The method according to claim 6, characterized in that, The ranging component is located on the top of the main body of the device, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved. Controlling the ranging component to descend to a retracted state based on the interval distance includes: If the interval distance is detected to reach a first threshold, the ranging component is controlled to descend to a retracted state; wherein, the first threshold is half the length of the device body along the direction of movement.

10. The method according to claim 2, characterized in that, The method of controlling the lifting and lowering state of the ranging component based on historical map information and real-time location information further includes: If, based on the historical map information and the real-time location information, it is detected that the self-moving device is in a non-low space, the path to be moved within the preset range of the self-moving device is in a non-low space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. Wherein, the passable height of the non-low-ceiling space is greater than the third height, and the third height is greater than the second height.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: During the movement of the self-moving device, the historical map information is updated based on the altitude information corresponding to multiple locations collected by the spatial information sensor.

12. The method according to any one of claims 1 to 10, characterized in that, The altitude information includes at least one of altitude value and altitude type.

13. A control device for a self-moving device, characterized in that, The self-moving device includes a main body, a liftable ranging component is disposed on the top of the main body, and the main body also includes a spatial information sensor. The device includes: The acquisition module is used to acquire the real-time location information of the self-moving device; The control module is used to control the lifting and lowering state of the ranging component based on historical map information and the real-time location information, wherein the historical map information includes the location information and height information of the low-lying space.

14. The self-moving device according to claim 13, characterized in that, When the control module controls the lifting and lowering state of the ranging component based on historical map information and the real-time location information, it is used to: If, based on the historical map information and the real-time location information, it is detected that there is a low-lying section in the path to be moved by the mobile device that passes through a low-lying space, then, with the ranging component in a retracted state, the mobile device passes through the low-lying space along the low-lying section. Wherein, the passable height of the low-ceiling space is greater than the first height and less than or equal to the second height, the first height is the height of the self-moving device when the ranging component is in the retracted state, and the second height is the height of the self-moving device when the ranging component is in the raised state.

15. The self-moving device according to claim 14, characterized in that, When the ranging component is in its retracted state, the control module, traversing the low-lying space along the low-lying road section, is used for: If the ranging component is in the raised state, and it is determined that the edge of the self-moving device reaches the low road section, the corresponding calibration position is recorded; Based on the calibrated location and the real-time location information of the self-moving device, the ranging component is controlled to descend to a retracted state so as to pass through the low-lying space along the low road section.

16. The self-moving device according to claim 14, characterized in that, When the ranging component is in its retracted state and the system passes through the low-ceilinged space along the low-ceilinged road section, the control module is used to: If the ranging component is in the raised state, obtain the area of ​​the projected region of the low space on the moving surface; If the area of ​​the projection region is greater than or equal to a preset area threshold, and it is determined that the edge of the self-moving device has reached the low road section, the ranging component is controlled to descend to a retracted state so as to pass through the low space along the low road section.

17. The self-moving device according to claim 15 or 16, characterized in that, The device is also used for: Determine the projection area of ​​the low-profile space onto the moving surface of the self-moving device; Determine the starting point of the path to be moved in the projection area; If the device projection of the self-moving device on the moving surface is detected to reach the starting point, it is determined that the edge of the self-moving device has reached the low road section.

18. The self-moving device according to claim 15, characterized in that, When the control module controls the ranging component to descend based on the calibrated position and the real-time position information of the self-moving device, it is used to: After detecting that the self-moving device has moved to the calibration position, during the movement of the self-moving device, the interval distance between the self-moving device and the calibration position is determined based on the real-time location information; The ranging component is controlled to descend to a retracted state based on the specified interval distance.

19. The self-moving device according to claim 18, characterized in that, The control module is also used for: Determine the projection area of ​​the low-profile space onto the moving surface; Based on the location of the projection area and the placement position of the ranging component on the top of the device body, a distance threshold is determined; When the control module controls the ranging component to descend to the retracted state based on the interval distance, it is used for: If the interval distance reaches the distance threshold, the ranging component is controlled to descend to a retracted state.

20. The self-moving device according to claim 19, characterized in that, When determining a distance threshold based on the position of the projection area and the placement position of the ranging component on the top of the device body, the control module is used to: When the self-moving device moves to the calibration position, the position of the component projection of the ranging component on the moving surface is determined based on the set position; The distance threshold is determined based on the position of the component projection and the position of the projection area.

21. The self-moving device according to claim 18, characterized in that, The ranging component is located on the top of the main body of the device, on the side opposite to the direction of travel; the boundary of the projection area of ​​the low space on the moving surface is perpendicular to the path to be moved. When the control module controls the ranging component to descend to the retracted state based on the interval distance, it is used for: If the interval distance is detected to reach a first threshold, the ranging component is controlled to descend to a retracted state; wherein, the first threshold is half the length of the device body along the direction of movement.

22. The self-moving device according to claim 14, characterized in that, When the control module controls the lifting and lowering state of the ranging component based on historical map information and the real-time location information, it is also used for: If, based on the historical map information and the real-time location information, it is detected that the self-moving device is in a non-low space, the path to be moved within the preset range of the self-moving device is in a non-low space, and the ranging component is in a retracted state, then the ranging component is controlled to rise. Wherein, the passable height of the non-low-ceiling space is greater than the third height, and the third height is greater than the second height.

23. The self-moving device according to any one of claims 13 to 22, characterized in that, The control module is also used for: During the movement of the self-moving device, the historical map information is updated based on the altitude information corresponding to multiple locations collected by the spatial information sensor.

24. The self-moving device according to any one of claims 13 to 22, characterized in that, The altitude information includes at least one of altitude value and altitude type.

25. A self-moving device, characterized in that, The device includes a main body, on the top of which is a liftable ranging component. The main body also includes a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method according to any one of claims 1-12.

26. 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 steps of the method according to any one of claims 1-12.

27. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-12.

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