Control method, apparatus, electronic equipment, and readable storage medium for self-propelled devices

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 Application) This application claims the priority of Chinese Patent Application No. 202210004272.3 filed on January 4, 2022, and all the disclosure contents of the above Chinese patent application are incorporated herein by reference as part of this application.

[0002] This application relates to the technical field of device control, and particularly relates to a control method, a device, an electronic device and a readable storage medium of a self-propelled device.

Background Art

[0003] A self-propelled device is a device that can automatically move under the control of a program, such as a self-propelled device for sweeping, a self-propelled device for mopping, a self-propelled device for window cleaning, etc. The self-propelled device can receive a control command from a user and execute an operation in response to the control command. After the operation is completed, or after receiving a command to return to the dock from the user, or when the power is low, the self-propelled device automatically returns to the charging dock for charging or maintenance (such as dust collection, cleaning of the mopping cloth, etc.).

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

Summary of the Invention

[0005] According to a first aspect of this application, a control method of a self-propelled device is provided, and the method includes: Determining a fixed dock position in the process of returning to the dock and moving towards the fixed dock position; The distance information between the current location and the fixed pile location is statistically calculated, The system includes calculating a device movement speed that matches the distance information, moving toward the fixed pile position according to the device movement speed, wherein the device movement speed includes the linear velocity or angular velocity of the self-propelled device.

[0006] According to a second aspect of this application, a control device for a self-propelled device is provided, the device is A moving module used to determine the fixed pile position during the pile return process and to move toward the fixed pile position, A statistical module used to collect distance information between the current location and the fixed pile location, The system comprises a calculation module used to calculate the device movement speed that matches the distance information, The moving module is further used to move toward the fixed pile position according to the device moving speed, where the device moving speed is the linear or angular velocity of the self-propelled device.

[0007] According to a third aspect of this application, an electronic device is provided, comprising memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, it performs a step of the method described in any one of the first aspects.

[0008] According to a fourth aspect of this application, a readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are performed.

[0009] The above description is merely an overview of the technical solution of this application. To gain a clearer understanding of the technical means of this application, we will implement them in accordance with the specification, and to gain a clearer and easier understanding of the above and other objectives, features and advantages of this application, specific embodiments of this application will be specifically referenced below.

[0010] By reading the detailed description of the following preferred embodiments, various other advantages and benefits will become apparent to those skilled in the art. The accompanying drawings are used solely for the purpose of illustrating preferred embodiments and do not limit this application. Throughout the accompanying drawings, the same reference numerals indicate the same components. [Brief explanation of the drawing]

[0011] [Figure 1] A schematic diagram illustrating the flow of the control method for a self-propelled device provided by the embodiment of this application. [Figure 2] A schematic diagram illustrating the flow of the control method for a self-propelled device provided by the embodiment of this application. [Figure 3] A schematic diagram showing the structure of a control device for a self-propelled device provided by the embodiment of this application. [Figure 4] A schematic diagram showing the structure of a control device for a self-propelled device provided by the embodiment of this application. [Figure 5] A schematic diagram showing the device structure of an electronic device provided by the embodiment of this application. [Modes for carrying out the invention]

[0012] Illustrative embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While illustrative embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be carried out in various forms without being limited to the embodiments specified herein. Rather, these embodiments are provided to enable a more complete understanding of the present application and to fully convey the scope of the application to those skilled in the art.

[0013] This application provides a control method, apparatus, electronic equipment, and readable storage medium for a self-propelled device that can solve the problems of existing self-propelled devices having low pile return stability and low pile climbing success rates.

[0014] In the process of a self-propelled device returning to the pile at the rear, it relies on a trigger from a rear-fixed position switch. Therefore, to stabilize the pile return, a restriction groove is often provided in fixed piles such as cleaning piles and charging piles, and the tail of the self-propelled device is fixed by the restriction groove.

[0015] The presence of a restriction groove necessitates that the software of self-propelled devices such as sweeping robots and mopping robots be adapted accordingly. Specifically, when approaching a restriction groove, the tail of the self-propelled device must oscillate and track it according to a signal that narrows (i.e., oscillate from side to side to perform a pile-return operation). If the linear or angular velocity of the self-propelled device is relatively high, the tail of the device may deviate from the restriction groove, resulting in a failure to return to the pile, requiring the device to perform the pile-return operation again after moving away from the pile. Conversely, if the velocity is relatively low, the self-propelled device will have to spend a lot of time finding the position of the restriction groove, resulting in a relatively low pile-climbing efficiency. Therefore, in order to ensure that the tail of the self-propelled device enters the restriction groove efficiently and accurately and triggers the predetermined position switch, this embodiment provides a control method for the self-propelled device. When performing the pile return operation, the device determines the fixed pile position, moves toward the fixed pile position, statistically calculates the distance information between the current position and the fixed pile position, calculates a linear velocity or angular velocity that matches the distance information as the device movement speed, moves toward the fixed pile position according to the above device movement speed, decreases the linear velocity or angular velocity of the self-propelled device according to the distance to the fixed pile, and controls the movement speed and swing amplitude of the self-propelled device by dynamically adjusting the linear velocity or angular velocity, thereby ensuring that the self-propelled device is accurately positioned on the pile, improving pile climbing efficiency and success rate, and providing good pile return stability.

[0016] Embodiments of this application provide a method for controlling a self-propelled device, which, as shown in Figure 1, includes the following steps.

[0017] 101. During the pile return process, the fixed pile position is determined, and the system moves toward the fixed pile position.

[0018] Here, there is a data link between the self-propelled device and the terminal held by the user. By operating the terminal, the user can give movement control commands such as starting cleaning, charging, and returning to the pile to the self-propelled device, freeing the user's hands. Therefore, in normal operations, the self-propelled device receives from the terminal movement control commands for the user to control the self-propelled device to return to the fixed pile, return to the pile for charging, return to the pile for cleaning, etc. Thus, in response to the movement control command, the self-propelled device determines the position of the fixed pile and moves towards the position of the fixed pile. Note that after completing the corresponding operation, the self-propelled device automatically returns to the fixed pile for operations such as charging, dust collection, and return cleaning. At this time, after determining the position of the fixed pile, it is necessary to move towards the position of the fixed pile. Therefore, the operation of the self-propelled device to return to the pile 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. The fixed pile may be a charging pile for charging the self-propelled device, a cleaning pile for cleaning and maintenance of the self-propelled device, or may have any one function or a combination of arbitrary functions such as supplying clean water to the self-propelled device, dust collection, cleaning the cleaning member on the self-propelled device, and accommodating the sewage of the self-propelled device, or may be a pile that combines the functions of charging and cleaning and maintenance. In this application, the specific function of the fixed pile is not limited.

[0020] 102. When detecting a signal to return to the pile, statistically calculate the distance information between the current position and the fixed pile position.

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

[0022] Here, this application reduces the linear velocity or angular velocity of the self-propelled device based on the distance from the fixed pile, dynamically adjusts the linear velocity or angular velocity, and controls the swing amplitude of the self-propelled device. Therefore, the self-propelled device continuously statistically analyzes the distance information between the current position and the fixed pile position, and determines the device movement speed according to the statistically analyzed distance information. The distance information may be the straight-line distance between the current position and the fixed pile position, avoiding obstacles 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 movement speed that conforms to the distance information, and move toward the fixed pile position according to the device movement speed.

[0024] Here, after determining the distance information, it is necessary to calculate the device movement speed that conforms to 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 conforms to the distance information, and the device movement speed decreases according to the decrease in the distance information. 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, ensuring the accuracy of the pile positioning of the self-propelled device.

[0025] Furthermore, the device movement speed can include the linear velocity or angular velocity of the self-propelled device. By dynamically adjusting the linear velocity or angular velocity, the oscillation range of the self-propelled device can be controlled. The closer the distance between the self-propelled device and the fixed pile, the smaller the oscillation range becomes, thus preventing the self-propelled device from oscillating to the outer surface of the restricting groove or losing the signal.

[0026] The method provided by the embodiment of this application calculates a linear velocity or angular velocity that matches the distance information based on the distance information between the current position and the fixed pile position as the device movement speed, moves toward the fixed pile position according to the device movement speed, reduces the linear velocity or angular velocity of the self-propelled device based on the distance from the fixed pile, controls the swing amplitude of the self-propelled device by dynamically adjusting the linear velocity or angular velocity, the self-propelled device is accurately positioned toward the pile, improves pile climbing efficiency and pile climbing success rate, and provides good pile return stability.

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

[0028] 201. During the pile-up return process, at least one fixed pile-up signal is collected.

[0029] In the embodiments of this application, the case in which a self-propelled device returns to a fixed pile for pile climbing operations such as charging and return cleaning is described as an example. During the pile return process, the self-propelled device needs to collect at least one fixed pile signal within a preset collection range, and then determine the current location of the fixed pile according to the intensity of the fixed pile signal and move toward that location. Here, the at least one fixed pile signal is a signal broadcast from the fixed pile to the outside, and may specifically be a pile return signal. Since the range of the pile return signal radiated from the fixed pile is limited, after the self-propelled device has collected the pile return signal, that is, it has entered the area where the fixed pile is located, and can move according to the instructions of the fixed pile signal.

[0030] 202. Determine the signal source of at least one fixed pile signal according to the signal intensity of 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.

[0031] In the embodiments of this application, when the self-propelled device moves within the fixed pile signal coverage area, it continuously receives fixed pile signals, with the intensity of the fixed pile signals increasing as it approaches the fixed pile and decreasing as it moves away from the fixed pile. Therefore, after receiving at least one fixed pile signal, the self-propelled device can determine the signal source of at least one fixed pile signal according to the signal intensity of the at least one fixed pile signal, using the position indicated by the signal source as the fixed pile position, which is the current position of the fixed pile, and the self-propelled device moves toward the fixed pile position.

[0032] 203. Obtain the specified fixed pile signal collected at the current location, identify the specified signal strength of the specified fixed pile signal, find the 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 embodiments of this application, the application adjusts the movement speed of the self-propelled device mainly based on the distance between the self-propelled device and the fixed pile. The self-propelled device acquires a designated fixed pile signal collected at its current position and identifies a 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. Since there is a correlation between signal strength and distance, the self-propelled device retrieves the transmission distance corresponding to the designated signal strength, uses the transmission distance as distance information between its current position and the fixed pile position, and subsequently adjusts its speed according to this distance information to improve pile climbing efficiency.

[0034] 204. Obtain the distance threshold, compare the distance information with the distance threshold, and if the distance information is greater than the distance threshold, repeat step 203 above. If the distance information is less than or equal to the distance threshold, perform step 205 below.

[0035] In the embodiments of this application, considering that adjusting the speed is not particularly meaningful when the self-propelled device is far from the fixed pile, the speed at which 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 of when the self-propelled device adjusts its speed based on the distance between the fixed piles is controlled based on the distance threshold, i.e., the distance threshold is obtained and the distance information is compared with the distance threshold. Accordingly, if the distance information is greater than the distance threshold, the self-propelled device is far from the fixed pile and does not need to adjust its speed, but it is necessary to continuously statistically collect the distance information in real time and compare the statistically collected distance information with the distance threshold in real time, so step 203 above is repeated. If the distance information is less than or equal to the distance threshold, it indicates that the self-propelled device is close to the fixed pile, and it is necessary to adjust the speed of the self-propelled device to accurately position itself on the pile, so step 205 below is performed.

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

[0037] 205. If the distance information is below the distance threshold, the device calculates a travel speed that matches the distance information and moves toward the fixed pile position according to the device travel speed.

[0038] In the embodiments of this application, when the distance information is below a distance threshold, it indicates that the self-propelled device is located near a fixed pile, and it is necessary to adjust the speed of the self-propelled device to begin positioning it precisely on the pile. Therefore, a device travel speed that matches the distance information is calculated, and the device moves toward the fixed pile position according to the device travel speed. In one selectable embodiment, the device travel speed is calculated using one of the following three methods:

[0039] The first method involves obtaining the current speed of the self-propelled device, determining pre-set speed calculation parameters, calculating distance information and the current device speed according to the pre-set speed calculation parameters, and using the obtained calculation result as the device movement speed that fits the distance information. Here, the pre-set speed calculation parameters indicate a strategy to decrease and adjust the current device speed according to the distance information; that is, assuming the current distance information is determined according to the pre-set speed calculation parameters, the self-propelled device needs to increase or decrease its angular velocity or linear velocity by how much to ensure accurate pile climbing. In the actual application process, algorithms such as linear functions and exponential functions are set, and the device movement speed is obtained by referring to the set algorithm and calculating distance information and the current device speed according to the pre-set speed calculation parameters.

[0040] The second method involves determining a pre-set speed adjustment formula, inputting the current device speed and distance information into the pre-set speed adjustment formula, and calculating the result, using the obtained calculation as the device movement speed that matches the distance information. Here, the pre-set speed adjustment formula represents a linear or nonlinear adjustment relationship between the distance information and the current device speed. Specifically, the pre-set speed adjustment formula may be in the linear form Z = X - 0.5Y, where Z represents the device movement speed, X represents the current device speed, and Y represents the distance information. In this way, by inputting the values ​​of X and Y into the formula, the value of Z can be obtained, and the device moves towards the fixed pile according to the value of Z. It should be noted that the above formula is merely an example, and in actual application, the pre-set speed adjustment formula may be a nonlinear formula such as an exponential or logarithmic function that can increase or decrease the current device speed in accordance with the increase or decrease in distance information, and the specific content of the pre-set speed adjustment formula is not limited in this application.

[0041] The third method first obtains a pre-defined association, which includes multiple sample distance intervals and the sample device speed corresponding to each sample distance interval within the multiple sample distance intervals. The pre-defined association may be generated by conducting multiple experiments of the pile-climbing process of a self-propelled device. That is, multiple sample distance intervals are set in advance, the pile-climbing process of the self-propelled device is performed multiple times, and appropriate angular velocity or linear velocity values ​​corresponding to each sample distance interval within the multiple sample distance intervals are recorded in each pile-climbing process. Finally, appropriate angular velocity or linear velocity is obtained for each sample distance interval multiple times during the pile-climbing process, the average value of the angular velocity or linear velocity corresponding to the sample distance interval is calculated, and this average value is used as the sample device speed corresponding to the sample distance interval. In this way, in the process of actual application, a target sample distance interval that matches the distance information is searched for in the multiple sample distance intervals, a target sample device speed corresponding to the target sample distance interval is determined in the pre-defined association, and the target sample device speed is used as the device movement speed that matches the distance information. The third method allows for the determination of the optimal device movement speed for each distance using a sample experimental method. The self-propelled device is then directly controlled according to the predetermined optimal device movement speed to move towards the fixed pile, eliminating the need to calculate the speed in real time and reducing the computational burden on the self-propelled device.

[0042] In this way, by performing the processes of steps 201 to 205 described above, the pile return stability of the self-propelled device can be ensured by dynamically adjusting the pile return speed, thereby ensuring a high success rate for climbing the pile. Note that the explanation of steps 201 to 205 above describes the process of dynamically adjusting the device's movement speed only once. In actual application, the self-propelled device continuously or periodically (for example, adjusting the speed every 2 seconds) collects distance information between its current position and the fixed pile position in real time, calculates the device's movement speed that matches the distance information, moves toward the fixed pile position according to the device's movement speed, and enters the limit groove of the fixed pile to begin charging or cleaning until the tail of the self-propelled device triggers a predetermined position switch or receives an energizing signal.

[0043] The method provided by the embodiment of this application involves using distance information from a fixed pile during the pile return process to calculate a linear velocity or angular velocity that matches the distance information as the device movement speed, moving toward the fixed pile position according to the device movement speed, decreasing the linear velocity or angular velocity of the self-propelled device according to the distance from the fixed pile, and controlling the oscillation range of the self-propelled device by dynamically adjusting the linear velocity or angular velocity, thereby ensuring that the self-propelled device is accurately positioned on the pile, improving pile climbing efficiency and success rate, and providing good pile return stability.

[0044] Furthermore, as a specific embodiment of the method described in Figure 1, the present invention provides a control device for a self-propelled device, which, as shown in Figure 3, comprises a mobile module 301, a statistical module 302, and a calculation module 303.

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

[0046] In a specific application scenario, the mobile module 301 collects at least one fixed pile signal, determines the signal source of the at least one fixed pile signal according to the signal intensity of the at least one fixed pile signal, uses the position indicated by the signal source as the fixed pile position, and is used to move toward the fixed pile position.

[0047] In a specific application scenario, the statistical module 302 acquires a specified fixed pile signal collected at the current location, identifies a specified signal strength of the specified fixed pile signal, retrieves the transmission distance corresponding to the specified signal strength, and uses the transmission distance as distance information between the current location and the fixed pile location.

[0048] In a specific application scenario, as shown in Figure 4, the device further includes an acquisition module 401.

[0049] The acquisition module 401 is used to acquire a distance threshold and compare the distance information with the distance threshold. The statistical module 302 is further used to continuously statistically analyze the distance information in real time if the distance information is greater than the distance threshold, and to compare the real-time statistically analyzed distance information with the distance threshold. The calculation module 303 is further used to calculate a device movement speed that matches the distance information if the distance information is less than or equal to the distance threshold, and to move toward the fixed pile position according to the device movement speed.

[0050] In a specific application scenario, the calculation module 303 acquires the current 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, uses the obtained calculation result as a device movement speed that matches 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 to reduce 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 and calculates, uses the obtained calculation result as a device movement speed that matches the distance information, and uses the preset speed adjustment formula 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 acquires a pre-configured relationship, which includes a plurality of sample distance intervals and a sample device speed corresponding to each of the plurality of sample distance intervals. The module queries the target sample distance interval that corresponds to the distance information in the plurality of sample distance intervals, determines the target sample device speed corresponding to the target sample distance interval in the pre-configured relationship, and uses the target sample device speed as the device movement speed that matches the distance information.

[0052] In a specific application scenario, the statistical module 302 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 a device movement speed that matches the distance information, and move toward the fixed pile position according to the device movement speed until a predetermined position switch is triggered or an energizing signal is received.

[0053] The apparatus provided by the embodiment of this application uses distance information from a fixed pile during the pile return process to calculate a linear velocity or angular velocity that matches the distance information as the apparatus movement speed, moves toward the fixed pile position according to the apparatus movement speed, reduces the linear velocity or angular velocity of the self-propelled apparatus using the distance from the fixed pile, and controls the oscillation range of the self-propelled apparatus by dynamically adjusting the linear velocity or angular velocity, thereby accurately positioning the self-propelled apparatus with the pile, improving pile climbing efficiency and success rate, and providing good pile return stability.

[0054] Further explanations of the correspondences of each functional unit in the control device of the self-propelled device provided by the embodiments of this application can be found in the explanations of the correspondences in Figures 1 and 2, and will not be repeated here.

[0055] In an exemplary embodiment, referring to Figure 5, an electronic device is further provided, comprising a bus, a processor, memory, and a communication interface, and may further comprising an input / output interface and a display device, wherein each functional unit can communicate with each other via the bus. A computer program is stored in the memory, and the processor executes the program stored in the memory to perform the control method of the self-propelled device of the above embodiment.

[0056] A computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it performs the steps of the control method for the self-propelled device.

[0057] As described above, it will be apparent to those skilled in the art that the present application can be implemented by hardware, by software and a necessary general-purpose hardware platform. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored on a single non-volatile storage medium (such as a CD-ROM, USB disk, or removable hard disk) and contains a number of instructions that cause a single computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment of the present application.

[0058] It will be apparent to those skilled in the art that the attached drawings are merely schematic diagrams of preferred embodiments, and that the modules or flows shown in the attached drawings are not necessarily required to carry out this application.

[0059] Those skilled in the art will know that the modules of the apparatus in the embodiment may be distributed to the apparatus of the embodiment in accordance with the description of the embodiment, or they may be distributed to one or more different apparatuses with corresponding modifications. The modules of the above embodiment may be integrated as a single module, or they may be further divided into multiple submodules.

[0060] The above application number is for illustrative purposes only and does not indicate the merits of the embodiment.

[0061] According to some embodiments of this application, determining the fixed pile position during the pile return process and moving toward the fixed pile position is To collect at least one fixed pile-up signal, The signal source of the at least one fixed pile signal is determined according to the signal intensity of the at least one fixed pile signal, This includes using the position indicated by the signal source as the fixed pile position and moving toward the fixed pile position.

[0062] According to some embodiments of this application, statistically determining the distance information between the current position and the fixed pile position is: When the self-propelled device moves within the range of the pile return signal from the fixed pile, it includes measuring its own distance from the fixed pile using a distance measuring device.

[0063] According to some embodiments of this application, statistically determining the distance information between the current position and the fixed pile position is The process involves acquiring a specified fixed pile signal collected at the current location and identifying a specified signal strength of the specified fixed pile signal. This includes searching for the transmission distance corresponding to the specified signal strength and using the transmission distance as distance information between the current location and the fixed pile location.

[0064] According to some embodiments of this application, after statistically recording the distance information between the current position and the fixed pile position, the method is: Obtain a distance threshold and compare the distance information with the distance threshold. If the distance information is greater than the distance threshold, the distance information is statistically analyzed in real time and continuously, and the statistically analyzed distance information is compared with the distance threshold. If the distance information is less than or equal to the distance threshold, the device 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 this application, calculating the device movement speed that matches the distance information is possible. The current speed of the self-propelled device is obtained, a preset speed calculation parameter is determined, the distance information and the current device speed are calculated according to the preset speed calculation parameter, the obtained calculation result is used as the device movement speed that matches the distance information, 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 to reduce and adjust the current device speed according to the distance information, or, The system includes determining a pre-set speed adjustment formula, inputting the current device speed and distance information into the pre-set speed adjustment formula for calculation, using the obtained calculation result as the device movement speed that matches the distance information, and ensuring that the pre-set 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 this application, calculating the device movement speed that matches the distance information is possible. A pre-defined relationship is obtained, and the pre-defined relationship includes a plurality of sample distance intervals and the sample device speed corresponding to each of the plurality of sample distance intervals. The process involves searching for a target sample distance interval corresponding to the distance information within the plurality of sample distance intervals, and determining the target sample device speed corresponding to the target sample distance interval in the predetermined relationship. This includes using the target sample device speed as the device movement speed that matches the distance information.

[0067] According to some embodiments of this application, the method is The system further includes statistically compiling distance information between the current position and the fixed pile position in real time, continuously or periodically, continuously calculating a device movement speed that matches the distance information, and moving toward the fixed pile position according to the device movement speed until a predetermined position switch is triggered or an energizing signal is received.

[0068] According to some embodiments of the present application, the mobile module is used to collect at least one fixed pile signal, 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, 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 this application, the statistical module acquires a specified fixed pile signal collected at the current location, identifies a specified signal strength of the specified fixed pile signal, queries the transmission distance corresponding to the specified signal strength, and uses the transmission distance as distance information between the current location and the fixed pile location.

[0070] According to some embodiments of this application, the apparatus is The system further comprises an acquisition module used to acquire a distance threshold and compare the distance information with the distance threshold, The statistical module further uses the real-time statistical analysis of distance information if the distance information is greater than the distance threshold, and compares the real-time statistically analyzed distance information with the distance threshold. The calculation module further calculates a device travel speed that matches the distance information if the distance information is less than the distance threshold, and uses the device travel speed to move toward the fixed pile position.

[0071] According to some embodiments of this application, the calculation module obtains the 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, uses the obtained calculation result as a device movement speed that conforms to 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 to reduce 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 and calculates, uses the obtained calculation result as a device movement speed that conforms to the distance information, and uses the preset speed adjustment formula to indicate a linear or nonlinear adjustment relationship between the distance information and the current device speed.

[0072] According to some embodiments of this application, the calculation module acquires a pre-defined association, the pre-defined association includes a plurality of sample distance intervals and a sample device speed corresponding to each of the plurality of sample distance intervals, queries 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 pre-defined association, and uses the target sample device speed 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, to continuously calculate a device movement speed that fits the distance information, and to move toward the fixed pile position according to the device movement speed until a predetermined position switch is triggered or an energizing signal is received.

[0074] According to the above technical solution, this application provides a control method, apparatus, electronic equipment, and readable storage medium for a self-propelled device. This application controls the oscillation range of the self-propelled device by dynamically adjusting the linear velocity or angular velocity when moving toward a fixed pile, thereby ensuring that the self-propelled device is precisely positioned toward the pile, improving pile climbing efficiency and success rate, and providing good pile return stability.

[0075] Although several specific embodiments of this application have been described above, this application is not limited thereto, and any changes that are easily conceivable by a person skilled in the art are included within the scope of protection of this application.

Claims

1. During the pile return process, the fixed pile position is determined, and the pile moves toward the fixed pile position. The distance information between the current location and the fixed pile location is statistically calculated, The device calculates a device movement speed that matches the distance information, moves toward the fixed pile position according to the device movement speed, and the device movement speed includes the linear velocity or angular velocity of the self-propelled device. Calculating the device movement speed that matches the distance information is, The current speed of the self-propelled device is obtained, a preset speed calculation parameter is determined, the distance information and the current device speed are calculated according to the preset speed calculation parameter, the obtained calculation result is used as the device movement speed that matches the distance information, 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 to reduce and adjust the current device speed according to the distance information, or The process includes determining a pre-set speed adjustment formula, inputting the current device speed and distance information into the pre-set speed adjustment formula for calculation, using the obtained calculation result as the device movement speed that matches the distance information, and the pre-set speed adjustment formula indicating a linear or nonlinear adjustment relationship between the distance information and the current device speed. A method for controlling a self-propelled device, wherein the oscillation range of the self-propelled device can be controlled by dynamically adjusting the linear velocity or the angular velocity, and the oscillation range becomes smaller as the distance between the self-propelled device and the fixed pile decreases.

2. In the aforementioned pile return process, determining the fixed pile position and moving toward the fixed pile position is, To collect at least one fixed pile-up signal, The signal source of the at least one fixed pile signal is determined according to the signal intensity of the at least one fixed pile signal, The method according to claim 1, comprising using the position indicated by the signal source as the fixed pile position and moving toward the fixed pile position.

3. The statistical analysis of distance information between the current location and the fixed pile location is performed by: The method according to claim 1 or 2, further comprising measuring its own distance from the fixed pile by a distance measuring device when the self-propelled device moves within the range of the pile return signal transmitted by the fixed pile.

4. The statistical analysis of distance information between the current location and the fixed pile location is performed by: The process involves acquiring a specified fixed pile signal collected at the current location and identifying a specified signal strength of the specified fixed pile signal. The method according to claim 1 or 2, comprising 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.

5. After statistically analyzing the distance information between the current position and the fixed pile position, the method is as follows: Obtain a distance threshold and compare the distance information with the distance threshold, If the distance information is greater than the distance threshold, the distance information is statistically analyzed in real time and continuously, and the statistically analyzed distance information is compared with the distance threshold. The method according to 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 position according to the device movement speed.

6. The aforementioned method, The method according to claim 1 or 2, further comprising: continuously or periodically statistically compiling distance information between the current position and the fixed pile position in real time; continuously calculating a device movement speed that matches the distance information; and moving toward the fixed pile position according to the device movement speed until a predetermined position switch is triggered or an energizing signal is received.

7. A moving module used to determine the fixed pile position during the pile return process and to move toward the fixed pile position, A statistical module used to collect distance information between the current location and the fixed pile location, The system comprises a calculation module used to calculate the device movement speed that matches the distance information, The moving module is further used to move toward the fixed pile position according to the device moving speed, the device moving speed being the linear or angular velocity of the self-propelled device. The aforementioned calculation module is The current speed of the self-propelled device is obtained, a preset speed calculation parameter is determined, the distance information and the current device speed are calculated according to the preset speed calculation parameter, the obtained calculation result is used as the device movement speed that matches the distance information, 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 to reduce and adjust the current device speed according to the distance information. or A pre-set speed adjustment formula is determined, the current device speed and the distance information are input into the pre-set speed adjustment formula for calculation, the obtained calculation result is used as the device movement speed that matches the distance information, and the pre-set speed adjustment formula is used to show the linear or nonlinear adjustment relationship between the distance information and the current device speed. The mobile module can further control the oscillation range of the self-propelled device by dynamically adjusting the linear velocity or the angular velocity, and the oscillation range becomes smaller as the distance between the self-propelled device and the fixed pile decreases.

8. The apparatus according to claim 7, wherein the mobile module is used to collect at least one fixed pile signal, 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, use the position indicated by the signal source as the fixed pile position, and move toward the fixed pile position.

9. The apparatus according to claim 7 or 8, wherein the statistical module is used to acquire a specified fixed pile signal collected at the current location, identify a specified signal strength of the specified fixed pile signal, find the 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.

10. The aforementioned device is The system further comprises an acquisition module used to acquire a distance threshold and compare the distance information with the distance threshold, The statistical module further uses the real-time statistical analysis of distance information if the distance information is greater than the distance threshold, and compares the real-time statistically analyzed distance information with the distance threshold. The apparatus according to claim 7 or 8, wherein the calculation module is used to calculate an apparatus speed that matches the distance information if the distance information is less than or equal to the distance threshold, and to move toward the fixed pile position according to the apparatus speed.

11. The apparatus according to claim 7 or 8, further comprising: the statistical module statistically compiling distance information between the current position and the fixed pile position in real time, continuously or periodically; continuously calculating an apparatus movement speed that matches the distance information; and moving toward the fixed pile position according to the apparatus movement speed until a predetermined position switch is triggered or an energizing signal is received.

12. An electronic device comprising memory and a processor, wherein a computer program is stored in the memory, and the processor executes the computer program, thereby performing the steps of the method according to claim 1 or 2.

13. A readable storage medium having a computer program stored in it, wherein when the computer program is executed by a processor, it performs the steps of the method according to claim 1 or 2.

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