Speed adjustment method, self-moving device and computer readable storage medium

Abstract

A speed adjustment method, a self-moving device and a computer readable storage medium. The method is applied to a self-moving device, and the self-moving device comprises a locomotion motor and a working motor. The method comprises: acquiring the current current of a working motor; on the basis of the current current of the working motor, using a preset speed adjustment algorithm to determine a first speed value; and adjusting the working current of a locomotion motor, so that the value of the locomotion speed of a self-moving device is a first speed value.

Description

Speed ​​adjustment method, self-mobile device and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 24, 2023, with application number 202311389330.X, and invention name “Speed ​​adjustment method, device, self-mobile device and computer-readable storage medium”, the entire contents of which are incorporated by reference into this application.

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on November 7, 2023, with application number 202311477083.9, and invention name “Speed ​​adjustment method, device, self-mobile device and computer-readable storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of self-moving equipment, and in particular to a speed adjustment method, a self-moving equipment, and a computer-readable storage medium. Background Art

[0004] With the development of science and technology, self-moving devices have gradually become known to the public, and more and more self-moving devices are used in people's daily work and life, such as snowplows. At present, the inventors have realized that the parameters of the snow-rolling motor and the travel motor in the snowplow are not dynamically adjusted. The snowplow travels at a constant speed, which may lead to excessive load and frequent overcurrent in the snow-rolling / travel motor, which will affect the snow-clearing efficiency and the stability of the machine's operation. It can be seen that the self-moving device can only operate according to the speed set by the user and cannot adjust the operating speed according to the working conditions, thereby reducing the flexibility of speed adjustment.

[0005] Summary of the Invention

[0006] Embodiments of the present application disclose a speed adjustment method, a mobile device, and a computer-readable storage medium, for improving the flexibility of speed adjustment.

[0007] In a first aspect, an embodiment of the present application discloses a speed adjustment method, which is applied to a self-moving device, the self-moving device including a walking motor and a working motor, including:

[0008] Obtaining the current of the working motor;

[0009] Determine a first speed value using a preset speed adjustment algorithm according to the current current;

[0010] The operating current of the travel motor is adjusted so that the travel speed of the self-moving device is equal to the first speed value.

[0011] In a second aspect, an embodiment of the present application discloses a self-moving device, including a walking motor, a working motor and a processor, wherein the processor controls the walking motor according to the working motor to implement the method disclosed in the first aspect.

[0012] In a third aspect, an embodiment of the present application discloses a computer-readable storage medium, on which a computer program or computer instructions are stored. When the computer program or computer instructions are executed by a processor, the method disclosed in the first aspect above is implemented.

[0013] In an embodiment of the present application, a self-moving device including a travel motor and a working motor obtains the current current of the working motor, determines a first speed value based on the current current of the working motor using a preset speed adjustment algorithm, and adjusts the working current of the travel motor so that the travel speed of the self-moving device is the first speed value. It can be seen that the travel speed of the self-moving device can be adjusted based on the current of the working motor of the self-moving device, thereby improving the flexibility of speed adjustment. In addition, the travel speed of the self-moving device can be adjusted based on the current of the working motor of the self-moving device, which can avoid overloading the self-moving device, thereby improving the working efficiency, balance, and stability of the self-moving device, and reducing the power consumption of the self-moving device.

[0014] The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below, and other features and advantages of the disclosure will be apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0016] FIG1 is a schematic flow chart of a speed adjustment method disclosed in an embodiment of the present application;

[0017] FIG2 is a schematic diagram of a process for obtaining the current current of a triggering working motor disclosed in an embodiment of the present application;

[0018] FIG3 is a schematic diagram showing the principle of a PID algorithm disclosed in an embodiment of the present application;

[0019] FIG4 is a schematic diagram of a process for determining a first speed value using a PID algorithm disclosed in an embodiment of the present application;

[0020] FIG5 is a schematic structural diagram of a speed adjustment device disclosed in an embodiment of the present application;

[0021] FIG6 is a schematic structural diagram of a self-moving device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0023] The embodiments of the present application disclose a speed adjustment method, a mobile device, and a computer-readable storage medium for improving the flexibility of speed adjustment. Detailed descriptions are given below.

[0024] In order to better understand the embodiments of the present application, the relevant technologies of the present application are first introduced below.

[0025] With the development of science and technology, autonomous devices are becoming increasingly commonplace, and are increasingly being used in our daily lives and work, such as snowplows. Snowplows are equipped with a snow roller and a travel mechanism, which correspond to the snow roller motor and travel motor, respectively. When there's a lot of snow, the snow roller motor can become blocked or unable to push the snow, causing the snowplow to slip. This can lead to overload, affecting not only snow removal efficiency and balance, but also the motor's operability and wasting the robot's electrical energy.

[0026] Currently, snowplows lack dynamic adjustment of the parameters of the snow-rolling and travel motors. Snowplows travel at a constant speed, potentially causing excessive load and frequent overcurrent in the snow-rolling and travel motors. This compromises snow-clearing efficiency and operational stability. Therefore, mobile devices operate only at the speed set by the user and cannot adjust their speed based on the operating conditions, reducing flexibility in speed adjustment.

[0027] To address the aforementioned issues, a self-propelled device comprising a travel motor and a working motor obtains the current current of the working motor, determines a first speed value based on the current current of the working motor using a preset speed adjustment algorithm, and adjusts the working current of the travel motor to adjust the travel speed of the self-propelled device to the first speed value. Thus, the travel speed of the self-propelled device can be adjusted based on the current of the working motor of the self-propelled device, thereby improving the flexibility of speed adjustment.

[0028] Please refer to Figure 1, which is a schematic flow chart of a speed adjustment method disclosed in an embodiment of the present application. The speed adjustment method can be applied to a self-propelled device including a travel motor and a working motor. As shown in Figure 1, the speed adjustment method may include the following steps.

[0029] 101. Get the current of the working motor.

[0030] The self-moving device is provided with a walking motor and a working motor. The walking motor is a motor that controls the walking or movement of the self-moving device. The working motor is a motor that controls the working of the self-moving device. It should be understood that the working of the self-moving device here does not include the walking or movement of the self-moving device, but refers to work other than walking or movement. The function of the working motor may be different depending on the type of self-moving device. For example, in the case where the self-moving device is a snowplow, the working motor is a snow rolling motor; in the case where the self-moving device is a lawn mower, the working motor is a lawn mowing motor; in the case where the self-moving device is a leaf blowing robot, the working motor is a blowing motor. The number of working motors of the self-moving device can be one or more.

[0031] The current current of the working motor can be obtained from the mobile device in real time, periodically, or when certain conditions are met. The current current of the working motor is the current working current of the working motor.

[0032] In some embodiments, when the current speed of the mobile device is greater than or equal to the minimum speed of the mobile device, the mobile device may obtain the current current of the working motor. The minimum speed of the mobile device is a stored minimum speed of the mobile device. For example, the minimum speed of the mobile device may be 0.01 m / s, or other values.

[0033] In some embodiments, when the current walking speed of the mobile device is less than the minimum walking speed of the mobile device, the mobile device may first determine the difference between the absolute value of the current walking speed of the mobile device and a second speed value. Then, if the difference is less than a speed threshold, the second speed value may be determined as the first speed value. If the difference is not less than the speed threshold and the absolute value of the current walking speed of the mobile device is greater than the second speed value, the difference between the absolute value of the current walking speed of the mobile device and the speed threshold may be determined as the first speed value. If the difference is not less than the speed threshold and the absolute value of the current walking speed of the mobile device is not greater than the second speed value, the sum of the absolute value of the current walking speed of the mobile device and the speed threshold may be determined as the first speed value. The second speed value is a preset walking speed value of the mobile device.

[0034] The current walking speed of the mobile device may include the current walking direction of the mobile device and the current walking speed value of the mobile device. The current walking direction of the mobile device may be forward or backward. The current walking direction of the mobile device may be represented by positive or negative. When the current walking direction of the mobile device is forward, it is positive; when the current walking direction of the mobile device is backward, it is negative. For example, assuming that the current walking speed of the mobile device is -0.3m / s, - indicates that the current walking direction is backward, 0.3m / s indicates the current walking speed value of the mobile device, and -0.3m / s indicates that the mobile device is moving backward at a speed of 0.3m / s. The current walking speed value of the mobile device may be the absolute value of the current walking speed of the mobile device.

[0035] The minimum walking speed of the self-propelled device is in the forward direction.

[0036] The mobile device can first obtain the current speed of the mobile device, and then determine whether the current speed of the mobile device is less than the minimum speed of the mobile device. If the current speed of the mobile device is determined to be greater than or equal to the minimum speed of the mobile device, it indicates that the mobile device is moving forward, and the current current of the working motor can be obtained. If the current speed of the mobile device is determined to be less than the minimum speed of the mobile device, the difference between the absolute value of the current speed of the mobile device and the second speed value can be determined, and then it can be determined whether the difference is less than a speed threshold. If the difference is determined to be less than the speed threshold, it indicates that the difference between the current speed of the mobile device and the second speed is small, and the second speed value can be directly determined as the first speed value. If it is determined that the difference is not less than (i.e., greater than or equal to) the speed threshold, it indicates that there is a significant difference between the current walking speed of the mobile device and the second speed value. It can then be determined whether the absolute value of the current walking speed of the mobile device is greater than the second speed value. If it is determined that the absolute value of the current walking speed of the mobile device is greater than the second speed value, it indicates that the current walking speed of the mobile device is greater than the second speed value. The difference between the absolute value of the current walking speed of the mobile device and the speed threshold can be determined as the first speed value, i.e., the walking speed of the mobile device can be reduced to bring the walking speed of the mobile device closer to the second speed value. If it is determined that the absolute value of the current walking speed of the mobile device is not greater than (i.e., less than or equal to) the second speed value, it indicates that the current walking speed of the mobile device is less than the second speed value. The sum of the absolute value of the current walking speed of the mobile device and the speed threshold can be determined as the first speed value, i.e., the walking speed of the mobile device can be increased to bring the walking speed of the mobile device closer to the second speed value.

[0037] In some embodiments, when it is determined that the current walking speed of the mobile device is less than the minimum walking speed of the mobile device, it may also be determined whether the current walking speed of the mobile device is less than the maximum negative walking speed of the mobile device. When it is determined that the current walking speed of the mobile device is less than the maximum negative walking speed of the mobile device, it indicates that the current walking speed value is greater than the stored maximum walking speed value for backward movement, and the current walking speed of the mobile device may be set to the maximum negative walking speed of the mobile device so as to update the stored maximum negative walking speed. The maximum negative walking speed of the mobile device is the maximum walking speed of the mobile device stored in the mobile device for backward movement. It can be seen that the maximum negative walking speed of the mobile device is not fixed. For example, the maximum negative walking speed of the mobile device may be -0.3m / s, -0.4m / s, or other values.

[0038] Only when it is determined that the current walking speed of the mobile device is not less than (i.e., greater than or equal to) the maximum negative walking speed of the mobile device, or after the current walking speed of the mobile device is set to the maximum negative walking speed of the mobile device, can the difference between the absolute value of the current walking speed of the mobile device and the second speed value be determined.

[0039] In some embodiments, when the current walking speed of the self-mobile device is greater than or equal to the minimum walking speed of the self-mobile device, the time difference may be determined based on the current time and the previous timestamp.

[0040] If the current walking speed of the mobile device is greater than or equal to the minimum walking speed of the mobile device, the time difference can be directly determined based on the current time and the previous timestamp. Alternatively, it can be determined first whether the second speed value is greater than the maximum walking speed of the mobile device. If it is determined that the second speed value is greater than the maximum walking speed of the mobile device, the walking speed of the mobile device cannot reach the second speed value due to the limitation of the maximum walking speed of the mobile device. Therefore, the second speed value can be determined as the maximum walking speed of the mobile device. If it is determined that the second speed value is not greater than (i.e., less than or equal to) the maximum walking speed of the mobile device, it indicates that the walking speed of the mobile device can reach the second speed value. Only then can the time difference be determined based on the current time and the previous timestamp.

[0041] After the mobile device determines the time difference based on the current time and the previous timestamp, the current current of the working motor can be obtained.

[0042] In some embodiments, it can be determined whether there is an obstacle. If it is determined that there is an obstacle, the working current of the travel motor can be adjusted to make the travel speed of the self-moving device 0. If it is determined that there is no obstacle, the current current of the working motor can be obtained.

[0043] Before adjusting its speed, the self-moving device can first determine whether there is an obstacle. If an obstacle is determined to be present, this indicates that if the self-moving device continues to move in its original direction, it may collide with the obstacle. To avoid collisions between the self-moving device and the obstacle, in one case, the self-moving device can adjust the operating current of the travel motor so that the travel speed of the self-moving device is 0, even if the self-moving device stops moving. In another case, the self-moving device can bypass the obstacle, thereby avoiding collisions between the self-moving device and the obstacle without affecting the operation of the self-moving device. If it is determined that there is no obstacle, the current current of the operating motor can be directly obtained, and the current travel speed of the self-moving device can also be obtained. Then, it can be determined whether the current travel speed of the self-moving device is less than the minimum travel speed of the self-moving device.

[0044] It should be understood that the above-mentioned different embodiments can be freely combined. For example, please refer to Figure 2, which is a schematic diagram of a process flow for triggering the acquisition of the current of a working motor disclosed in an embodiment of the present application. Figure 2 illustrates a combination of the above-mentioned different embodiments. As shown in Figure 2, the process may include the following steps.

[0045] A1. Determine whether there is an obstacle. If there is an obstacle, execute step A2; if there is no obstacle, execute step A3.

[0046] A2. Adjust the working current of the travel motor so that the travel speed of the mobile device is 0.

[0047] A3. Determine whether the current walking speed of the mobile device is less than the minimum walking speed of the mobile device. If the current walking speed of the mobile device is less than the minimum walking speed of the mobile device, execute step A4. If the current walking speed of the mobile device is not less than (i.e., greater than or equal to) the minimum walking speed of the mobile device, execute step A11.

[0048] A4. Determine whether the current walking speed of the mobile device is less than the maximum negative walking speed of the mobile device. If the current walking speed of the mobile device is less than the maximum negative walking speed of the mobile device, execute step A5. If the current walking speed of the mobile device is not less than the maximum negative walking speed of the mobile device, execute step A6.

[0049] A5. Set the current walking speed of the mobile device to the maximum negative walking speed of the mobile device.

[0050] A6. Determine whether the difference between the absolute value of the current walking speed of the self-moving device and the second speed value is less than the speed threshold. If the difference between the absolute value of the current walking speed of the self-moving device and the second speed value is less than the speed threshold, execute step A7; if the difference between the absolute value of the current walking speed of the self-moving device and the second speed value is not less than the speed threshold, execute step A8.

[0051] A7. Determine the second speed value as the first speed value.

[0052] A8. Determine whether the absolute value of the current walking speed of the self-moving device is greater than the second speed value. If the absolute value of the current walking speed of the self-moving device is greater than the second speed value, execute step A9; if the absolute value of the current walking speed of the self-moving device is not greater than the second speed value, execute step A10.

[0053] A9. Determine the difference between the absolute value of the current walking speed of the mobile device and the speed threshold as a first speed value.

[0054] A10. Determine the sum of the absolute value of the current walking speed of the mobile device and the speed threshold as a first speed value.

[0055] A11. Determine whether the second speed value is greater than the maximum walking speed of the self-moving device. If the second speed value is greater than the maximum walking speed of the self-moving device, execute step A12. If the second speed value is not greater than the maximum walking speed of the self-moving device, execute step A13.

[0056] A12. Set the second speed value to the maximum walking speed of the mobile device.

[0057] A13. Determine the time difference based on the current time and the previous timestamp.

[0058] A14. Get the current of the working motor.

[0059] The autonomous device can determine in real time or periodically whether there is an obstacle. If it is determined that there is an obstacle, the autonomous device can adjust the operating current of the travel motor to make the travel speed of the autonomous device 0, that is, reduce the travel speed of the autonomous device to 0; the autonomous device can also bypass the obstacle.

[0060] Determining whether an obstacle exists on a mobile device can be understood as determining whether an obstacle exists in front of the mobile device. The mobile device can detect whether an obstacle exists in front of the device using sensors installed on the front of the device. Sensors include, but are not limited to, image sensors, laser sensors, millimeter wave sensors, and infrared sensors.

[0061] The obstacle can be animate or inanimate. If a animate obstacle is detected, the operating current of the travel motor can be directly adjusted to reduce the travel speed of the self-moving device to zero, or the obstacle can be directly bypassed. If an inanimate obstacle is detected, the linear velocity of the self-moving device can be further determined to be greater than zero. If so, the operating current of the travel motor can be adjusted to reduce the travel speed of the self-moving device to zero, or the obstacle can be bypassed.

[0062] When it is determined that there is no obstacle, or after the obstacle has been bypassed, or when it is determined that the linear speed of the mobile device is equal to 0, a speed threshold can be obtained to determine the current speed of the mobile device. The speed threshold is a pre-set value. For example, the speed threshold can be 0.3 m / s, or other values, which are not limited here. The current speed of the mobile device is the speed at which the mobile device is currently traveling.

[0063] For example, if the self-moving device moves by rolling, and if the self-moving device includes two wheels, the current speed of the self-moving device may be the average of the linear speeds of the two wheels. It should be understood that this example is merely an illustrative example of determining the current speed of the self-moving device and does not constitute a limitation.

[0064] Afterwards, it is possible to continue to determine whether the current walking speed of the mobile device is less than the minimum walking speed of the mobile device. If it is determined that the current walking speed of the mobile device is less than the minimum walking speed of the mobile device, it is possible to continue to determine whether the current walking speed of the mobile device is less than the maximum negative walking speed of the mobile device. If it is determined that the current walking speed of the mobile device is less than the maximum walking speed of the mobile device, it indicates that the current walking speed value is greater than the stored maximum walking speed value for backward movement. The current walking speed of the mobile device can be set to the maximum negative walking speed of the mobile device so as to update the stored maximum negative walking speed. The maximum negative walking speed of the mobile device is the maximum backward walking speed of the mobile device stored in the mobile device. It can be seen that the maximum negative walking speed of the mobile device is not fixed. For example, the maximum negative walking speed of the mobile device can be -0.3m / s, -0.4m / s, or other values.

[0065] If it is determined that the current walking speed of the mobile device is not less than (i.e., greater than or equal to) the maximum negative walking speed of the mobile device, or after the current walking speed of the mobile device is set to the maximum negative walking speed of the mobile device, the difference between the absolute value of the current walking speed of the mobile device and the second speed value can be determined, and it can be determined whether the difference between the absolute value of the current walking speed of the mobile device and the second speed value is less than the speed threshold. If it is determined that the difference between the absolute value of the current walking speed of the mobile device and the second speed value is less than the speed threshold, it indicates that the difference between the current walking speed value of the mobile device and the second speed value is small, and the second speed value can be directly determined as the first speed value, and then step 103 can be executed. The second speed value is the preset walking speed value of the mobile device.

[0066] If it is determined that the difference between the absolute value of the current walking speed of the mobile device and the second speed value is not less than (greater than or equal to) the speed threshold, it indicates that the difference between the current walking speed of the mobile device and the second speed value is large, and it can be determined whether the absolute value of the current walking speed of the mobile device is greater than the second speed value. If it is determined that the absolute value of the current walking speed of the mobile device is greater than the second speed value, the difference between the absolute value of the current walking speed of the mobile device and the speed threshold can be determined as the first speed value. That is, if the difference between the current walking speed of the mobile device and the second speed value is large, and the current walking speed of the mobile device is greater than the second speed value, the walking speed of the mobile device can be reduced so that the walking speed of the mobile device is closer to the second speed value. If it is determined that the absolute value of the current walking speed of the mobile device is less than the second speed value, the sum of the absolute value of the current walking speed of the mobile device and the speed threshold can be determined as the first speed value. That is, if the difference between the current walking speed of the mobile device and the second speed value is large, and the current walking speed of the mobile device is less than the second speed value, the walking speed of the mobile device can be increased so that the walking speed of the mobile device is closer to the second speed value. It can be seen that when the difference between the current walking speed value of the self-moving device and the second speed value is large, the walking speed value of the self-moving device can be adjusted to make the walking speed value of the self-moving device close to the second speed value, rather than adjusting it to the second speed value all at once, so that the speed can be adjusted in stages. The walking speed value can be understood as the value of the walking speed.

[0067] In one case, the difference between the absolute value of the current walking speed of the self-moving device and the second speed value can be directly compared with the speed threshold. In another case, the absolute value of the difference between the absolute value of the current walking speed of the self-moving device and the second speed value can be first determined, and then the absolute value of the difference can be compared with the speed threshold. In this case, step A6 can be replaced by: determining whether the absolute value of the difference between the absolute value of the current walking speed of the self-moving device and the second speed value is less than the speed threshold. If the absolute value of the difference between the absolute value of the current walking speed of the self-moving device and the second speed value is less than the speed threshold, step A7 is executed; if the difference between the absolute value of the current walking speed of the self-moving device and the second speed value is not less than the absolute value of the speed threshold, step A8 is executed.

[0068] When it is determined that the current walking speed of the mobile device is not less than (i.e., greater than or equal to) the minimum walking speed of the mobile device, it is possible to continue to determine whether the second speed value is greater than the maximum walking speed of the mobile device. When it is determined that the second speed value is greater than the maximum walking speed of the mobile device, due to the limitation of the maximum walking speed of the mobile device, the walking speed of the mobile device cannot reach the second speed value. Therefore, the second speed value can be set to the maximum walking speed of the mobile device. When it is determined that the second speed value is not greater than (i.e., less than or equal to) the maximum walking speed of the mobile device, or after the second speed value is set to the maximum walking speed of the mobile device, it indicates that the walking speed of the mobile device can reach the second speed value. The time difference can be determined based on the current time and the last timestamp, and the last timestamp can be updated to the current time. The current current of the working motor can then be obtained. The maximum walking speed of the mobile device is the maximum walking speed of the mobile device stored by the mobile device. It can be seen that the maximum walking speed of the mobile device is not fixed. For example, the maximum walking speed of the mobile device can be 0.3m / s, 0.4m / s, or other values.

[0069] It should be understood that the process shown in Figure 2 is an exemplary description of the trigger conditions for obtaining the current current of the working motor, and does not limit the specific trigger conditions. Exemplarily, steps A1 and A2 may not be executed. Exemplarily, steps A3-A10 may not be executed. In this case, if the judgment result of step A1 is no, step A11 may be executed directly. Exemplarily, steps A4 and A5 may not be executed. In this case, if the judgment result of step A3 is yes, step A6 may be executed directly. Exemplarily, steps A11 and A12 may not be executed. In this case, if the judgment result of step A3 is no, step A13 may be executed directly. Exemplarily, step A13 may not be executed. Exemplarily, steps A3-A13 may not be executed. In this case, if the judgment result of step A1 is no, step A14 may be executed directly. Exemplarily, steps A1-A13 may not be executed.

[0070] As shown in FIG2 , when the current walking speed of the mobile device is less than the minimum walking speed of the mobile device, the difference between the absolute value of the current walking speed of the mobile device and the second speed value may be determined. If the difference is less than the speed threshold, the second speed value may be determined as the first speed value. If the difference is not less than the speed threshold and the absolute value of the current walking speed of the mobile device is greater than the second speed value, the difference between the absolute value of the current walking speed of the mobile device and the speed threshold may be determined as the first speed value. If the difference is not less than the speed threshold and the absolute value of the current walking speed of the mobile device is not greater than the second speed value, the sum of the absolute value of the current walking speed of the mobile device and the speed threshold may be determined as the first speed value. After determining the first speed value, step 103 may be executed.

[0071] As can be seen, the first speed value can be determined through step 102 or through the above-described method. The method for determining the first speed value varies in different situations. When the conditions for using a preset speed adjustment algorithm are met, the first speed value can be determined using the preset speed adjustment algorithm. When the conditions for using the preset speed adjustment algorithm are not met, the first speed value can be determined using other methods. This ensures that speed adjustment can be achieved in different situations, thereby increasing the flexibility of speed adjustment. Furthermore, the scope of application of speed adjustment can be expanded, avoiding situations where the speed can only be adjusted in one situation and cannot be adjusted in other situations.

[0072] In some embodiments, the speed of the travel motor can also be adjusted based on environmental information, i.e., steps 101-103 are executed. If the self-moving device is a snowplow, the snow thickness can be determined, and the travel speed of the snowplow can then be adjusted based on the snow thickness. The snow thickness can be determined using sensors such as visual sensors and radar, or by the load of the snowplow corresponding to the snowplow motor. The snow thickness can be determined before or during the use of the snowplow to clear snow.

[0073] 102. Determine a first speed value using a preset speed adjustment algorithm according to a current current of the working motor.

[0074] After obtaining the current current of the working motor, a preset speed adjustment algorithm can be used to determine the first speed value according to the current current of the working motor. The preset speed adjustment algorithm can be a proportional integral derivative (PID) algorithm or other algorithms.

[0075] In some embodiments, during the movement of the self-moving device, it can be determined whether the self-moving device needs to turn or make a turn. If it is determined that the self-moving device does not need to turn or make a turn, step 102 is executed. If it is determined that the self-moving device needs to turn or make a turn, since the self-moving device has a slow turning speed when turning in place, there is no problem of overcurrent in the working motor, that is, there is no need to adjust the parameters, and therefore, step 102 is not executed.

[0076] In some embodiments, the self-moving device can determine the speed adjustment ratio using a preset speed adjustment algorithm according to the current current of the working motor, and can determine the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device.

[0077] In some embodiments, when the speed adjustment ratio is greater than or equal to 0, and the current current of the working motor is greater than the starting current of the working motor or the current walking speed of the self-moving device is greater than the starting walking speed of the self-moving device, the first speed value can be determined according to the speed adjustment ratio and the current walking speed of the self-moving device.

[0078] In some embodiments, when the speed adjustment ratio is less than 0, the first speed value can be determined based on the minimum walking speed of the self-moving device. When the speed adjustment ratio is greater than or equal to 0, the current current of the working motor is not greater than the starting current of the working motor, the current walking speed of the self-moving device is not greater than the starting walking speed of the self-moving device, and the current walking speed of the self-moving device is less than the starting speed of the self-moving device, the second speed value can be determined as the first speed value. When the speed adjustment ratio is greater than or equal to 0, the current current of the working motor is not greater than the starting current of the working motor, the current walking speed of the self-moving device is not greater than the starting walking speed of the self-moving device, and the current walking speed of the self-moving device is not less than the starting speed of the self-moving device, the starting speed of the self-moving device can be determined as the first speed value.

[0079] The self-moving device can first determine the speed adjustment ratio based on the current current of the working motor using a preset speed adjustment algorithm. After that, the self-moving device can directly determine the first speed value based on the speed adjustment ratio and the current walking speed of the self-moving device, or it can first determine whether the speed adjustment ratio is less than 0. When it is determined that the speed adjustment ratio is greater than or equal to (i.e., not less than) 0, it can be determined whether the current current of the working motor is greater than the starting current of the working motor, or whether the current walking speed of the self-moving device is greater than the starting walking speed of the self-moving device or the ratio of the starting walking speed of the self-moving device to the speed adjustment ratio. When it is determined that the current current of the working motor is greater than the starting current of the working motor, or the current walking speed of the self-moving device is greater than the starting walking speed of the self-moving device or the ratio of the starting walking speed of the self-moving device to the speed adjustment ratio, the first speed value can be determined based on the speed adjustment ratio and the current walking speed of the self-moving device. When it is determined that the speed adjustment ratio is less than 0, the self-moving device can determine the first speed value based on the minimum walking speed of the self-moving device. If it is determined that the current current of the working motor is not greater than (i.e., less than or equal to) the starting current of the working motor, and the current travel speed of the mobile device is not greater than (i.e., less than or equal to) the starting travel speed of the mobile device or the ratio of the starting travel speed of the mobile device to the speed adjustment ratio, it can be determined whether the current travel speed of the mobile device is less than the starting speed of the mobile device. If it is determined that the current travel speed of the mobile device is less than the starting speed of the mobile device, the second speed value can be determined as the first speed value. If it is determined that the current travel speed of the mobile device is not less than the starting speed of the mobile device, the starting speed of the mobile device can be determined as the first speed value.

[0080] In some embodiments, the third speed value may be determined based on the speed adjustment ratio and the current walking speed of the self-moving device. If the third speed value is less than or equal to the second speed value and greater than or equal to the minimum walking speed of the self-moving device, the third speed value may be determined as the first speed value. If the third speed value is greater than the second speed value, the second speed value may be determined as the first speed value. If the third speed value is less than the minimum walking speed of the self-moving device, the first speed value may be determined based on the minimum walking speed of the self-moving device.

[0081] The self-moving device can first determine the third speed value based on the speed adjustment ratio and the current walking speed of the self-moving device. After that, the self-moving device can directly determine the third speed value as the first speed value, or it can first determine whether the third speed value is greater than the second speed value. When the third speed value is less than or equal to (i.e., not greater than) the second speed value, it can continue to determine whether the third speed value is less than the minimum walking speed of the self-moving device. When it is determined that the third speed value is greater than or equal to the minimum walking speed of the self-moving device, the third speed value can be determined as the first speed value. When it is determined that the third speed value is greater than the second speed value, the second speed value can be determined as the first speed value. When the third speed value is less than the minimum walking speed of the self-moving device, the first speed value can be determined based on the minimum walking speed of the self-moving device.

[0082] In some embodiments, when the time difference is greater than 0 and less than or equal to 1, the first speed value may be determined using a preset speed adjustment algorithm according to the current current of the working motor. When the time difference is equal to 0, the second speed value may be determined as the first speed value.

[0083] After obtaining the current current of the working motor, the first speed value can be determined directly based on the current current of the working motor using a preset speed adjustment algorithm. Alternatively, it can be determined first whether the current current of the working motor is equal to 0. If it is determined that the current current of the working motor is not equal to 0, it can be determined whether the time difference is greater than 1. If it is determined that the time difference is less than or equal to (i.e., not greater than) 1, the first speed value can be determined based on the current current of the working motor using a preset speed adjustment algorithm. If it is determined that the time difference is equal to 0, the second speed value can be determined as the first speed value.

[0084] It should be understood that the above different embodiments can be freely combined, and the specific combination is not limited.

[0085] The following description takes the PID algorithm as an example of the preset speed adjustment algorithm.

[0086] When the preset speed adjustment algorithm is a PID algorithm, the first speed value may be determined using the PID algorithm according to the current current, the steady-state current of the working motor, and the current control range of the working motor.

[0087] The steady-state current of the working motor is the value required to stabilize the current of the working motor. PID control is to stabilize the current of the working motor to a stable value, and the steady-state current of the working motor is this value.

[0088] The current control range of the working motor is the current range in which the current of the working motor needs to be stable. For example, when the self-moving device is working, the current of the working motor can be stabilized within the range of (0, 30A), and the current control range of the working motor is 30A. For example, when the self-moving device is working, the current of the working motor can be stabilized within the range of (10, 30A), and the current control range of the working motor is 20A.

[0089] Please refer to Figure 3, which is a schematic diagram of the principle of a PID algorithm disclosed in an embodiment of the present application. As shown in Figure 3, the output U(t) of the PID algorithm can be expressed as follows:

[0090] Among them, E(t) represents the ratio, represents the integral of the proportion, Represents the differential of the proportion, K p Represents the proportionality coefficient, K i Indicates the integral coefficient, K d represents the differential coefficient, and dt represents the time difference.

[0091] It can be seen that the output of the PID algorithm is the weighted sum of proportion, integration and differentiation.

[0092] The speed adjustment ratio may be determined first using a PID algorithm according to the current current of the working motor, and then the first speed value may be determined according to the speed adjustment ratio and the current walking speed of the self-moving device.

[0093] When determining the speed adjustment ratio, the proportional result of the PID algorithm can be determined based on the current current of the working motor first, and then the differential result of the PID algorithm can be determined based on the proportional result of the PID algorithm, and the integral result of the PID algorithm can be determined based on the proportional result of the PID algorithm. Then, the speed adjustment ratio can be determined based on the proportional result, differential result and integral result of the PID algorithm. The proportional result of the PID algorithm is the above E(t), and the integral result of the PID algorithm is the above The differential result of the PID algorithm is the above

[0094] For example, the proportional result E(t) of the PID algorithm can be expressed as follows:

[0095] Among them, A represents the current current of the working motor, B represents the steady-state current of the working motor, C represents the current control range of the working motor, and D represents the power constant, which is a given value.

[0096] It should be understood that the above formula is an illustrative example of determining the proportional result of the PID algorithm based on the current current of the working motor, the steady-state current of the working motor, and the current control range of the working motor, and does not constitute a limitation. For example, various variations of the above formula can be used to determine the proportional result of the PID algorithm based on the current current of the working motor, the steady-state current of the working motor, and the current control range of the working motor.

[0097] In one case, the speed adjustment ratio may be U(t). In another case, the speed adjustment ratio may be 1-U(t). The speed adjustment ratio may be greater than 0, less than 0, or equal to 0.

[0098] The first speed value can be the product of the speed adjustment ratio and the absolute value of the current walking speed of the self-moving device, or the ratio of the absolute value of the current walking speed of the self-moving device to the speed adjustment ratio, or other values ​​determined based on the speed adjustment ratio and the absolute value of the current walking speed of the self-moving device.

[0099] In some embodiments, after obtaining the current current of the working motor, it may be determined whether the current current of the working motor is within a threshold range. If it is determined that the current current of the working motor is within the threshold range, a PID algorithm may be used to determine a first speed value based on the current current of the working motor. If it is determined that the current current of the working motor is outside the threshold range, no action may be taken, or the current of the travel motor may be adjusted to reduce the travel speed of the self-moving device to zero.

[0100] For example, assuming the self-moving device is a snowplow, the current of the snow-rolling motor when unloaded is 10A, and the current when the snow-rolling motor is overcurrent is 60A. It is desirable for the current to be stable within the 30A range. When the snow-rolling motor current is below 30A and the intelligent motor's travel speed has not reached the second speed value, the self-moving device's travel speed can be increased, with the lower the current, the faster the speed increase. When the snow-rolling motor current is within the 30A-50A range, the self-moving device's travel speed can be reduced by controlling the current of the working motor, so that the snow-rolling motor current remains stable at 30A. The deceleration acceleration increases with increasing current. When the snow-rolling motor current exceeds 50A, the self-moving device's travel speed can be reduced to 0 to avoid overcurrent in the snow-rolling motor. Since the snowplow's travel speed is reduced, less snow is consumed per unit time, and the snow-rolling motor needs to throw less snow, thereby reducing the load on the snow-rolling motor. At this time, the steady-state current of the working motor is 30A, the current control range of the working motor is 30A, and the threshold range is (0,50].

[0101] For example, please refer to Figure 4, which is a schematic diagram of a process for determining a first speed value using a PID algorithm disclosed in an embodiment of the present application. As shown in Figure 4, the process may include the following steps.

[0102] B1. Determine the proportional result of the PID algorithm based on the current of the working motor.

[0103] B2. Determine the differential result of the PID algorithm based on the proportional result of the PID algorithm.

[0104] B3. Determine whether the time difference is equal to 0. If the time difference is equal to 0, execute step B4. If the time difference is greater than 0, execute step B5.

[0105] B4. Determine the second speed value as the first speed value.

[0106] B5. Determine whether the time difference is greater than 1. If the time difference is greater than 1, execute step B6. If the time difference is less than or equal to 1, execute step B7.

[0107] B6. Set the error result, differential result, and integral result of the PID algorithm to 0.

[0108] B7. Determine the integral result of the PID algorithm based on the proportional result of the PID algorithm.

[0109] B8. Determine the speed adjustment ratio based on the proportional result, differential result and integral result of the PID algorithm.

[0110] B9. Determine whether the speed adjustment ratio is less than 0. If the speed adjustment ratio is less than 0, execute step B10. If the speed adjustment ratio is greater than or equal to 0, execute step B11.

[0111] B10. Determine a first speed value according to a minimum walking speed of the self-moving device.

[0112] B11. Determine whether the current current of the working motor is greater than the starting current of the working motor, or whether the current walking speed of the self-moving device is greater than the starting walking speed of the self-moving device or the ratio of the starting walking speed to the speed adjustment ratio. If the judgment is yes, execute step B12; if the judgment is no, execute step B18.

[0113] B12. Determine a third speed value according to the speed adjustment ratio and the current walking speed of the mobile device.

[0114] B13. Determine whether the third speed value is greater than the second speed value. If the third speed value is greater than the second speed value, execute step B14. If the third speed value is less than or equal to the second speed value, execute step B15.

[0115] B14. Determine the second speed value as the first speed value.

[0116] B15. Determine whether the third speed value is less than the minimum walking speed of the self-moving device. If the third speed value is less than the minimum walking speed of the self-moving device, execute step B16; if the third speed value is greater than or equal to the minimum walking speed of the self-moving device, execute step B17.

[0117] B16. Determine a first speed value according to the minimum walking speed of the self-moving device.

[0118] B17. Determine the third speed value as the first speed value.

[0119] B18. Determine whether the current walking speed of the mobile device is less than the starting speed of the mobile device. If the determination is yes, execute step B19; if the determination is no, execute step B20.

[0120] B19. Determine the second speed value as the first speed value.

[0121] B20. Determine the startup speed of the mobile device as the first speed value.

[0122] After obtaining the current current of the working motor, the proportional result of the PID algorithm can be first determined based on the current current of the working motor. The differential result of the PID algorithm can be determined based on the proportional result of the PID algorithm. Then, it can be determined whether the time difference is equal to 0. If the time difference is determined to be equal to 0, it indicates that the current time is the same as the previous timestamp, and the second speed value can be directly determined as the first speed value. If it is determined that the time difference is greater than 0, it can be further determined whether the time difference is greater than 1. If the time difference is determined to be greater than 1, it indicates that the time interval between the current time and the previous timestamp is large and the previous timestamp is not referenceable. The error result, differential result, and integral result of the PID algorithm can be directly set to 0. If it is determined that the time difference is less than or equal to 1, the integral result of the PID algorithm can be determined based on the proportional result of the PID algorithm. After determining the integral result of the PID algorithm, it can be determined whether the absolute value of the integral result of the PID algorithm is greater than the integral upper limit. If the absolute value of the integral result of the PID algorithm is greater than the integral upper limit, the integral upper limit can be determined as the final integral result of the PID algorithm, which can prevent the final integral result of the PID algorithm from being too large.

[0123] For example, assuming that the integration interval is 0-0.5, the integration result of the PID algorithm is (-2.25)*0.5=-1.125, and the absolute value of the integration result of the PID algorithm, 1.125, is greater than the integration upper limit 0.5. Therefore, the final integration result of the PID algorithm is 0.5.

[0124] The speed adjustment ratio can be determined based on the proportional result, differential result, and integral result (or final integral result) of the PID algorithm. It can then be determined whether the speed adjustment ratio is less than 0. If the speed adjustment ratio is determined to be less than 0, the first speed value can be determined based on the minimum travel speed of the self-moving device. The first speed value can be determined by multiplying the minimum travel speed of the self-moving device by N. N is a value greater than or equal to 1. For example, N can be 2 or a value greater than 2.

[0125] If the speed adjustment ratio is determined to be greater than or equal to 0, the process may proceed to determine whether the current current of the working motor is greater than the starting current of the working motor, or whether the current travel speed of the mobile device is greater than the starting travel speed of the mobile device or the ratio of the starting travel speed to the speed adjustment ratio. If the current current of the working motor is greater than the starting current of the working motor, or the current travel speed of the mobile device is greater than the starting travel speed of the mobile device or the ratio of the starting travel speed to the speed adjustment ratio, a third speed value may be determined based on the speed adjustment ratio and the current travel speed of the mobile device. The product of the speed adjustment ratio and the absolute value of the current travel speed of the mobile device may be determined as the third speed value. It may then be determined whether the third speed value is greater than the second speed value. If the third speed value is determined to be greater than the second speed value, the second speed value may be determined as the first speed value, and step 103 may then be executed. If the third speed value is determined to be less than or equal to the second speed value, it may then be determined whether the third speed value is less than the minimum travel speed of the mobile device. If the third speed value is determined to be less than the minimum travel speed of the mobile device, it indicates that the third speed value is too small, and therefore the first speed value may be determined based on the minimum travel speed of the mobile device. If it is determined that the third speed value is greater than or equal to the minimum travel speed of the self-moving device, the third speed value may be determined as the first speed value. For a detailed description of determining the first speed value based on the minimum travel speed of the self-moving device, reference may be made to the above description. The starting current of the working motor is the current of the working motor at the start of the current operation of the self-moving device. The starting travel speed of the self-moving device is the travel speed of the self-moving device at the start of the current operation.

[0126] If it is determined that the current current of the working motor is not greater than the starting current of the working motor and the current travel speed of the mobile device is not greater than the starting travel speed of the mobile device or the ratio of the starting travel speed to the speed adjustment ratio, it may be further determined whether the current travel speed of the mobile device is less than the starting speed of the mobile device. If it is determined that the current travel speed of the mobile device is less than the starting speed of the mobile device, the second speed value may be determined as the first speed value. If it is determined that the current travel speed of the mobile device is not less than the starting speed of the mobile device, the starting speed of the mobile device may be determined as the first speed value. The starting speed of the mobile device is the time taken from the mobile device receiving the start command to the completion of the startup.

[0127] As shown in FIG4 , when the speed adjustment ratio is less than 0, the first speed value may be determined based on the minimum travel speed of the self-moving device. When the speed adjustment ratio is greater than or equal to 0, the current current of the working motor is not greater than the starting current of the working motor, the current travel speed of the self-moving device is not greater than the starting speed of the self-moving device, and the current travel speed of the self-moving device is less than the starting speed of the self-moving device, the second speed value may be determined as the first speed value. When the speed adjustment ratio is greater than or equal to 0, the current current of the working motor is not greater than the starting current of the working motor, the current travel speed of the self-moving device is not greater than the starting speed of the self-moving device, and the current travel speed of the self-moving device is not less than the starting speed of the self-moving device, the starting speed of the self-moving device may be determined as the first speed value. After determining the first speed value, step 103 may be executed.

[0128] For example, assume that the last current of the working motor is 20A, A is 30A, B is 60A, C is 20A, D is 2, and K is 20A. p is 1.0, K i is 0.1, K d The time difference is 0.2 and 0.5s, the last time This time Since 1.125 is greater than the integral upper limit of 0.5, the final integral result is 0.5. Speed ​​adjustment ratio=1-(1.0*2.25+0.1*1.125+0.2*(-3.5))=-0.675. Therefore, the first speed value is determined according to the minimum walking speed of the self-moving device.

[0129] For example, assume that the last current of the working motor is 20A, A is 40A, B is 30A, C is 20A, D is 2, and K is 20A. p is 1.0, K i is 0.1, K d The time difference is 0.2 and 0.5s, the last time This time Speed ​​adjustment ratio = 1 - (1.0*0.25+0.1*0.125+0.2*0) = 0.7375. Therefore, the first speed value = 0.7375*absolute value of the current walking speed. It can be seen that the self-moving device is slowing down.

[0130] It should be understood that in the process of self-mobile equipment working, K in the PID algorithm p , K p and K d It can be fixed or adjusted according to actual conditions, and the optimal result is taken as the final value.

[0131] It should be understood that the process shown in Figure 4 is an exemplary description of determining the first speed value using a preset speed adjustment algorithm and does not limit it. Exemplarily, steps B1-B2 can be performed after steps B3-B6. Exemplarily, the preset speed adjustment algorithm can be other preset speed adjustment algorithms. In this case, steps B1, B2 and B7 may not be performed, and step B8 may be replaced by: determining the speed adjustment ratio using other preset speed adjustment algorithms based on the current current of the working motor. Exemplarily, steps B3-B6 may not be performed. Exemplarily, steps B9 and B10 may not be performed. Exemplarily, steps B9-B10 and steps B10-B20 may not be performed. Exemplarily, steps B13-B17 may not be performed. In this case, step B12 may be replaced by: determining the first speed value based on the speed adjustment ratio and the current walking speed of the self-moving device.

[0132] 103. Adjust the operating current of the travel motor so that the travel speed of the mobile device reaches a first speed value.

[0133] After determining the first speed value, the operating current of the travel motor can be adjusted so that the travel speed of the mobile device is the first speed value, that is, the travel speed of the mobile device is adjusted to the first speed value by adjusting the operating current of the travel motor.

[0134] In the speed adjustment method described in FIG1 , a self-moving device including a travel motor and a working motor obtains the current current of the working motor, determines a first speed value based on the current current of the working motor using a preset speed adjustment algorithm, and adjusts the working current of the travel motor so that the travel speed of the self-moving device is the first speed value. It can be seen that the travel speed of the self-moving device can be adjusted based on the current of the working motor of the self-moving device, thereby improving the flexibility of speed adjustment. Furthermore, the travel speed of the self-moving device can be adjusted based on the current of the working motor of the self-moving device, thereby avoiding overloading of the self-moving device, thereby improving the working efficiency, balance, and stability of the self-moving device, and reducing the power consumption of the self-moving device.

[0135] Please refer to Figure 5, which is a schematic diagram of the structure of a speed adjustment device disclosed in an embodiment of the present application. The speed adjustment device is applied to a self-moving device, which includes a travel motor and a working motor. As shown in Figure 5, the speed adjustment device may include:

[0136] An acquisition unit 501 is used to acquire the current of the working motor;

[0137] A determining unit 502 is configured to determine a first speed value using a preset speed adjustment algorithm according to a current current of the working motor;

[0138] The adjusting unit 503 is configured to adjust the operating current of the travel motor so that the travel speed of the self-moving device is a first speed value.

[0139] In some embodiments, the determining unit 502 is specifically configured to:

[0140] Determine the speed adjustment ratio using a preset speed adjustment algorithm according to the current current of the working motor;

[0141] A first speed value is determined according to the speed adjustment ratio and the current walking speed of the mobile device.

[0142] In some embodiments, the determining unit 502 determines the first speed value according to the speed adjustment ratio and the current walking speed of the mobile device, including:

[0143] When the speed adjustment ratio is greater than or equal to 0, and the current current of the working motor is greater than the starting current of the working motor or the current walking speed of the self-moving device is greater than the starting walking speed of the self-moving device, the first speed value is determined according to the speed adjustment ratio and the current walking speed of the self-moving device.

[0144] In some embodiments, the determining unit 502 is further configured to:

[0145] When the speed adjustment ratio is less than 0, the first speed value is determined according to the minimum walking speed of the mobile device;

[0146] When the speed adjustment ratio is greater than or equal to 0, the current current of the working motor is not greater than the starting current of the working motor, the current walking speed of the self-moving device is not greater than the starting walking speed of the self-moving device, and the current walking speed of the self-moving device is less than the starting speed of the self-moving device, the second speed value is determined as the first speed value, and the second speed value is the preset walking speed value of the self-moving device;

[0147] When the speed adjustment ratio is greater than or equal to 0, the current current of the working motor is not greater than the starting current of the working motor, the current walking speed of the self-moving device is not greater than the starting walking speed of the self-moving device, and the current walking speed of the self-moving device is not less than the starting speed of the self-moving device, the starting speed of the self-moving device is determined as the first speed value.

[0148] In some embodiments, the determining unit 502 determines the first speed value according to the speed adjustment ratio and the current walking speed of the mobile device, including:

[0149] Determining a third speed value according to the speed adjustment ratio and the current walking speed of the mobile device;

[0150] When the third speed value is less than or equal to the second speed value and greater than or equal to the minimum walking speed of the self-moving device, the third speed value is determined as the first speed value, and the second speed value is the preset walking speed value of the self-moving device;

[0151] The determining unit 502 is further configured to:

[0152] When the third speed value is greater than the second speed value, determining the second speed value as the first speed value;

[0153] In a case where the third speed value is less than the minimum walking speed of the self-moving device, the first speed value is determined according to the minimum walking speed of the self-moving device.

[0154] In some embodiments, the acquiring unit 501 is specifically configured to acquire the current current of the working motor when the current walking speed of the self-moving device is greater than or equal to the minimum walking speed of the self-moving device;

[0155] The determining unit 502 is further configured to:

[0156] When the current walking speed of the mobile device is less than the minimum walking speed of the mobile device, determining a difference between the current walking speed of the mobile device and a second speed value, where the second speed value is a preset walking speed value of the mobile device;

[0157] If the difference is less than the speed threshold, determining the second speed value as the first speed value;

[0158] If the difference is not less than the speed threshold and the current walking speed of the mobile device is greater than the second speed value, the difference between the current walking speed of the mobile device and the speed threshold is determined as the first speed value;

[0159] When the difference is not less than the speed threshold and the current walking speed of the mobile device is not greater than the second speed value, the sum of the current walking speed of the mobile device and the speed threshold is determined as the first speed value.

[0160] In some embodiments, the determining unit 502 determines the first speed value using a preset speed adjustment algorithm according to the current current of the working motor, including:

[0161] When the current current of the working motor is within a threshold range, a preset speed adjustment algorithm is used to determine a first speed value according to the current current of the working motor.

[0162] In some embodiments, the determining unit 502 is further configured to determine a time difference based on the current time and the previous timestamp when the current walking speed of the self-mobile device is greater than or equal to the minimum walking speed of the self-mobile device;

[0163] The determining unit 502 is specifically configured to determine a first speed value using a preset speed adjustment algorithm according to a current current of the working motor when the time difference is greater than 0 and less than or equal to 1;

[0164] The determining unit 502 is further configured to determine the second speed value as the first speed value when the time difference value is equal to 0, and the second speed value is a preset walking speed value of the mobile device.

[0165] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the speed adjustment device, acquisition unit 501, determination unit 502 and adjustment unit 503 described above can refer to the corresponding processes in the aforementioned method embodiment and will not be repeated here.

[0166] In several embodiments provided in this application, the coupling between units may be electrical, mechanical or other forms of coupling.

[0167] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0168] Please refer to Figure 6, which is a schematic diagram of the structure of a self-moving device disclosed in an embodiment of the present application. As shown in Figure 6, the self-moving device may include a travel motor 601, a working motor 602, a processor 603, and a memory 604. The memory 604 may store one or more computer programs. One or more computer programs are configured to execute the method described in the aforementioned method embodiment. The memory 604 may exist independently or be integrated with the processor 603.

[0169] The processor 603 may include one or more processing cores. The processor 603 can utilize various interfaces and circuits to connect various components within the mobile device. It can execute instructions, programs, code sets, or instruction sets stored in the memory 604, as well as access data stored in the memory 604, to perform various functions and process data within the mobile device. Optionally, the processor 603 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field programmable gate array (FPGA), or a programmable logic array (PLA). The processor 603 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 603 and may be implemented separately via a communication chip.

[0170] The memory 604 may include a random access memory (RAM) or a read-only memory (ROM). The memory 604 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 604 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the mobile device during use (such as a phone book, audio and video data, chat history data, etc.).

[0171] When the computer program instructions stored in the memory 604 are executed, the processor 603 can be used to perform the various operations performed by the mobile device in the above-mentioned method embodiments. Specifically, the various operations performed by the mobile device in the above-mentioned method embodiments are implemented by controlling the travel motor according to the working motor. The specific implementation of these operations can be found in the previous embodiments and will not be described in detail here.

[0172] The present application also discloses a computer-readable storage medium having computer program code stored therein, which can be invoked by a processor to perform various operations in the above method embodiments. The specific implementation of each of the above operations can be found in the previous embodiments and will not be described in detail here.

[0173] The computer-readable storage medium may be an electronic memory such as a flash memory, an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a hard disk, or a ROM. Alternatively, the computer-readable storage medium may include a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes that execute any of the method steps in the above method. These computer program codes can be read from or written into one or more computer program products. The computer program codes can be compressed, for example, in an appropriate form.

[0174] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A speed adjustment method, wherein: The method is applied to a self-moving device, which includes a walking motor and a working motor, including: Obtaining the current of the working motor; Determine a first speed value using a preset speed adjustment algorithm according to the current current; The working current of the travel motor is adjusted so that the travel speed of the self-moving device is equal to the first speed value.

2. The method according to claim 1, wherein: Determining the first speed value using a preset speed adjustment algorithm according to the current current includes: Determine a speed adjustment ratio using a preset speed adjustment algorithm according to the current current; A first speed value is determined according to the speed adjustment ratio and the current walking speed of the self-moving device.

3. The method according to claim 2, wherein: Determining the speed adjustment ratio using a preset speed adjustment algorithm according to the current current includes: Determine a proportional result of a preset speed adjustment algorithm according to the current current of the working motor, and determine a differential result and an integral result of the preset speed adjustment algorithm according to the proportional result; The speed adjustment ratio is determined according to the ratio result, the differential result and the integral result of the preset speed adjustment algorithm.

4. The method according to claim 3, wherein: The determining of the proportional result of the preset speed adjustment algorithm according to the current current of the working motor includes: The proportional result of the preset speed adjustment algorithm is determined according to the current current of the working motor, the steady-state current of the working motor and the current control range of the working motor.

5. The method according to any one of claims 2 to 4, wherein: Determining the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device includes: When the speed adjustment ratio is greater than or equal to 0, and the current current is greater than the starting current of the working motor or the current walking speed is greater than the starting walking speed of the self-moving device, the first speed value is determined according to the speed adjustment ratio and the current walking speed of the self-moving device.

6. The method according to any one of claims 2 to 4, wherein: Determining the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device includes: When the speed adjustment ratio is less than 0, determining the first speed value according to the minimum walking speed of the self-moving device; When the speed adjustment ratio is greater than or equal to 0, the current current is not greater than the starting current of the working motor, the current walking speed is not greater than the starting walking speed of the self-moving device, and the current walking speed is less than the starting speed of the self-moving device, the second speed value is determined as the first speed value, and the second speed value is a preset walking speed value of the self-moving device; When the speed adjustment ratio is greater than or equal to 0, the current current is not greater than the starting current of the working motor, the current walking speed is not greater than the starting walking speed of the self-moving device, and the current walking speed is not less than the starting speed of the self-moving device, the starting speed is determined as the first speed value.

7. [Corrected 03.01.2024 in accordance with Rule 26] A method according to claim 2, wherein: Determining the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device includes: Determining a third speed value according to the speed adjustment ratio and the current walking speed of the self-moving device; When the third speed value is less than or equal to the second speed value and greater than or equal to the minimum walking speed of the self-moving device, the third speed value is determined as the first speed value, and the second speed value is the preset walking speed value of the self-moving device.

8. The method according to claim 7, wherein: After determining the third speed value according to the speed adjustment ratio and the current walking speed of the self-moving device, the method further includes: In a case where the third speed value is greater than the second speed value, determining the second speed value as the first speed value; In a case where the third speed value is less than the minimum walking speed of the self-moving device, the first speed value is determined according to the minimum walking speed.

9. The method according to claim 1, wherein: Before obtaining the current current of the working motor, the method further includes: Determine whether there is an obstacle in the direction of travel of the self-moving device; If there is an obstacle, the working current of the travel motor is adjusted so that the travel speed of the self-moving device is 0; If there is no obstacle, it is determined whether the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device.

10. [Corrected 03.01.2024 in accordance with Rule 26] A method according to claim 1, wherein: The obtaining of the current current of the working motor comprises: When the current walking speed of the self-moving device is greater than or equal to the minimum walking speed of the self-moving device, the current current of the working motor is acquired.

11. The method according to claim 10, wherein: Before obtaining the current current of the working motor, the method further includes: When the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, determining the difference between the absolute value of the current walking speed and a second speed value, where the second speed value is a preset walking speed value of the self-moving device; When the difference is less than the speed threshold, determining the second speed value as the first speed value; When the difference is not less than the speed threshold and the absolute value of the current walking speed is greater than the second speed value, the difference between the absolute value of the current walking speed and the speed threshold is determined as the first speed value; When the difference is not less than the speed threshold and the absolute value of the current walking speed is not greater than the second speed value, the sum of the absolute value of the current walking speed and the speed threshold is determined as the first speed value.

12. The method according to claim 1, wherein: Determining the first speed value using a preset speed adjustment algorithm according to the current current includes: In a case where the current current is within a threshold range, a first speed value is determined according to the current current using a preset speed adjustment algorithm.

13. The method according to claim 1, wherein: Determining the first speed value using a preset speed adjustment algorithm according to the current current includes: When the time difference is greater than 0 and less than or equal to 1, a preset speed adjustment algorithm is used to determine the first speed value according to the current current.

14. The method according to claim 1, wherein: Determining the first speed value using a preset speed adjustment algorithm according to the current current includes: When the time difference is equal to 0, the second speed value is determined as the first speed value, and the second speed value is a preset walking speed value of the self-moving device.

15. The method according to claim 13 or 14, wherein: The method further comprises: In a case where the current walking speed of the self-moving device is greater than or equal to the minimum walking speed of the self-moving device, a time difference is determined according to the current time and the previous timestamp.

16. The method according to claim 1, wherein: The method further comprises: Determining the thickness of the snow by using a sensor in the self-moving device or a load condition of the snow scraper; The value of the walking speed of the self-moving device is adjusted according to the thickness of the snow.

17. A self-propelled device, wherein: The device comprises a walking motor, a working motor and a processor, wherein when one or more of the processors control the walking motor to work according to the working motor, the one or more processors execute the following steps: Obtaining the current of the working motor; Determine a first speed value using a preset speed adjustment algorithm according to the current current; The working current of the travel motor is adjusted so that the travel speed of the self-moving device is equal to the first speed value.

18. The self-moving device according to claim 17, wherein: The self-moving device is a snowplow.

19. The self-moving device according to claim 17 or 18, wherein: The working motor is a snow rolling motor corresponding to the snow rolling shovel.

20. One or more computer-readable storage media storing computer-readable instructions, wherein: When the computer readable instructions are executed by one or more processors, the one or more processors perform the following steps: Get the current of the working motor; Determine a first speed value using a preset speed adjustment algorithm according to the current current; The working current of the travel motor is adjusted so that the travel speed of the self-moving device is equal to the first speed value.

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