Self-propelled equipment and its control method, storage medium, computer equipment

Abstract

This disclosure provides a self-propelled device and its control method, storage medium, and computer equipment. The self-propelled device comprises a camera module, a first processor, and a second processor, wherein the camera module is used to acquire image signals of the surrounding environment of the self-propelled device and transmit the image signals to the first processor; the first processor is used to receive the image signals and establish a map of the surrounding environment of the self-propelled device based on the image signals and / or to identify obstacles in the surrounding environment of the self-propelled device; and the second processor is used to control the on / off state of the connection between the first processor and the camera module based on the operating state of the self-propelled device, and to control whether the first processor can receive the image signals transmitted from the camera module. This matches the on / off state of the connection between the first processor and the camera module with the operating state of the self-propelled device, reduces the risk of the camera module leaking user privacy, and improves the safety of using the device.

Description

Related Application

[0001] This disclosure claims the priority of a Chinese patent application with application number 202310305786.7, titled "Self-propelled device and its control method, storage medium, computer device", filed on March 27, 2023, and all the contents of the Chinese patent application are incorporated herein by reference.

Technical Field

[0002] This disclosure relates to the technical field of self-propelled device control, and particularly relates to a self-propelled device and its control method, storage medium, and computer device.

Background Art

[0003] In the technical field of self-propelled devices such as vacuum cleaners, the camera module performs multiple functions such as laser collection, image collection and identification, and environmental information collection. Based on the information collected by the camera module, the self-propelled device can establish a surrounding environmental map and identify obstacles.

Summary of the Invention

[0004] In view of this, this disclosure provides a self-propelled device and its control method, storage medium, and computer device, which match the on / off of the connection between the first processor and the camera module with the operating state of the self-propelled device, reduce the problem of the risk that the camera module leaks the user's privacy, and improve the use safety of the self-propelled device.

[0005] According to a first aspect of this disclosure, a self-propelled device is provided, the self-propelled device comprising a camera module, a first processor and a second processor, wherein the camera module is used to acquire an image signal of the surrounding environment of the self-propelled device and transmit the image signal to the first processor, the first processor is used to receive the image signal and establish a map of the surrounding environment of the self-propelled device based on the image signal and / or to identify obstacles in the surrounding environment of the self-propelled device, and the second processor is used to control the on / off connection between the first processor and the camera module based on the operating state of the self-propelled device and to control whether the first processor can receive the image signal transmitted from the camera module.

[0006] Furthermore, when the self-propelled equipment is in an operational state, the second processor controls the connection between the first processor and the camera module to be turned on, and when the self-propelled equipment is not in an operational state, the second processor controls the connection between the first processor and the camera module to be turned off.

[0007] Furthermore, the self-propelled device is further equipped with a three-state output circuit located between the first processor and the camera module.

[0008] Furthermore, when the self-propelled equipment is in an operating state, the second processor sends an enable signal to the three-state output circuit, controlling it to turn on the connection between the first processor and the camera module. When the self-propelled equipment is in a non-operating state, the second processor sends a de-enable signal to the three-state output circuit, controlling it to turn off the connection between the first processor and the camera module.

[0009] Furthermore, the first processor is used to detect the operating status of the self-propelled equipment and transmit the detection results to the second processor.

[0010] Furthermore, the self-propelled equipment is a self-propelled cleaning machine.

[0011] Furthermore, the working condition includes the cleaning condition or the driving condition.

[0012] Furthermore, non-working states include charging, cleaning, dust collection, water replenishment, dormancy, or shutdown states.

[0013] A second aspect of this disclosure provides a method for controlling a self-propelled device applicable to a second processor of a self-propelled device as described in any one of the first aspects, the method comprising the steps of: acquiring the operating state of the self-propelled device; and controlling the on / off status of the connection between the first processor and the camera module based on the operating state of the self-propelled device, and controlling whether the first processor can receive an image signal transmitted from the camera module.

[0014] Furthermore, the step of controlling the on / off status of the connection between the first processor and the camera module based on the operating state of the self-propelled equipment includes controlling the connection to be turned on when the self-propelled equipment is in a working state, and controlling the connection to be turned off when the self-propelled equipment is in a non-working state.

[0015] A third aspect of this disclosure provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, it realizes a step of the method for controlling a self-propelled device of any one of the second aspects.

[0016] A fourth aspect of this disclosure further provides a computer device comprising memory, a processor, and a computer program stored in memory and executable by the processor, wherein when the computer program is executed by the processor, steps of the method for controlling a self-propelled device of any one of the second aspects are realized.

[0017] The above description is a general overview of the technical solutions of this disclosure. To further clarify the technical means of this disclosure, they can be implemented in accordance with the specifications. To make the above and other objectives, features, and advantages of this disclosure clearer and easier to understand, specific embodiments of this disclosure are described below. [Brief explanation of the drawing]

[0018] The following attached drawings of the present disclosure form a part of the embodiments of the present disclosure and are used to understand the present disclosure. The attached drawings show the embodiments of the present disclosure and their descriptions, and are used to interpret the principles of the present disclosure. In the attached drawings, [Figure 1] It is a schematic structural diagram of a self-propelled device provided by an embodiment of the present disclosure. [Figure 2] It is a schematic structural diagram of another perspective of the embodiment shown in FIG. 1. [Figure 3] It is a schematic structural diagram of yet another perspective of the embodiment shown in FIG. 1. [Figure 4] It is a schematic diagram of the connection of a part of the circuit of a self-propelled device provided by an embodiment of the present disclosure. [Figure 5] It is a schematic flowchart of a control method for a self-propelled device provided by an embodiment of the present disclosure. [Figure 6] It is a schematic diagram of the electronic structure of a computer device provided by an embodiment of the present disclosure.

Description of Reference Numerals

[0019] 100 Self-propelled device 110 Body 111 Front part 112 Rear part 113 Dust outlet 114 Water inlet 120 Sensing system 121 Positioning device 122 Buffer 123 Camera module 130 Charging contact plate 140 Driving system 141 Driving wheel module 142 Driven wheel 150 Cleaning system 151 Dry cleaning system [[ID=6)]152 Side brush 153 Wet cleaning system 160 Man-machine interaction system 1703 State output circuit 180 First Processor 190 Second processor 601 Processing Unit 602 ROM 603 RAM 604 Bus 605 I / O Interface 606 Input device 607 Output device 608 Storage device 609 Communication equipment [Modes for carrying out the invention]

[0020] The following description provides many specific details to allow for a more thorough understanding of the technical solutions offered by this disclosure. However, it will be apparent to those skilled in the art that the technical solutions offered by this disclosure can be implemented even if one or more of these details are omitted.

[0021] It should be noted that the terms used herein are used solely to describe specific embodiments and are not intended to limit the exemplary embodiments of this disclosure. Where used herein, singular nouns include plural nouns unless otherwise specified in the context. Furthermore, it should be noted that where the terms “includes” and / or “compose” in this specification, they refer to the presence of such features, wholes, steps, operations, elements and / or parts, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, parts and / or combinations thereof.

[0022] Illustrative embodiments of this disclosure will be described in more detail below with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and are not limited to the embodiments described herein. It should be noted that these embodiments are provided to make the disclosure thorough and complete and to fully convey the concepts of these exemplary embodiments to those skilled in the art.

[0023] The embodiments of this disclosure provide possible application scenarios, which include a self-propelled device 100, where the self-propelled device 100 is a self-propelled cleaning device, and Figures 1 to 3 are schematic diagrams of the structure of a self-propelled cleaning device of an exemplary embodiment of this disclosure. As shown in Figures 1 to 3, the self-propelled device of this disclosure is a mopping robot, a sweeping and mopping vacuum cleaner, etc. For the sake of explanation, in this embodiment, the technical solution of this disclosure will be explained using the case where the self-propelled device 100 is a sweeping and mopping vacuum cleaner as an example. Note that in other embodiments, the self-propelled device 100 may be other devices that meet the requirements, such as a weeding robot, a serving robot, a window cleaning robot, etc.

[0024] Furthermore, as shown in Figures 1, 2, and 3, the self-propelled device 100 includes a main unit 110, a sensing system 120, a drive system 140, a cleaning system 150, an energy system, a man-machine interactive system 160, and a first processor 180. The self-propelled device 100 is a self-propelled cleaning device, which is a device that automatically performs cleaning operations in an area to be cleaned without user intervention. When the self-propelled device 100 starts work, it departs from the base station and performs the cleaning task. When the self-propelled device 100 completes the cleaning task or needs to stop the cleaning task, it can return to the base station to perform operations such as recharging and / or rehydrating and / or washing and / or dust collection.

[0025] As shown in Figures 1 and 2, the main body 110 includes a front portion 111 and a rear portion 112, and has a substantially circular shape, but may have other shapes, including, but is not limited to, a substantially D-shape with a rectangular front and a circular rear, and a rectangular or square shape with rectangular front and rear.

[0026] As shown in Figures 1 and 2, the sensing system 120 includes a position determination device 121 provided on the main body 110, a collision sensor and a short-range sensor provided on the buffer 122 of the front portion 111 of the main body 110, a cliff sensor provided on the lower part of the main body 110, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer provided inside the main body 110, and is used to provide various position information and motion state information of the equipment to the first processor 180. The position determination device 121 includes, but is not limited to, a camera module 123 and a laser distance sensor (LDS). Here, as shown in Figure 1, the camera module 123 is provided on the front side of the main body 110 and is used to acquire environmental image signals around the self-propelled equipment 100 and transmit the image signals to the first processor 180.

[0027] As shown in Figure 2, the front portion 111 of the main body 110 is capable of supporting the shock absorber 122. During the cleaning process, the drive wheel module 141 causes the self-propelled machine 100 to travel on the ground. The shock absorber 122 detects one or more events in the travel path of the self-propelled machine 100 via a sensor system mounted on it, such as an infrared sensor. The self-propelled machine 100 controls the drive wheel module 141 in response to the events detected by the shock absorber 122, such as obstacles or walls, so that the self-propelled machine 100 responds to the events, for example, by moving away from obstacles.

[0028] The first processor 180 is located on a circuit board within the main unit 110 and includes a computing processor, such as a central processing unit and an application processor, which communicates with non-temporary memory, such as a hard disk, flash memory, and random access memory. The application processor uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back from a laser rangefinder, to create an immediate map of the environment in which the self-propelled device 100 is located. Furthermore, by combining distance information and speed information fed back from sensing devices such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers installed on the buffer 122, the system comprehensively determines the working state of the self-propelled device 100, its location, and its current position and orientation, such as crossing a threshold, climbing onto a carpet, being on a cliff, getting stuck above or below, having a full dustbin, or being lifted. Based on these different situations, the system provides specific next action strategies to further improve the cleaning performance and user experience of the self-propelled device 100.

[0029] Here, as shown in Figure 3, the drive system 140 operates the main body 110 to travel on the ground based on drive commands that include distance and angle information, for example, x, y, and θ components. The drive system 140 includes a drive wheel module 141, which can simultaneously control the left and right wheels to more precisely control the motion of the equipment, preferably including a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are arranged along the lateral axis defined by the main body 110. To allow the self-propelled equipment 100 to move more stably on the ground and exhibit more powerful mobility, the self-propelled equipment 100 includes one or more driven wheels 142, which include, but are not limited to, omnidirectional wheels. The drive wheel module 141 includes driving wheels, a drive motor, and a control circuit that controls the drive motor, and the drive wheel module 141 may be further connected to a circuit for measuring the drive current and an odometer. The drive wheels include an offset drop suspension system, which is movable and fixed, rotatably connected to, for example, the main body 110, and subjected to a spring offset deflected downward and away from the main body 110. The spring offset allows the drive wheels to maintain contact and traction with the ground with a constant grounding force, while simultaneously the cleaning elements of the self-propelled equipment 100 also make contact with the ground with a constant pressure.

[0030] The energy system includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. A charging control circuit, a battery pack charging temperature detection circuit, and a battery low voltage monitoring circuit are connected to the rechargeable batteries, and these circuits are also connected to a microcontroller control circuit. As shown in Figure 2, the self-propelled device 100 is connected to the base station for charging via charging contact plates 130 provided on the side of the main body 110.

[0031] As shown in Figure 2, the man-machine interactive system 160 includes buttons on the main unit panel, which the user uses to select functions; a display and / or indicator lights and / or a speaker, which are used to show the user the current status of the device or function options; and a smartphone application program. In the case of the route navigation type self-driving device 100, the smartphone app can display a map of the environment in which the device is located and the location of the device to the user, providing the user with a richer and more user-friendly set of functions.

[0032] As shown in Figure 3, the cleaning system 150 includes a dry cleaning system 151 and / or a wet cleaning system 153, meaning the self-propelled equipment 100 may be a sweeper and a moper, or the cleaning system 150 includes a wet cleaning system 153 and a dry cleaning system 151, meaning the self-propelled cleaning equipment may be a sweeper and a moper.

[0033] Here, the dry cleaning system 151 includes a roller brush, a dust box, a dust collection fan, and an air outlet. The roller brush, having a certain interference with the ground, sweeps up debris from the ground and draws it forward to the dust collection port between the roller brush and the dust box, where it is then sucked into the dust box by a gas with suction force generated by the dust collection fan and passing through the dust box. The dry cleaning system 151 may further include a side brush 152 having a rotating shaft, which forms a certain angle with respect to the ground and is used to move debris to the roller brush area of ​​the cleaning system 150.

[0034] The wet cleaning system includes cleaning parts, a water supply mechanism, and a liquid storage tank. Here, the cleaning parts are located below the liquid storage tank, and cleaning fluid from inside the liquid storage tank is transported to the cleaning parts via the water supply mechanism, allowing the cleaning parts to wet-clean the surface to be cleaned. Alternatively, the cleaning fluid from inside the liquid storage tank can be sprayed directly onto the surface to be cleaned, and the cleaning parts can uniformly apply the cleaning fluid to achieve cleaning of the surface. Or, the mobile device 100 is provided with a water outlet that communicates with the liquid storage tank, and the liquid from inside the liquid storage tank can be transported to the cleaning parts using the water outlet.

[0035] Here, as shown in Figures 2 and 3, the cleaning assembly of the wet cleaning system 153 includes at least one cleaning element rotatable relative to the main body 110, and the cleaning assembly further includes a motion mechanism (not shown), and the entire cleaning assembly is attached to the main body 110 via the motion mechanism, and the cleaning assembly moves with the movement of the main body 110 to perform a mopping function. Here, the motion mechanism is used to drive the movement of the cleaning element, for example, the motion mechanism drives the cleaning element to move up and down, and the motion mechanism also drives the cleaning element to rotate, thereby enabling the motion mechanism to perform both up and down and rotational operations of the cleaning element depending on whether the cleaning element needs to come into contact with the surface to be cleaned, and thus satisfying different functional requirements of the cleaning element. When the cleaning element interferes with the surface to be cleaned to perform a mopping operation, the motion mechanism drives the cleaning element to rotate.

[0036] Here, as shown in Figures 2 and 3, in the forward direction of the self-propelled machine 100, the cleaning element of the wet cleaning system 153 is located at the rear of the dry cleaning system 151, and the cleaning element may be a flexible material with water absorption, such as cloth or sponge. In this solution, the cleaning element is at least one turntable, water in the liquid storage tank of the self-propelled machine 100 is guided to the cleaning element, and the wet cleaning element removes dirt from the ground by rotational motion. Specifically, as shown in Figure 3, the cleaning element is two turntables, and the two turntables are arranged left and right along the forward direction of the main body 110.

[0037] In the self-propelled vehicle 100 provided in the embodiments of this disclosure, a camera module 123 is provided, which performs multiple information functions in the self-propelled vehicle 100, such as laser acquisition, image acquisition and identification, and environmental information acquisition. Therefore, the information collected by the camera module 123 is more sensitive compared to other sensors placed in the self-propelled vehicle 100.

[0038] Furthermore, as shown in Figures 1 and 4, the self-propelled vehicle 100 provided in the embodiments of the present disclosure has a camera module 123 which is used to acquire an image signal of the surrounding environment of the self-propelled vehicle 100 and to transmit the image signal to a first processor 180, which is used to receive the image signal and establish a map of the surrounding environment of the self-propelled vehicle 100 based on the image signal and / or to identify obstacles in the surrounding environment of the self-propelled vehicle 100.

[0039] Here, as the self-propelled device 100 autonomously explores the environment, the first processor 180, based on the SLAM algorithm, performs positioning and map construction based on the movement of the self-propelled device 100, measurements, and environmental image signals of the self-propelled device 100 transmitted from the camera module 123, thereby obtaining an environmental map of the self-propelled device 100. The environmental map of the self-propelled device 100 provides detailed environmental feature data, is suitable for spatial representation of an unstructured environment, and forms an important basis for the navigation and path planning of the self-propelled device 100.

[0040] Here, the first processor 180 can further identify obstacles in the surrounding environment of the self-propelled device 100 based on the image signal transmitted from the received camera module 123. Specifically, for example, the first processor 180 extracts environmental features from the image signal transmitted from the received camera module 123 using image detection technology, and compares the environmental features with target features, where the target features are living things (humans, pets, plants), stairs, walls, tables and chairs, steps, thresholds, etc. If the environmental features in the image signal match the target features, the corresponding target features can be identified, and obstacles in the surrounding environment of the self-propelled device 100 can be identified.

[0041] Typically, as shown in Figure 2, the main body 110 of the self-propelled device 100 is further provided with a dust outlet 113 and / or a water inlet 114 and / or a charging contact electrode plate 130, and the self-propelled device 100 is further provided with a base station (not shown) that fits thereto, and when the self-propelled device 100 completes the cleaning operation, it can dock at the base station and perform dust collection, water replenishment, charging, and washing operations.

[0042] Furthermore, as shown in Figures 1 and 2, in the self-propelled device 100 provided by the embodiment of the present disclosure, the camera module 123 is located on the front side of the main body 110, and the dust outlet 113 and / or water inlet 114 and / or charging contact plate 130 of the self-propelled device 100 are located on the rear side of the main body 110. For example, the dust outlet 113, water inlet 114 and charging contact plate 130 are distributed on the rear side of the main body 110, where the cleaning element is located at the bottom rear of the main body 110, and the front-to-back direction of the self-propelled device 100 is indicated by the arrows in Figures 1 and 2. As a result, when the self-propelled device 100 is docked at the base station to perform dust collection, and / or water replenishment, and / or charging, and / or cleaning operations, the rear side of the self-propelled device 100 must face the base station, thereby docking the dust outlet 113, and / or water inlet 114, and / or charging contact plates 130, and / or cleaning elements with the corresponding components on the base station. In this position, the front side of the self-propelled device 100 faces outside the base station, so the camera module 123 located on the front side of the main body 110 faces outside the base station. When the camera module 123 is operating at this time, it continues to acquire an image signal of the surrounding environment of the self-propelled device 100 and transmits the image signal to the first processor 180, thereby allowing the first processor 180 to acquire the image signal acquired by the camera module 123. Furthermore, the first processor 180 can be understood as the main controller of the self-propelled device 100. Normally, the first processor 180 processes the image signals acquired by the received camera module 123, and is also used for communication with the server. Therefore, the first processor 180 is at risk of unauthorized access, and thus there is a security risk of leakage of information about the surrounding environment of the self-propelled device 100 through the first processor 180.

[0043] Therefore, users typically want the camera module 123 to function correctly when the self-propelled machine 100 is performing cleaning tasks, so that the self-propelled machine 100 operates accurately and reliably. When the self-propelled machine 100 is parked at the base station to perform dust collection, and / or water replenishment, and / or charging, and / or washing operations, or when the self-propelled machine 100 does not require cleaning, users do not want the camera module 123 to be in operation, in order to prevent their privacy from being compromised.

[0044] In view of this, as shown in Figure 4, the self-propelled device 100 provided in this disclosure includes a camera module 123 and a first processor 180, as well as a second processor 190. The second processor 190 controls the on / off status of the connection between the first processor 180 and the camera module 123 according to the operating state of the self-propelled device 100, and controls whether the first processor 180 can receive an image signal transmitted from the camera module 123.

[0045] As a result, the second processor 190 controls the on / off status of the connection between the first processor 180 and the camera module 123 according to the operating state of the self-propelled device 100, thereby matching the on / off status of the connection between the first processor 180 and the camera module 123 with the operating state of the self-propelled device 100. Furthermore, if the operating state of the self-propelled device 100 requires the use of information regarding the surrounding environment map of the self-propelled device 100 and / or obstacles in the surrounding environment of the self-propelled device 100, the second processor 190 controls the connection between the first processor 180 and the camera module 123 to turn on, and the first processor 180 controls the connection to receive the image signal transmitted from the camera module 123, establish a surrounding environment map of the self-propelled device 100 based on the received image signal, and / or identify obstacles in the surrounding environment of the self-propelled device 100, thereby further improving the reliability and accuracy of the current operating state of the self-propelled device 100. When the operating status of the self-propelled device 100 does not require the use of a surrounding environment map and / or information about obstacles in the surrounding environment of the self-propelled device 100, the second processor 190 controls the connection between the first processor 180 and the camera module 123 to be turned off, thereby preventing the first processor 180 from receiving image signals transmitted from the camera module 123. This avoids the risk of leaking image signals acquired by the camera module 123 that the first processor 180 receives while the self-propelled device 100 is currently operating, thereby leaking user privacy and further reducing the security risk of leaking user privacy, thereby improving the safety of using the self-propelled device 100.

[0046] In the above embodiment, the operating state of the self-propelled device 100 includes a working state and a non-working state. In the working state, the self-propelled device 100 utilizes a map of its surrounding environment and / or information about obstacles in its surrounding environment to guide the self-propelled device 100 to operate accurately and reliably in the working state. Conversely, in the non-working state, the self-propelled device 100 does not need to utilize a map of its surrounding environment and / or information about obstacles in its surrounding environment. In the non-working state, if the first processor 180 receives an image signal transmitted from the camera module 123, there is a risk of leaking related information through the first processor 180 and thus leaking user privacy. The operating state of the self-propelled device 100 may include other states, and the working state and non-working state may be distinguished according to the actual situation of the self-propelled device 100. This disclosure is not specifically limited.

[0047] Furthermore, if the self-propelled device 100 is a self-propelled cleaning device, the working state of the self-propelled device 100 includes the cleaning state or the driving state. Here, the cleaning state is the state in which the self-propelled device 100 is sweeping or mopping, and the driving state is the state in which the self-propelled device 100 is traveling back and forth to the base station or to another destination. When the self-propelled device 100 is in the cleaning state or the driving state, the self-propelled device 100 can be guided to operate accurately and avoid obstacles accurately based on the surrounding environment map of the self-propelled device 100 and / or information on obstacles in the surrounding environment of the self-propelled device 100, thereby further improving the accuracy and reliability of the operation of the self-propelled device 100. If the self-propelled device 100 is a self-propelled cleaning device, the non-working state of the self-propelled device 100 includes charging, cleaning, dust collection, water replenishment, dormancy, or shutdown. In addition to the scenes in which the self-propelled device 100 is in a non-working state as mentioned above, the non-working state of the self-propelled device 100 also includes assembly, maintenance, and drying states in which the self-propelled device 100 is parked at a base station and wet cleaning elements are dried. In this disclosure, only the data processing logic in some common application scenes of the self-propelled device 100 is illustrated, and in actual applications, the working and non-working states may include other scenes of the self-propelled device 100, which are not listed in detail here.

[0048] Here, the charging state refers to the operation in which the self-propelled cleaning machine is docked at the base station and the charging contact plates 130 of the self-propelled cleaning machine are docked with a charging docking assembly provided at the base station, thereby supplying power to the self-propelled cleaning machine.

[0049] The cleaning state refers to a state in which the self-propelled cleaning equipment is docked at the base station, and the cleaning assembly installed at the base station interacts with the cleaning elements of the self-propelled cleaning equipment, thereby removing dirt from the cleaning elements, achieving cleaning of the cleaning elements, improving the cleaning performance of the cleaning elements, and ensuring a good wet cleaning effect.

[0050] The dust collection state refers to a state in which the self-propelled cleaning equipment is docked at the base station, and the dust collection assembly provided at the base station is docked with the dust outlet 113 on the main body 110 of the self-propelled cleaning equipment, thereby collecting the debris in the dust box of the self-propelled equipment 100 and bringing it to the base station, thereby simplifying the operation of manually cleaning the debris from the dust box.

[0051] The water replenishment state refers to a state in which the self-propelled cleaning machine is docked at the base station, and a water replenishment assembly provided at the base station is docked with the water inlet 114 on the main body 110 of the self-propelled cleaning machine. This replenishes the cleaning liquid in the clean water tank of the base station into the liquid storage tank of the self-propelled cleaning machine, preventing the mopping operation from becoming impossible due to insufficient cleaning liquid in the liquid storage tank.

[0052] The dormant state refers to a state in which the internal program of a self-propelled cleaning machine is running, but some hardware is stopped to conserve power. In the dormant state, the self-propelled cleaning machine may or may not be parked at the base station, and the self-propelled cleaning machine will consume power while in the dormant state.

[0053] The shutdown state refers to a state in which the internal program of a self-propelled cleaning machine is stopped, and some of the hardware is also stopped. In the shutdown state, the self-propelled cleaning machine may or may not be docked at the base station, and in the shutdown state, the self-propelled cleaning machine consumes almost no power, or very little power.

[0054] Therefore, in the self-propelled equipment 100 provided by the embodiments of this disclosure, when the self-propelled equipment 100 is in a working state, for example when the self-propelled equipment 100 is in a cleaning state or a driving state, the second processor 190 controls the connection between the first processor 180 and the camera module 123 to turn on, so that the first processor 180 reliably receives the image signal transmitted from the camera module 123, establishes a map of the surrounding environment of the self-propelled equipment 100 based on the image signal, and / or identifies obstacles in the surrounding environment of the self-propelled equipment 100, further guiding the smooth or precise operation of the self-propelled equipment 100, thereby improving the operational accuracy and reliability of the self-propelled equipment 100.

[0055] When the self-propelled device 100 is in a non-working state, for example, when it is charging, cleaning, dusting, rehydrating, sleeping, or shut down, the second processor 190 controls the connection between the first processor 180 and the camera module 123 to turn off, thereby preventing the first processor 180 from receiving image signals transmitted from the camera module 123. This avoids the problem of user privacy being leaked when the camera module 123 is in a non-working state and improves the safety of using the self-propelled device 100.

[0056] In other words, the above technical solution prevents the first processor 180, which processes image signals acquired by the camera module 123 in the self-propelled device 100, from receiving image signals output from the camera module 123 when the self-propelled device 100 is in a non-working state. This effectively avoids the problem of the camera module 123 leaking user privacy when the self-propelled device is in a non-working state, thereby improving the safety performance of the self-propelled device 100.

[0057] As shown in Figures 1 and 2, the camera module 123 of the self-propelled device 100 provided in the embodiment of this disclosure is located at the front of the side of the main body 110, the dust outlet 113 and / or water inlet 114 and / or charging contact plate 130 of the self-propelled device 100 are located at the rear of the side of the main body 110, and the cleaning element of the self-propelled device 100 is located at the rear of the bottom of the main body 110. Therefore, when the self-propelled device 100 is parked at the base station and in a dust collection state and / or water replenishment state and / or charging state and / or cleaning state, the camera module 123 faces outwards from the base station. At this time, the connection between the first processor 180 and the camera module 123 is turned on, and there is a problem of leakage of user privacy. Therefore, by controlling the second processor 190 to turn off the connection between the first processor 180 and the camera module 123, the problem of leakage of user privacy when the camera module 123 is in a non-working state can be avoided.

[0058] In other embodiments (not shown), the camera module and one of the dust outlet, water inlet, and charging contact plates are located on the same side of the main body, i.e., when the self-propelled device is docked at the base station in a dust collection state and / or water replenishment state and / or charging state and / or cleaning state, the camera module in at least one of the above states faces inward towards the base station, and at this time, the second processor controls the connection between the first processor and the camera module to turn off, thereby preventing the first processor from receiving image signals transmitted from the camera module. This reduces the workload of the first processor 180, improves the operating efficiency of the first processor, and saves energy consumption.

[0059] As shown in Figure 4, in some feasible embodiments provided by this disclosure, the self-propelled device 100 further comprises a three-state output circuit 170 located between the first processor 180 and the camera module 123.

[0060] Here, the three-state output circuit 170 includes a data input terminal, a data output terminal, and an enable terminal EN. The three-state output circuit 170 can control the conduction or disconnection of the data input terminal and the data output terminal depending on whether the signal received by the enable terminal EN is an enable signal. For example, if the enable terminal EN receives an enable signal, the data input terminal and the data output terminal of the three-state output circuit 170 conduct, and if the enable terminal EN receives a non-enable signal, the data input terminal and the data output terminal of the three-state output circuit 170 disconnect.

[0061] In this embodiment, the data output terminal of the camera module 123 is electrically connected to the data input terminal of the three-state output circuit 170 via a first data bus, and the data output terminal of the three-state output circuit 170 is electrically connected to the data input terminal of the first processor 180 via a second data bus. This connects the first processor 180 and the camera module 123 via the three-state output circuit 170, and the on / off switching of the connection between the first processor 180 and the camera module 123 can be controlled depending on whether the signal received by the enable terminal EN of the three-state output circuit 170 is an enable signal. The structure is simple and easy to implement.

[0062] In the above embodiment, when the self-propelled device 100 is in a working state, the second processor 190 sends an enable signal to the three-state output circuit 170 and controls it to turn on the connection between the first processor 180 and the camera module 123. When the self-propelled device 100 is in a non-working state, the second processor 190 sends a de-enable signal to the three-state output circuit 170 and controls it to turn off the connection between the first processor 180 and the camera module 123.

[0063] In other words, in the self-propelled device 100 provided by the embodiment of this disclosure, the second processor 190 is connected to the enable terminal EN of the three-state output circuit 170, and depending on the operating state of the self-propelled device 100, the second processor 190 can transmit different signals to the enable terminal EN of the three-state output circuit 170 to control the conduction or interruption state of the data input terminal and data output terminal of the three-state output circuit 170, and further control the conduction or interruption of the connection between the first processor 180 and the camera module 123.

[0064] Specifically, when the self-propelled device 100 is in a working state, for example, when the self-propelled device 100 is in a cleaning state or operating state, the second processor 190 sends an enable signal to the three-state output circuit 170. Based on the enable signal received by the enable terminal EN, the three-state output circuit 170 conducts the data input terminal and data output terminal of the three-state output circuit 170, thereby controlling the connection between the first processor 180 and the camera module 123 to be turned on. Thus, the first processor 180 reliably receives the image signal transmitted from the camera module 123, establishes a map of the surrounding environment of the self-propelled device 100 based on the image signal, and / or identifies obstacles in the surrounding environment of the self-propelled device 100, guiding the smooth or precise operation of the self-propelled device 100 and improving the operational accuracy and reliability of the self-propelled device 100.

[0065] When the self-propelled device 100 is in a non-working state, for example, when it is charging, cleaning, dusting, rehydrating, sleeping, or shut down, the second processor 190 sends a non-enable signal to the three-state output circuit 170. Based on the non-enable signal received by the enable terminal EN of the three-state output circuit 170, the enable terminal EN of the three-state output circuit 170 blocks the data input terminal and data output terminal of the three-state output circuit 170, thereby controlling the connection between the first processor 180 and the camera module 123 to be turned off. Consequently, the first processor 180 is unable to receive image signals transmitted from the camera module 123, further avoiding the problem of user privacy being leaked when the camera module 123 is in a non-working state and improving the safety of using the self-propelled device 100.

[0066] Specifically, referring to Figure 4, the camera module 123 installed on the self-propelled device 100 converts the first sensing signal output from the CMOS (Complementary Metal-Oxide-Semiconductor) image sensor into a signal that the first processor 180 can recognize, such as an SCI (Serial Communication Interface) signal. The camera module 123 then transmits the processed signal (i.e., the first sensing signal) to the three-state output circuit 170 via the first data bus. Furthermore, when the self-propelled equipment 100 is in a working state, for example, when the self-propelled cleaning equipment is in a cleaning state or a driving state, the second processor 190 outputs an enable signal to the enable terminal EN of the three-state output circuit 170. At this time, the circuit between the first data bus and the second data bus is connected, that is, the data input terminal and data output terminal of the three-state output circuit become conductive. At this time, the first sensing signal output from the camera module 123 is received by the first processor 180, and the first processor 180 can perform operations such as mapping and / or obstacle identification based on the received first sensing signal.

[0067] Conversely, when the self-propelled device 100 is in a non-working state, for example, when the self-propelled device 100 is in a charging state, cleaning state, dust collection state, water replenishment state, sleep state, or shutdown state, the second processor 190 outputs a non-enable signal (such as a high-resistance state signal) to the enable terminal EN of the three-state output circuit 170. At this time, the circuit between the first data bus and the second data bus is disconnected, that is, the data input terminal and data output terminal of the three-state output circuit 170 are disconnected. At this time, the first sensing signal output from the camera module 123 is not received by the first processor 180, and the first processor 180 cannot perform operations such as mapping or obstacle identification. Therefore, the security risk of leaking user privacy through the camera module 123 can be reduced.

[0068] In one feasible embodiment provided by this disclosure, the first processor 180 is further used to detect the operating state of the self-propelled device 100 and transmit the detection result to the second processor 190.

[0069] In this embodiment, the first processor 180 detects the operating state of the self-propelled device 100 and transmits the detection result to the second processor 190. The second processor 190 then transmits an enable signal or a de-enable signal corresponding to the operating state to the enable terminal EN of the three-state output circuit 170, depending on the received operating state of the self-propelled device 100, and controls the conduction or disconnection of the data input terminal and data output terminal of the three-state output circuit 170. This ensures that the connection state between the first processor 180 and the camera module 123 matches the operating state of the self-propelled device 100, allowing the first processor 180 to receive image signals acquired by the camera module 123 even when not in operation, reducing the risk of leaking user privacy and improving the safety of using the device.

[0070] Here, the first processor 180 can detect the operating state of the self-propelled equipment 100 according to the working status of each device of the self-propelled equipment 100. For example, when the drive system 140 of the self-propelled equipment 100 is operating, it indicates that the self-propelled equipment 100 is in a driving state. At this time, the first processor 180 detects that the self-propelled equipment 100 is in a driving state based on the operating state of the drive system 140, and transmits the detection result indicating that the self-propelled equipment 100 is in a driving state to the second processor 190.

[0071] For example, when the cleaning system 150 of the self-propelled device 100 is operating, for example, when the roller brush or cleaning element of the self-propelled device 100 is operating, it indicates that the self-propelled device 100 is in a cleaning state. At this time, the first processor 180 detects that the self-propelled device 100 is in a cleaning state based on the operating state of the roller brush or cleaning element, and transmits a detection result indicating that the self-propelled device 100 is in a cleaning state to the second processor 190.

[0072] For example, if the charging contact plates 130 of the self-propelled device 100 are conductive, it indicates that the self-propelled device 100 may be parked at the base station and in a charging state. In this case, the first processor 180 detects that the self-propelled device 100 is in a charging state based on the conductive state of the charging contact plates 130 and transmits the detection result indicating that the self-propelled device 100 is in a charging state to the second processor 190.

[0073] Furthermore, the self-propelled device 100 can also be detected in a dormant or shut-down state using the same method as described above, and this disclosure will not enumerate or explain these in detail.

[0074] Here, the self-propelled machine 100 may be further provided with a detection device for the operating state of the self-propelled machine 100, which may be a contact sensor, a position sensor, or other sensor that meets the requirements, and the first processor 180 receives a detection signal from the detection device and detects the operating state of the self-propelled machine 100 based on the detection signal from the detection device. For example, if the contact sensor detects that another component is in contact with the appropriate position of the dust outlet 113, it indicates that the dust outlet 113 may be docked with the dust collection assembly on the base station, and that the self-propelled machine 100 may be docked at the base station and in a dust collection state. At this time, the first processor 180 detects that the self-propelled machine 100 is in a dust collection state based on the condition that another component is in contact with the appropriate position of the dust outlet 113 detected by the contact sensor, and transmits the detection result indicating that the self-propelled machine 100 is in a dust collection state to the second processor 190.

[0075] Naturally, the self-propelled device 100 can also be detected in the same manner as described above when it is in a water replenishment or cleaning state, and this disclosure will not enumerate or explain this in detail.

[0076] In other embodiments, the second processor 190 may directly detect the operating state of the self-propelled device 100. For example, the second processor 190 may detect the operating state of the self-propelled device 100 according to the working status of each device of the self-propelled device 100. Alternatively, the operating state of the self-propelled device 100 may be detected by a detection device for the operating state of the self-propelled device 100 provided on the self-propelled device 100. The detection principle may be the same as or different from the motion state detection principle of the first processor 180, and will not be specifically described here.

[0077] This disclosure further provides a method for controlling a self-propelled device, which is applicable to a second processor of the self-propelled device of any of the above embodiments. As shown in Figure 5, the method includes the following steps.

[0078] Step S501: Obtain the operating status of the self-propelled equipment.

[0079] Here, the second processor can acquire the operating status of the self-propelled equipment based on the detection result of the operating status of the self-propelled equipment transmitted from the first processor that it receives. The second processor may also detect the operating status of the self-propelled equipment according to the working status of each device of the self-propelled equipment, or the second processor may detect the operating status of the self-propelled equipment using a detection device for the operating status of the self-propelled equipment provided on the self-propelled equipment. The control process by which the first and second processors detect the operating status of the self-propelled equipment has already been described in detail in the above description of the self-propelled equipment, so it will not be explained again here.

[0080] Step S502: Based on the operating status of the self-propelled device, the on / off connection between the first processor and the camera module is controlled, and whether the first processor can receive the image signal transmitted from the camera module is controlled.

[0081] In the control method for an autonomous vehicle provided in the embodiments of this disclosure, the second processor controls the on / off state of the connection between the first processor and the camera module based on the operating state of the autonomous vehicle. This step matches the on / off state of the connection between the first processor and the camera module with the operating state of the autonomous vehicle. If the operating state of the autonomous vehicle requires the use of a map of the surrounding environment of the autonomous vehicle and / or information about obstacles in the surrounding environment of the autonomous vehicle, the second processor controls the connection between the first processor and the camera module to turn on, thereby enabling the first processor to receive image signals transmitted from the camera module. Based on the received image signals, the surrounding environment map of the autonomous vehicle can be established and / or obstacles in the surrounding environment of the autonomous vehicle can be identified, further improving the reliability and accuracy of the current operating state of the autonomous vehicle. When the operating state of the self-propelled device does not require the use of a surrounding environment map and / or information about obstacles in the surrounding environment of the self-propelled device, the second processor controls the connection between the first processor and the camera module to be turned off, thereby preventing the first processor from receiving image signals transmitted from the camera module. This avoids the risk of the first processor leaking image signals acquired by the camera module and thus exposing user privacy, thereby reducing the risk of user privacy leakage and improving the safety of using the self-propelled device.

[0082] Furthermore, as a subdivision and extension of the specific embodiment described above, in order to fully explain the specific implementation process of this embodiment, the step of controlling the on / off status of the connection between the first processor and the camera module based on the operating state of the self-propelled device includes the following steps.

[0083] Step S502-1: If the self-propelled equipment is in working condition, control the connection between the first processor and the camera module to be turned on.

[0084] Step S502-2: If the self-propelled equipment is in a non-working state, control it to turn off the connection between the first processor and the camera module.

[0085] Here, the operating state of the self-propelled device includes working state and non-working state. In the working state, the self-propelled device uses a map of its surrounding environment and / or information about obstacles in its surrounding environment to control itself so that it operates accurately and reliably. Conversely, in the non-working state, the self-propelled device does not need to use a map of its surrounding environment and / or information about obstacles in its surrounding environment. In the non-working state, if the first processor receives an image signal transmitted from the camera module, there is a risk of leaking related information through the first processor and thus leaking user privacy. The operating state of the self-propelled device may further include other states, and the working state and non-working state may be distinguished according to the actual situation of the self-propelled device; this disclosure is not specifically limited.

[0086] In this embodiment, when the self-propelled device is in working mode, the second processor controls the on / off connection between the first processor and the camera module, ensuring that the first processor reliably receives image signals transmitted from the camera module, establishes a map of the surrounding environment of the self-propelled device based on the image signals, and / or identifies obstacles in the surrounding environment of the self-propelled device, further guiding the smooth or precise operation of the self-propelled device and improving the accuracy and reliability of the self-propelled device's operation. Conversely, when the self-propelled device is in a non-working state, the second processor controls the connection between the first processor and the camera module to turn off, preventing the first processor from receiving image signals transmitted from the camera module. This avoids the problem of the camera module leaking user privacy when in a non-working state and improves the safety of using the self-propelled device.

[0087] As a result of the above technical solution, the first processor for processing image signals acquired by the camera module in the self-propelled vehicle will no longer be able to receive image signals output from the camera module when the self-propelled vehicle is not working, thereby avoiding the problem of the camera module leaking user privacy when the self-propelled vehicle is not working and improving the safety performance of the self-propelled vehicle.

[0088] Further explanations regarding the correspondence of each functional step related to the control method for self-propelled equipment provided in the embodiments of this disclosure can be found in the description of the embodiments of the self-propelled equipment described above, and will not be repeated here.

[0089] Based on the above-described method for controlling a self-propelled device, in order to achieve the above objective, embodiments of the present disclosure further provide a computer device comprising a storage medium and a processor, wherein the storage medium is used to store a computer program and the processor is used to execute the computer program and realize the method for controlling a self-propelled device provided by the above embodiments.

[0090] The computer equipment may optionally further include a user interface, network interface, camera, radio frequency (RF) circuitry, sensors, audio circuitry, Wi-Fi module, etc. The user interface may include input units such as a display and keyboard, and optionally include a USB interface, card reader interface, etc. The network interface may optionally include a standard wired interface, wireless interface (Bluetooth interface, Wi-Fi interface), etc.

[0091] As those skilled in the art will understand, the structure of the self-propelled device provided in this embodiment does not constitute a limitation of the computer device, and may include more or fewer components, or combine several components, or employ a different arrangement of components.

[0092] In the exemplary embodiments of this disclosure, the method for constructing a map of computer equipment may be implemented by a self-propelled device (such as a self-propelled mopping device or a sweeping and mopping vacuum cleaner), that is, each step of the control method for the self-propelled device may be performed by the self-propelled device, in which case the control process for computer equipment may be located on the self-propelled device.

[0093] Based on the method provided in the above embodiment, the embodiment of the present disclosure further provides a storage medium on which a computer program is stored, and when the program is executed by a processor, it realizes the control method of the self-propelled device proposed in the above embodiment.

[0094] Based on this understanding, the technical solutions of the present disclosure may be embodied in the form of a software product, which is stored on a non-volatile storage medium (such as a CD-ROM, USB disk, or portable hard disk) and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to perform the methods described in each embodiment of the present disclosure.

[0095] The storage medium further includes an operating system and a network communication module. The operating system manages and stores programs for the computer equipment's hardware and software resources and supports the execution of information processing programs and other software and / or programs. The network communication module is used to enable communication between the components within the storage medium and between other hardware and software in the physical device.

[0096] As shown in Figure 6, the computer equipment includes a processing unit 601 (e.g., a central processor, graphics processor, etc.) which performs various appropriate operations and processes based on programs stored in a read-only storage medium (ROM 602) or programs loaded from a storage device 608 into a random access storage medium (RAM 603). RAM 603 also stores various programs and data necessary for operating the electronically controlled self-propelled robot. The processing unit 601, ROM 602, and RAM 603 are connected to each other via a bus 604. The input / output (I / O) interface is also connected to the bus 604.

[0097] Typically, the I / O interface 605 is connected to input devices 606 such as touchscreens, touchpads, keywords, mice, cameras, microphones, accelerometers, and gyroscopes; output devices 607 such as liquid crystal displays (LCDs), speakers, and vibrators; storage devices 608 such as hard disks; and communication devices 609. The communication device 609 allows the computer equipment to exchange data with other mobile devices via wireless or wired communication. Figure 6 illustrates a computer equipment equipped with various devices, but it should be understood that it is not necessary to implement or have all of the illustrated devices. Alternatively, it is possible to implement or have more or fewer devices.

[0098] In particular, the process described with reference to the flowchart above, based on the embodiments of this disclosure, can be implemented as a software program for a self-propelled robot. For example, an embodiment of this disclosure includes a software program product for a computer device, which includes a computer program recorded on a readable medium, and the computer program includes program code for performing the method shown in Figure 5, which is a flowchart. In such an embodiment, the computer program is downloaded and installed from a network via a communication device 609, installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing unit 601, it performs the functions defined in the method of the embodiments of this disclosure.

[0099] From the above description of embodiments, it will be apparent to those skilled in the art that the present disclosure may be implemented by combining software and a necessary general-purpose hardware platform, or by hardware alone.

[0100] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of preferred embodiments, and that the units or flows in the accompanying drawings are not necessarily required to carry out the disclosure. Those skilled in the art will understand that the units in the apparatus in the embodiments may be arranged in the apparatus of the embodiments as described in the embodiment, or they may be modified as necessary to be arranged in one or more apparatuses different from those of the embodiments. The units of the above embodiments may be integrated as a single unit or divided into multiple subunits.

[0101] The numbers in the above disclosure are for illustrative purposes only and do not indicate any preference for one embodiment over another. The above disclosures represent only a few specific embodiments of the disclosure, and the disclosure is not limited thereto. Modifications that a person skilled in the art could conceive of are also covered by the disclosure.

Claims

1. A self-propelled device comprising a camera module, a first processor and a second processor, The camera module is used to acquire image signals of the surrounding environment of the self-propelled device and to transmit the image signals to the first processor. The first processor is used to receive the image signal, establish a map of the surrounding environment of the self-propelled device based on the image signal, and / or to identify obstacles in the surrounding environment of the self-propelled device. The second processor controls the on / off status of the connection between the first processor and the camera module based on the operating state of the self-propelled device, and controls whether the first processor can receive an image signal transmitted from the camera module.

2. When the self-propelled device is in operation, the second processor controls the connection between the first processor and the camera module to be turned on. The self-propelled device according to claim 1, wherein when the self-propelled device is in a non-working state, the second processor controls the connection between the first processor and the camera module to be turned off.

3. The self-propelled device according to claim 1 or 2, further comprising a three-state output circuit provided between the first processor and the camera module.

4. When the self-propelled device is in operation, the second processor transmits an enable signal to the three-state output circuit and controls it to turn on the connection between the first processor and the camera module. The self-propelled device according to claim 3, wherein when the self-propelled device is in a non-working state, the second processor transmits a non-enable signal to the third state output circuit, controlling it to turn off the connection between the first processor and the camera module.

5. The self-propelled device according to claim 4, wherein the first processor is further used to detect the operating state of the self-propelled device and transmit the detection result to the second processor.

6. The self-propelled device is a self-propelled cleaning device, as described in any one of claims 2 to 5.

7. The self-propelled device according to claim 6, wherein the aforementioned working state includes a cleaning state or a driving state.

8. The self-propelled device according to claim 6, wherein the non-working state includes a charging state, a cleaning state, a dust collection state, a water replenishment state, a dormant state, or a shutdown state.

9. A control method for a self-propelled device applied to a second processor of a self-propelled device according to any one of claims 1 to 8, wherein the method is: The steps include acquiring the operating status of the self-propelled device, A method for controlling a self-propelled device, comprising the steps of controlling the on / off status of the connection between the first processor and the camera module based on the operating state of the self-propelled device, and controlling whether the first processor can receive an image signal transmitted from the camera module.

10. The step of controlling the on / off connection between the first processor and the camera module based on the operating state of the self-propelled device is: When the self-propelled device is in operation, the control is performed to turn on the connection between the first processor and the camera module. A method for controlling a self-propelled device according to claim 9, comprising the step of controlling the connection between the first processor and the camera module to turn off when the self-propelled device is in a non-working state.

11. A storage medium in which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the method according to claim 9 or 10 are realized.

12. A computer device comprising memory, a processor, and a computer program stored in memory and executable by the processor, wherein when the computer program is executed by the processor, steps of the method according to claim 9 or 10 are realized.

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