Self-propelled device control method, device, electronic device, and readable storage medium

Abstract

This application discloses a method, device, electronic device and readable storage medium for controlling a self-propelled device, which relates to the technical field of device control, and controls the swing width of the self-propelled device by dynamically adjusting the linear velocity or angular velocity when moving towards a fixed pile, so that the self-propelled device is accurately aligned with the pile, the pile climbing efficiency and pile climbing success rate are improved, and the pile return stability is good. The method includes: determining a fixed pile position during the pile return process, moving towards the fixed pile position, statistically calculating the distance information between the current position and the fixed pile position, calculating the device moving speed that is compatible with the distance information, and moving towards the fixed pile position according to the device moving speed, where the device moving speed includes the linear velocity or angular velocity of the self-propelled device.

Description

[Technical field]

[0001] (Related Applications) This application claims priority to Chinese patent application No. 202210004272.3, filed on January 4, 2022, the entire disclosure of which is incorporated herein by reference as part of this application.

[0002] The present application relates to the technical field of device control, and in particular to a control method, device, electronic device and readable storage medium for a self-propelled device. [Background technology]

[0003] A self-propelled device is a device that can move automatically under program control, such as a self-propelled device for sweeping, a self-propelled device for mopping, a self-propelled device for cleaning windows, etc. The self-propelled device can receive control commands from a user and perform a task in response to the control command. After completing a task, or after receiving a command from a user to return to the pile, or when the power is low, the self-propelled device automatically returns to the charging pile for charging or maintenance (e.g., dust collection, cleaning the mopping cloth, etc.).

[0004] In the related art, in the process of returning to the pile, in order to ensure the success rate of climbing the pile, it is necessary to charge the pile in a forward or backward direction after a certain distance from the pile, and align with the pile at the center of the pile. When the predetermined position switch of the pile is triggered, it means that the mobile terminal has successfully returned to the pile, and starts charging or other functions. Therefore, how to trigger the predetermined position switch accurately and stably has become an urgent problem to be solved. Summary of the Invention

[0005] According to a first aspect of the present application, there is provided a method for controlling a self-propelled device, the method comprising: determining a fixed pile position during a pile return process and moving toward the fixed pile position; Statistical calculation of distance information between a current position and the fixed pile position; calculating a machine travel speed that matches the distance information; and moving toward the fixed pile location according to the machine travel speed, the machine travel speed including a linear or angular velocity of the self-propelled machine.

[0006] According to a second aspect of the present application, there is provided a control device for a self-propelled device, the control device comprising: a moving module used to determine a fixed pile position during a pile return process and to move towards said fixed pile position; a statistics module used for stating distance information between a current position and the fixed pile position; a calculation module used to calculate a device movement speed that matches the distance information; The moving module is further used to move towards the fixed pile location according to the machine moving speed, the machine moving speed being a linear or angular velocity of the self-propelled machine.

[0007] According to a third aspect of the present application, there is provided an electronic device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program causing the electronic device to perform the steps of the method according to any one of the first aspects above.

[0008] According to a fourth aspect of the present application there is provided a readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any one of the first aspects above.

[0009] The above description is only an outline of the technical solution of the present application, in order to more clearly understand the technical means of the present application, and in order to make the above and other objectives, features and advantages of the present application more obvious and easily understood, specific embodiments of the present application are specifically cited hereinafter.

[0010] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are used only for the purpose of illustrating the preferred embodiments and are not intended to limit the present application. The same reference numerals refer to the same elements throughout the accompanying drawings. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing the flow of a control method for a self-propelled device provided by an embodiment of the present application; [Diagram 2] FIG. 1 is a schematic diagram showing the flow of a control method for a self-propelled device provided by an embodiment of the present application; [Diagram 3] FIG. 1 is a schematic diagram showing the structure of a control device for a self-propelled device provided by an embodiment of the present application; [Figure 4] FIG. 1 is a schematic diagram showing the structure of a control device for a self-propelled device provided by an embodiment of the present application; [Diagram 5] FIG. 1 is a schematic diagram showing the device structure of an electronic device provided by an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application can be implemented in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more complete understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0013] The present application provides a control method, device, electronic device and readable storage medium for a self-propelled device, which can solve the problems of low pile return stability and low pile climbing success rate of existing self-propelled devices.

[0014] Since the process of the self-propelled device returning to the pile at the rear relies on the triggering of the rear predetermined position switch, in order to stabilize the pile return, a limiting groove is often provided on the fixed pile such as the cleaning pile or the charging pile, and the tail of the self-propelled device is fixed by the limiting groove.

[0015] Due to the existence of the limiting groove, the software of the self-propelled device such as the sweeping robot, the mopping robot, etc. needs to be adapted accordingly, i.e., when approaching the limiting groove, the tail of the self-propelled device will swing and track according to the narrowing signal (i.e., swing left and right to perform pile return operation). If the linear or angular velocity of the self-propelled device traveling is relatively large, the tail of the self-propelled device may deviate from the limiting groove and fail to return to the pile, and it needs to perform the pile return operation again after leaving the pile; conversely, if it is relatively small, the self-propelled device needs to spend a lot of time to find the position of the limiting groove, and the pile climbing efficiency is relatively low. Therefore, in order to allow the tail of the self-propelled device to efficiently and accurately enter the limit groove and trigger the predetermined position switch, this embodiment provides a control method for a self-propelled device, which, when performing the pile return operation, determines a fixed pile position, moves toward the fixed pile position, calculates the distance information between the current position and the fixed pile position, calculates the linear velocity or angular velocity that matches the distance information as the device moving speed, moves toward the fixed pile position according to the device moving speed, and reduces the linear velocity or angular velocity of the self-propelled device according to the distance to the fixed pile, and dynamically adjusts the linear velocity or angular velocity to control the moving speed and swing width of the self-propelled device, so that the self-propelled device is accurately positioned on the pile, improves the pile climbing efficiency and pile climbing success rate, and has good pile return stability.

[0016] An embodiment of the present application provides a control method for a self-propelled device, as shown in FIG. 1, the method includes the following steps:

[0017] 101, determine a fixed pile position during the pile return process, and move toward the fixed pile position.

[0018] Here, a data link exists between the self-propelled device and a terminal held by a user, and the user can operate the terminal to give the self-propelled device movement control commands such as starting sweeping, charging, returning to the pile, etc., so that the user's hands are free. Therefore, in normal work, the self-propelled device receives movement control commands from the terminal to control the self-propelled device to perform pile climbing operations such as returning to the fixed pile, charging, and returning to the pile for cleaning, and the self-propelled device determines the position of the fixed pile and moves toward the position of the fixed pile in response to the movement control command. Note that after completing the corresponding work, the self-propelled device automatically returns to the fixed pile to perform the operations of charging, dust collection, and return cleaning, and at this time, it is necessary to determine the position of the fixed pile and then move toward the position of the fixed pile. Therefore, the pile return operation of the self-propelled device may be an active operation or a passive operation, and is not specifically limited in this application.

[0019] The fixed pile position is the current position of the fixed pile, and the fixed pile may be a charging pile for charging the self-propelled device, or a cleaning pile for cleaning and maintenance of the self-propelled device, or may have any one or any combination of functions of supplying clean water to the self-propelled device, collecting dust, cleaning the cleaning member on the self-propelled device, and storing wastewater from the self-propelled device, or may be a pile with both charging and cleaning maintenance functions. In this application, the specific functions of the fixed pile are not limited.

[0020] 102, when a pile return signal is detected, the distance information between the current position and the fixed pile position is statistically calculated.

[0021] In this embodiment, when the self-propelled device determines that it needs to start a pile return operation, it first moves toward the fixed pile according to the previously saved position of the fixed pile in the map. When the self-propelled device detects that it is within the pile return signal coverage range of the fixed pile (i.e., when it detects the pile return signal), that is, when it detects that it is located in the fixed pile area, it determines an offset to its own fixed pile center position from the pile return signal, controls it to move to a position where it is aligned with the center position of the fixed pile according to the offset (i.e., moves directly in front of the fixed pile), and measures its own distance to the fixed pile by the distance measuring device.

[0022] Here, the present application reduces the linear or angular velocity of the self-propelled device based on the distance from the fixed pile, dynamically adjusts the linear or angular velocity, and controls the swing width of the self-propelled device, so that the self-propelled device continuously collects the distance information between the current position and the fixed pile position, and determines the device movement speed according to the collected distance information. The distance information may be the straight-line distance between the current position and the fixed pile position, to avoid the obstacle between the self-propelled device and the fixed pile from interfering with the speed adjustment of the self-propelled device.

[0023] 103, calculate the device moving speed that matches the distance information, and move toward the fixed pile position according to the device moving speed.

[0024] Here, after the distance information is determined, it is necessary to calculate the device movement speed that is compatible with the distance information, and move toward the fixed pile position according to the device movement speed. Specifically, the calculated device movement speed is a speed that is compatible with the distance information, and the device movement speed decreases as the distance information decreases. That is, the closer the distance between the self-propelled device and the fixed pile, the smaller the device movement speed of the self-propelled device will be, so as to ensure the accuracy of the pile positioning of the self-propelled device.

[0025] Furthermore, the device moving speed can include the linear speed or angular speed of the self-propelled device, and the swing width of the self-propelled device can be controlled by dynamically adjusting the linear speed or angular speed, and the closer the distance between the self-propelled device and the fixed pile, the smaller the swing width, so as to avoid the self-propelled device swinging into the outer surface of the limiting groove or losing the signal.

[0026] The method provided by the embodiments of the present application calculates, based on the distance information between the current position and the fixed pile position, a linear velocity or angular velocity that conforms to the distance information as the device moving speed, moves toward the fixed pile position according to the device moving speed, and reduces the linear velocity or angular velocity of the self-propelled device based on the distance from the fixed pile, and controls the swing width of the self-propelled device by dynamically adjusting the linear velocity or angular velocity, so that the self-propelled device is accurately aligned with the pile, the pile climbing efficiency and the pile climbing success rate are improved, and the pile return stability is good.

[0027] Furthermore, as a refinement and extension of the specific embodiment of the above example, in order to fully describe the specific implementation process of this example, the example of the present application provides another control method for a self-propelled device, as shown in FIG. 2, the method includes the following steps:

[0028] 201, during the pile return process, collect at least one fixed pile signal.

[0029] In the embodiment of the present application, the self-propelled device returns to the fixed pile for pile climbing operations such as charging and return cleaning, and the self-propelled device needs to collect at least one fixed pile signal within a preset collection range during the pile return process, and then determines the current fixed pile placement position according to the strength of the fixed pile signal and moves toward the position. Here, the at least one fixed pile signal is a signal broadcast from the fixed pile to the outside, and may be specifically a pile return signal, etc. Since the pile return signal range emitted from the fixed pile is limited, after the self-propelled device collects the pile return signal, which means that it has entered the area where the fixed pile is located, it can move according to the instruction of the fixed pile signal.

[0030] 202, determine a signal source of the at least one fixed pile signal according to a signal strength of the at least one fixed pile signal, use the position indicated by the signal source as a fixed pile position, and move toward the fixed pile position.

[0031] In the embodiment of the present application, when the self-propelled device moves into the fixed pile signal coverage range, it continuously receives the fixed pile signal, the closer to the fixed pile, the stronger the intensity of the fixed pile signal, and the farther from the fixed pile, the weaker the intensity of the fixed pile signal. Therefore, after receiving at least one fixed pile signal, the self-propelled device can determine the signal source of the at least one fixed pile signal according to the signal intensity of the at least one fixed pile signal, and use the position indicated by the signal source as the fixed pile position, the fixed pile position is the current position of the fixed pile, and the self-propelled device moves towards the fixed pile position.

[0032] 203, obtain a specified fixed pile signal collected at the current location, identify a specified signal strength of the specified fixed pile signal, search for a transmission distance corresponding to the specified signal strength, and use the transmission distance as distance information between the current location and the fixed pile location.

[0033] In the embodiment of the present application, the present application mainly adjusts the device moving speed according to the distance between the self-propelled device and the fixed pile, so the self-propelled device obtains the designated fixed pile signal collected at the current position, and identifies the designated signal strength of the designated fixed pile signal. The designated signal strength indicates the distance between the current position of the self-propelled device and the fixed pile, and since there is a correlation between the signal strength and the distance, the self-propelled device searches for the transmission distance corresponding to the designated signal strength, and uses the transmission distance as the distance information between the current position and the fixed pile position, and later adjusts the speed according to the distance information to improve the pile climbing efficiency.

[0034] 204, obtain a distance threshold, compare the distance information with the distance threshold, and if the distance information is greater than the distance threshold, execute the above step 203 repeatedly; if the distance information is less than or equal to the distance threshold, execute the following step 205.

[0035] In the embodiment of the present application, considering that there is no significant meaning in adjusting the speed when the self-propelled device is far from the fixed pile, the speed when the self-propelled device is close to the fixed pile can truly determine whether the self-propelled device can accurately climb the pile. Therefore, a distance threshold is set, and the timing when the self-propelled device adjusts the speed from the distance between the fixed piles based on the distance threshold is controlled, that is, the distance threshold is obtained, and the distance information is compared with the distance threshold. Correspondingly, if the distance information is greater than the distance threshold, it means that the self-propelled device is far from the fixed pile and there is no need to adjust the speed, but it is necessary to continuously statistically collect the distance information in real time and compare the real-time statistical distance information with the distance threshold, so the above step 203 is repeatedly performed; if the distance information is less than or equal to the distance threshold, it indicates that the self-propelled device is near the fixed pile, and the speed of the self-propelled device needs to be adjusted to accurately position the pile, so the following step 205 is performed.

[0036] In actual application, the distance threshold may be 20 cm, 30 cm, etc., and in order to improve the pile climbing accuracy of the self-propelled device, the distance threshold may be appropriately increased, and this application does not limit the specific value of the distance threshold.

[0037] 205, if the distance information is less than or equal to the distance threshold, calculate a device moving speed that matches the distance information, and move toward the fixed pile position according to the device moving speed.

[0038] In the embodiment of the present application, if the distance information is equal to or less than the distance threshold, it indicates that the self-propelled device is located near the fixed pile, and it is necessary to start adjusting the speed of the self-propelled device to accurately position it on the pile, so calculate the device movement speed that matches the distance information, and move toward the fixed pile position according to the device movement speed. In one alternative embodiment, the device movement speed is calculated using any one of the following three methods:

[0039] The first method is to obtain the current device speed of the self-propelled device, determine the preset speed calculation parameters, calculate the distance information and the current device speed according to the preset speed calculation parameters, and use the obtained calculation result as the device moving speed that matches the distance information. Here, the preset speed calculation parameters indicate a strategy for reducing and adjusting the current device speed according to the distance information, that is, under the premise that the current distance information is determined according to the preset speed calculation parameters, the self-propelled device should increase or decrease the angular velocity or linear velocity to ensure accurate pile climbing. In the actual application process, an algorithm such as a linear function or an exponential function is set, and the distance information and the current device speed are calculated according to the preset speed calculation parameters by referring to the preset algorithm to obtain the device moving speed.

[0040] Second method: determine a preset speed adjustment formula, input the current device speed and distance information into the preset speed adjustment formula to perform calculation, and use the obtained calculation result as the device moving speed that matches the distance information. Here, the preset speed adjustment formula indicates a linear or nonlinear adjustment relationship between the distance information and the current device speed, specifically, the preset speed adjustment formula may be a linear formula of Z=X-0.5Y, Z indicates the device moving speed, X indicates the current device speed, and Y indicates the distance information, in this way, input the values ​​of X and Y into the formula to obtain the value of Z, and move toward the fixed pile according to the value of Z. Note that the above formula is merely an example, and in the actual application process, the preset speed adjustment formula may be a formula that is nonlinear, such as an exponential function or a logarithmic function, and can increase or decrease the current device speed with the increase or decrease of the distance information, and the specific content of the preset speed adjustment formula is not limited in this application.

[0041] The third method is to first obtain a preset correlation, the preset correlation includes a plurality of sample distance sections and a sample device speed corresponding to each sample distance section in the plurality of sample distance sections, and the preset correlation may be generated by performing a pile climbing process of the self-propelled device multiple times. That is, a plurality of sample distance sections are set in advance, the pile climbing process of the self-propelled device is performed multiple times, and an appropriate angular velocity or linear velocity value corresponding to each sample distance section among the plurality of sample distance sections is recorded in each pile climbing process, and finally, an appropriate angular velocity or linear velocity is obtained in the pile climbing process multiple times for each sample distance section, and an average value of the angular velocity or linear velocity corresponding to the sample distance section is calculated, and the average value is used as the sample device speed corresponding to the sample distance section. In this way, in the actual application process, a target sample distance section corresponding to the distance information is searched in the plurality of sample distance sections, a target sample device speed corresponding to the target sample distance section is determined in the preset correlation, and the target sample device speed is used as the device moving speed that matches the distance information. According to the third method, the optimal device moving speed corresponding to each distance is determined by using a sample experiment method, and the self-propelled device is directly controlled according to the predetermined optimal device moving speed to move toward the fixed pile, so that there is no need to calculate the speed in real time, and the calculation burden of the self-propelled device can be reduced.

[0042] In this way, by carrying out the above process of steps 201 to 205, the pile return speed can be dynamically adjusted to ensure the pile return stability of the self-propelled device and the success rate of climbing the pile. Note that the above description of steps 201 to 205 is a process of dynamically adjusting the device movement speed only once, and in the actual application process, the self-propelled device continuously or periodically (for example, adjusts the speed every 2 seconds) statistics the distance information between the current position and the fixed pile position in real time, continuously calculates the device movement speed that matches the distance information, and moves toward the fixed pile position according to the device movement speed, and the tail of the self-propelled device enters the limiting groove of the fixed pile and starts charging or washing until the tail of the self-propelled device triggers the predetermined position switch or receives an electrification signal.

[0043] The method provided by the embodiment of the present application uses the distance information from the fixed pile during the pile return process to calculate the linear velocity or angular velocity that matches the distance information as the device moving speed, moves toward the fixed pile position according to the device moving speed, and reduces the linear velocity or angular velocity of the self-propelled device according to the distance from the fixed pile, and controls the swing width of the self-propelled device by dynamically adjusting the linear velocity or angular velocity, so that the self-propelled device is accurately aligned with the pile, the pile climbing efficiency and the pile climbing success rate are improved, and the pile return stability is good.

[0044] Furthermore, as a specific embodiment of the method described in FIG. 1 , an embodiment of the present application provides a control device for a self-propelled device, which includes a movement module 301, a statistics module 302, and a calculation module 303, as shown in FIG.

[0045] The moving module 301 is used to determine a fixed pile position during the pile return process and move toward the fixed pile position; The statistics module 302 is used to calculate the distance information between the current position and the fixed pile position; The calculation module 303 is used to calculate a device movement speed that matches the distance information; The moving module 301 is further used to move towards the fixed pile location according to the device moving speed, which is the linear or angular velocity of the self-propelled device.

[0046] In a specific application scenario, the moving module 301 is used to collect at least one fixed pile signal, determine a signal source of the at least one fixed pile signal according to the signal strength of the at least one fixed pile signal, use the position indicated by the signal source as the fixed pile position, and move toward the fixed pile position.

[0047] In a specific application scenario, the statistics module 302 is used to obtain a designated fixed pile signal collected at the current location, identify a designated signal strength of the designated fixed pile signal, retrieve a transmission distance corresponding to the designated signal strength, and use the transmission distance as distance information between the current location and the fixed pile location.

[0048] In a specific application scenario, as shown in FIG.

[0049] The acquiring module 401 is used to acquire a distance threshold and compare the distance information with the distance threshold; The statistics module 302 is further used for continuously stating distance information in real time, when the distance information is greater than the distance threshold, and comparing the real-time statistic distance information with the distance threshold; The calculation module 303 is further used to calculate a device moving speed that matches the distance information when the distance information is less than or equal to the distance threshold, and move toward the fixed pile position according to the device moving speed.

[0050] In a specific application scenario, the calculation module 303 obtains the current device speed of the self-propelled device, determines preset speed calculation parameters, calculates the distance information and the current device speed according to the preset speed calculation parameters, and uses the obtained calculation result as the device moving speed suitable for the distance information, where the current device speed is the current angular velocity or linear velocity of the self-propelled device, and the preset speed calculation parameters indicate a strategy for reducing and adjusting the current device speed according to the distance information; or determines a preset speed adjustment formula, inputs the current device speed and the distance information into the preset speed adjustment formula to calculate, and uses the obtained calculation result as the device moving speed suitable for the distance information, and the preset speed adjustment formula is used to indicate a linear or nonlinear adjustment relationship between the distance information and the current device speed.

[0051] In a specific application scenario, the calculation module 303 obtains a preset association relationship, which includes a plurality of sample distance intervals and a sample device speed corresponding to each sample distance interval in the plurality of sample distance intervals, queries a target sample distance interval corresponding to the distance information in the plurality of sample distance intervals, determines a target sample device speed corresponding to the target sample distance interval in the preset association relationship, and uses the target sample device speed as a device moving speed conforming to the distance information.

[0052] In a specific application scenario, the statistics module 302 is further used to continuously or periodically collect statistics on the distance information between the current position and the fixed pile position in real time, continuously calculate an equipment moving speed that matches the distance information, and move toward the fixed pile position according to the equipment moving speed until a predetermined position switch is triggered or an energizing signal is received.

[0053] The device provided in the embodiment of the present application uses the distance information from the fixed pile during the pile return process to calculate the linear velocity or angular velocity that matches the distance information as the device moving speed, moves toward the fixed pile position according to the device moving speed, and uses the distance from the fixed pile to reduce the linear velocity or angular velocity of the self-propelled device, and controls the swing width of the self-propelled device by dynamically adjusting the linear velocity or angular velocity, so that the self-propelled device is accurately aligned with the pile, and the pile climbing efficiency and pile climbing success rate are improved, and the pile return stability is good.

[0054] For other corresponding explanations of each functional unit of the control device for a self-propelled device provided by the embodiment of the present application, refer to the corresponding explanations of Figures 1 and 2, and they will not be repeated here.

[0055] In an exemplary embodiment, referring to Fig. 5, an electronic device is further provided, the electronic device includes a bus, a processor, a memory and a communication interface, and may further include an input / output interface and a display device, where each functional unit can achieve mutual communication through the bus. A computer program is stored in the memory, and the processor executes the program stored in the memory to execute the control method for the self-propelled device of the above embodiment.

[0056] The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps of the method for controlling a self-propelled device.

[0057] From the above description of the embodiments, it is obvious to those skilled in the art that the present application can be realized by hardware, software and a required general-purpose hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which is stored in a non-volatile storage medium (such as a CD-ROM, a USB disk, a removable hard disk, etc.) and contains a number of instructions to make a computer device (such as a personal computer, a server, or a network device) execute the methods described in each embodiment of the present application.

[0058] It is obvious to those skilled in the art that the attached drawings are only schematic diagrams of preferred embodiments, and the modules or flows in the attached drawings are not necessarily required to practice the present application.

[0059] Those skilled in the art will recognize that the modules of the devices in the embodiments may be distributed in the devices of the embodiments according to the description of the embodiments, or may be distributed in one or more devices different from the present embodiment with corresponding changes. The modules of the above embodiments may be integrated into one module, or may be further divided into multiple sub-modules.

[0060] The numbers in the above application are for illustrative purposes only and do not indicate the merits of the embodiments.

[0061] According to some embodiments of the present application, determining a fixed pile position during the pile return process and moving toward the fixed pile position includes: acquiring at least one fixed pile signal; determining a signal source of the at least one fixed pile signal according to a signal strength of the at least one fixed pile signal; using the location indicated by the signal source as the fixed pile location and moving toward the fixed pile location.

[0062] According to some embodiments of the present application, the step of collecting distance information between the current position and the fixed pile position includes: When the self-propelled device moves within a pile return signal range from the fixed pile, the self-propelled device measures its own distance to the fixed pile with a distance measuring device.

[0063] According to some embodiments of the present application, the step of collecting distance information between the current position and the fixed pile position includes: obtaining a designated fixed pile signal collected at the current location and identifying a designated signal strength of the designated fixed pile signal; and searching for a transmission distance corresponding to the specified signal strength, and using the transmission distance as distance information between the current position and the fixed pile position.

[0064] According to some embodiments of the present application, after stating the distance information between the current position and the fixed pile position, the method includes: obtaining a distance threshold and comparing the distance information with the distance threshold; If the distance information is greater than the distance threshold, continuously stating the distance information in real time, and comparing the real-time statisticized distance information with the distance threshold; If the distance information is less than or equal to the distance threshold, the method further includes calculating a device movement speed that matches the distance information, and moving toward the fixed pile position according to the device movement speed.

[0065] According to some embodiments of the present application, calculating a device movement speed corresponding to the distance information includes: Obtain a current device speed of the self-propelled device, determine a preset speed calculation parameter, calculate the distance information and the current device speed according to the preset speed calculation parameter, and use the obtained calculation result as a device moving speed that matches the distance information, where the current device speed is a current angular velocity or linear velocity of the self-propelled device, and the preset speed calculation parameter indicates a strategy for reducing and adjusting the current device speed according to the distance information; or determining a preset speed adjustment formula, inputting the current device speed and the distance information into the preset speed adjustment formula to perform calculations, and using the obtained calculation result as a device moving speed that matches the distance information, wherein the preset speed adjustment formula indicates a linear or nonlinear adjustment relationship between the distance information and the current device speed.

[0066] According to some embodiments of the present application, calculating a device movement speed corresponding to the distance information includes: obtaining a predetermined association relationship, the predetermined association relationship including a plurality of sample distance intervals and a sample device velocity corresponding to each sample distance interval of the plurality of sample distance intervals; searching for a target sample distance interval corresponding to the distance information in the plurality of sample distance intervals, and determining a target sample device speed corresponding to the target sample distance interval in the preset association relationship; Using the target sample device velocity as a device movement velocity that matches the distance information.

[0067] According to some embodiments of the present application, the method comprises: The method further includes continuously or periodically collecting distance information between a current position and the fixed pile position in real time, continuously calculating an equipment movement speed that matches the distance information, and moving toward the fixed pile position according to the equipment movement speed until a predetermined position switch is triggered or an energization signal is received.

[0068] According to some embodiments of the present application, the moving module is used to collect at least one fixed pile signal, determine a signal source of the at least one fixed pile signal according to a signal strength of the at least one fixed pile signal, use the position indicated by the signal source as the fixed pile position, and move toward the fixed pile position.

[0069] According to some embodiments of the present application, the statistical module is used to obtain a designated fixed pile signal collected at the current location, identify a designated signal strength of the designated fixed pile signal, query a transmission distance corresponding to the designated signal strength, and use the transmission distance as distance information between the current location and the fixed pile location.

[0070] According to some embodiments of the present application, the device comprises: an acquisition module adapted to acquire a distance threshold and compare the distance information with the distance threshold; The statistical module is further used for continuously statistically calculating distance information in real time when the distance information is greater than the distance threshold, and comparing the statistically calculated distance information in real time with the distance threshold; The calculation module is further used to calculate an equipment movement speed that matches the distance information when the distance information is less than the distance threshold, and move toward the fixed pile position according to the equipment movement speed.

[0071] According to some embodiments of the present application, the calculation module obtains a current device speed of the self-propelled device, determines a preset speed calculation parameter, calculates the distance information and the current device speed according to the preset speed calculation parameter, and uses the obtained calculation result as a device moving speed suitable for the distance information, where the current device speed is the current angular velocity or linear velocity of the self-propelled device, and the preset speed calculation parameter indicates a strategy for reducing and adjusting the current device speed according to the distance information; or determines a preset speed adjustment formula, inputs the current device speed and the distance information into the preset speed adjustment formula to calculate, and uses the obtained calculation result as a device moving speed suitable for the distance information, and the preset speed adjustment formula is used to indicate a linear or nonlinear adjustment relationship between the distance information and the current device speed.

[0072] According to some embodiments of the present application, the calculation module obtains a predetermined association relationship, the predetermined association relationship including a plurality of sample distance intervals and a sample device velocity corresponding to each sample distance interval among the plurality of sample distance intervals, queries a target sample distance interval that corresponds to the distance information in the plurality of sample distance intervals, determines a target sample device velocity corresponding to the target sample distance interval in the predetermined association relationship, and uses the target sample device velocity as a device movement speed that matches the distance information.

[0073] According to some embodiments of the present application, the statistical module is further used to continuously or periodically statistically collect distance information between the current position and the fixed pile position in real time, continuously calculate an equipment moving speed that matches the distance information, and move toward the fixed pile position according to the equipment moving speed until a predetermined position switch is triggered or an energizing signal is received.

[0074] According to the above technical solutions, the present application provides a control method, device, electronic device and readable storage medium for a self-propelled device, which controls the swing width of the self-propelled device by dynamically adjusting the linear speed or angular speed when moving towards a fixed pile, so that the self-propelled device is accurately aligned with the pile, the pile climbing efficiency and pile climbing success rate are improved, and the pile return stability is good.

[0075] Although some specific embodiments of the present application have been described above, the present application is not limited thereto, and all variations that can be easily conceived by those skilled in the art are intended to be included in the scope of protection of the present application.

Claims

1. determining a fixed pile position during a pile return process and moving toward the fixed pile position; Statistical calculation of distance information between a current position and the fixed pile position; calculating a device movement speed that matches the distance information; and moving toward the fixed pile location according to the device movement speed, the device movement speed including a linear velocity or an angular velocity of the self-propelled device.

2. Determining a fixed pile position during the pile return process and moving toward the fixed pile position includes: acquiring at least one fixed pile signal; determining a signal source of said at least one fixed pile signal according to a signal strength of said at least one fixed pile signal; and using the location indicated by the signal source as the fixed pile location and moving toward the fixed pile location.

3. The statistical analysis of distance information between the current position and the fixed pile position includes:

3. The method of claim 1 or 2, comprising measuring its own distance to the fixed pile by a distance measuring device when the self-propelled machine moves within range of a pile return signal transmitted by the fixed pile.

4. The statistical analysis of distance information between the current position and the fixed pile position includes: obtaining a designated fixed pile signal collected at the current location and identifying a designated signal strength of the designated fixed pile signal; 3. The method according to claim 1, further comprising: retrieving a transmission distance corresponding to the specified signal strength; and using the transmission distance as distance information between the current position and the fixed pile position.

5. After stating the distance information between the current position and the fixed pile position, the method includes: obtaining a distance threshold and comparing the distance information with the distance threshold; If the distance information is greater than the distance threshold, continuously stating the distance information in real time, and comparing the real-time statisticized distance information with the distance threshold; The method of claim 1 or 2, further comprising: if the distance information is less than or equal to the distance threshold, calculating a device movement speed that matches the distance information; and moving toward the fixed pile location according to the device movement speed.

6. Calculating a device travel speed that matches the distance information includes: Obtain a current device speed of the self-propelled device, determine a preset speed calculation parameter, calculate the distance information and the current device speed according to the preset speed calculation parameter, and use the obtained calculation result as a device moving speed that matches the distance information, where the current device speed is a current angular velocity or linear velocity of the self-propelled device, and the preset speed calculation parameter indicates a strategy for reducing and adjusting the current device speed according to the distance information; or The method according to any one of claims 1 to 5, comprising: determining a preset speed adjustment equation; inputting the current device speed and the distance information into the preset speed adjustment equation to perform calculations; and using the obtained calculation result as a device moving speed that matches the distance information, wherein the preset speed adjustment equation indicates a linear or nonlinear adjustment relationship between the distance information and the current device speed.

7. Calculating a device travel speed that matches the distance information includes: Obtaining a preset association relationship, the preset association relationship including a plurality of sample distance intervals and a sample device velocity corresponding to each sample distance interval of the plurality of sample distance intervals; Searching for a target sample distance section corresponding to the distance information in the plurality of sample distance sections, and determining a target sample device speed corresponding to the target sample distance section in the preset association relationship; and using said target sample device velocity as a device movement velocity adapted to said distance information.

8. The method comprises: The method according to any one of claims 1 to 7, further comprising: continuously or periodically stating distance information between a current position and the fixed pile position in real time; continuously calculating an equipment movement speed that matches the distance information; and moving toward the fixed pile position according to the equipment movement speed until a predetermined position switch is triggered or an energization signal is received.

9. a moving module used to determine a fixed pile position during a pile return process and to move towards said fixed pile position; a statistics module used for stating distance information between a current position and the fixed pile position; a calculation module used to calculate a device movement speed that matches the distance information; The control device for a self-propelled device, wherein the movement module is further used to move towards the fixed pile location according to the device movement speed, the device movement speed being a linear or angular velocity of the self-propelled device.

10. 10. The apparatus according to claim 9, wherein the moving module is used to collect at least one fixed pile signal, determine a signal source of the at least one fixed pile signal according to a signal strength of the at least one fixed pile signal, use a position indicated by the signal source as the fixed pile position, and move toward the fixed pile position.

11. 11. The apparatus of claim 9 or 10, wherein the statistical module is used to obtain a designated fixed pile signal collected at the current location, identify a designated signal strength of the designated fixed pile signal, retrieve a transmission distance corresponding to the designated signal strength, and use the transmission distance as distance information between the current location and the fixed pile location.

12. The apparatus comprises: an acquisition module adapted to acquire a distance threshold and compare the distance information with the distance threshold; The statistical module is further used for continuously statistically calculating distance information in real time when the distance information is greater than the distance threshold, and comparing the statistically calculated distance information in real time with the distance threshold; The apparatus according to claim 9 or 10, wherein the calculation module is further used to calculate an apparatus movement speed that matches the distance information when the distance information is equal to or less than the distance threshold, and to move towards the fixed pile position according to the apparatus movement speed.

13. The computing module includes: Obtain a current device speed of the self-propelled device, determine a preset speed calculation parameter, calculate the distance information and the current device speed according to the preset speed calculation parameter, and use the obtained calculation result as a device moving speed that matches the distance information, where the current device speed is a current angular velocity or linear velocity of the self-propelled device, and the preset speed calculation parameter indicates a strategy for reducing and adjusting the current device speed according to the distance information. or The device according to any one of claims 9 to 12, further comprising: determining a preset speed adjustment equation; inputting the current device speed and the distance information into the preset speed adjustment equation for calculation; and using the obtained calculation result as a device moving speed that matches the distance information; and the preset speed adjustment equation is used to indicate a linear or nonlinear adjustment relationship between the distance information and the current device speed.

14. The device of any one of claims 9 to 12, wherein the calculation module obtains a preset association relationship, the preset association relationship including a plurality of sample distance intervals and a sample device speed corresponding to each sample distance interval among the plurality of sample distance intervals, searches for a target sample distance interval that matches the distance information in the plurality of sample distance intervals, determines a target sample device speed corresponding to the target sample distance interval in the preset association relationship, and uses the target sample device speed as a device movement speed that matches the distance information.

15. The apparatus according to any one of claims 9 to 14, wherein the statistical module further continuously or periodically collects statistics on distance information between a current position and the fixed pile position in real time, continuously calculates an apparatus moving speed that matches the distance information, and moves toward the fixed pile position according to the apparatus moving speed until a predetermined position switch is triggered or an energizing signal is received.

16. An electronic device comprising a memory and a processor, the memory storing a computer program, the electronic device executing the steps of the method according to any one of claims 1 to 8 when the processor executes the computer program.

17. A readable storage medium having a computer program stored thereon, the computer program executing the steps of the method according to any one of claims 1 to 8 when executed by a processor.

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