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-moving device and computer readable storage medium

[0001] The present application claims priority to the Chinese patent application No. 202311389330.X, filed on October 24, 2023, and entitled "Speed adjustment method, device, self-moving device and computer readable storage medium", the content of which is incorporated herein by reference in its entirety.

[0002] The present application claims priority to the Chinese patent application No. 202311477083.9, filed on November 7, 2023, and entitled "Speed adjustment method, device, self-moving device and computer readable storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0004] With the development of science and technology, self-moving devices are gradually known to people, and more and more self-moving devices are applied in people's daily work and life, such as snow sweepers. At present, the inventor realizes that the parameters in the snow rolling motor and the walking motor are not dynamically adjusted in the snow sweeper, and the snow sweeper walks at a constant speed, which may cause the load to be too large and the snow rolling / walking motor to frequently overcurrent, that is, the snow sweeping efficiency and the stability of the machine operation are affected. It can be seen that the self-moving device can only work according to the speed set by the user, and cannot adjust the running speed according to the working condition, so as to reduce the flexibility of speed adjustment.

[0005] SUMMARY

[0006] The embodiments of the present application disclose a speed adjustment method, a self-moving device and a computer readable storage medium, which are used to improve the flexibility of speed adjustment.

[0007] In a first aspect, the embodiments of the present application disclose a speed adjustment method, which is applied to a self-moving device, the self-moving device comprising a walking motor and a working motor, and the method comprises:

[0008] obtaining a current current of the working motor;

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

[0010] adjusting a working current of the walking motor, so that a walking speed value of the self-moving device is the first speed value.

[0011] In a second aspect, the embodiments of the present application disclose a self-moving device, comprising a walking motor, a working motor and a processor, the processor controls the walking motor according to the working motor to realize the method disclosed in the first aspect.

[0012] In a third aspect, the embodiments of the present application disclose a computer readable storage medium, the computer readable storage medium stores a computer program or computer instructions, when the computer program or computer instructions are run by a processor, the method disclosed in the first aspect is realized.

[0013] In the embodiments of the present application, the self-moving device comprising the walking motor and the working motor acquires the current of the working motor, determines the first speed value by using a preset speed adjustment algorithm according to the current of the working motor, adjusts the working current of the walking motor, and makes the walking speed of the self-moving device be the first speed value. It can be seen that the walking speed of the self-moving device can be adjusted according to the current of the working motor of the self-moving device, so that the flexibility of speed adjustment can be improved. In addition, the walking speed of the self-moving device can be adjusted according to the current of the working motor of the self-moving device, so that the situation that the self-moving device is overloaded can be avoided, and thus the working efficiency, balance and stability of the self-moving device can be improved, and the power consumption of the self-moving device can be reduced.

[0014] The details of one or more embodiments of the present application are presented in the accompanying drawings and description below. Other features and advantages of the present application will become apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0016] Fig. 1 is a flowchart of a speed adjustment method disclosed in the embodiments of the present application;

[0017] Fig. 2 is a flowchart of triggering the acquisition of the current of the working motor disclosed in the embodiments of the present application;

[0018] Fig. 3 is a schematic diagram of the principle of a PID algorithm disclosed in the embodiments of the present application;

[0019] Fig. 4 is a flowchart of determining the first speed value by using a PID algorithm disclosed in the embodiments of the present application;

[0020] Fig. 5 is a structural schematic diagram of a speed adjustment device disclosed in the embodiments of the present application;

[0021] Fig. 6 is a structural schematic diagram of a self-moving device disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make persons skilled in the art better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application.

[0023] The embodiments of the present application disclose a speed adjustment method, a self-moving device and a computer readable storage medium, and are used for improving the flexibility of speed adjustment. The following will be described in detail respectively.

[0024] In order to better understand the embodiments of the present application, the related technologies of the present application will be introduced first as follows.

[0025] With the development of science and technology, self-moving devices are gradually known by people, and more and more self-moving devices are applied in people's daily work and life, such as snow sweepers. The snow sweeper is provided with a snow shoveling device and a walking device, which correspond to a snow shoveling motor and a walking motor respectively. When there is much snow, the snow shoveling motor may be blocked or unable to push the snow, and the snow sweeper may slip, which may cause the snow sweeper to be overloaded, affect the snow sweeping efficiency and balance, damage the operation of the motor, and waste the electric energy in the robot.

[0026] At present, the parameters in the snow shoveling motor and the walking motor are not dynamically adjusted in the snow sweeper, and the snow sweeper walks at a uniform speed, which may cause the snow shoveling / walking motor to frequently overcurrent due to excessive load, that is, the snow sweeping efficiency and the stability of the robot operation may be affected. It can be seen that the self-moving device can only work according to the speed set by the user, and cannot adjust the running speed according to the working condition, so as to reduce the flexibility of speed adjustment.

[0027] In order to solve the above problems, the self-moving device including the walking motor and the working motor acquires the current electric current of the working motor, determines a first speed value by using a preset speed adjustment algorithm according to the current electric current of the working motor, adjusts the working electric current of the walking motor, and adjusts the walking speed of the self-moving device to the first speed value. It can be seen that the walking speed of the self-moving device can be adjusted according to the electric current of the working motor of the self-moving device, so as to improve the flexibility of speed adjustment.

[0028] Please refer to Fig. 1, which is a flowchart of a speed adjustment method disclosed by an embodiment of the present application. The speed adjustment method can be applied to a self-moving device, and the self-moving device includes a walking motor and a working motor. As shown in Fig. 1, the speed adjustment method can include the following steps.

[0029] 101, acquire the current electric 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 for controlling the walking or movement of the self-moving device. The working motor is a motor for controlling the working of the self-moving device. It should be understood that the working of the self-moving device herein does not include the walking or movement of the self-moving device, but refers to the working other than the walking or movement. The working motor can have different functions depending on the type of the self-moving device. For example, when the self-moving device is a snow sweeper, the working motor is a snow rolling motor; when the self-moving device is a lawn mower, the working motor is a grass cutting motor; and when 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 self-moving device can acquire the current current of the working motor in real time, periodically, or under certain conditions. The current current of the working motor is the current working current of the working motor.

[0032] In some embodiments, the self-moving device can 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. The minimum walking speed of the self-moving device is a stored minimum walking speed of the self-moving device. For example, the minimum walking speed of the self-moving device can be 0.01 m / s or other values.

[0033] In some embodiments, when the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, the self-moving device can first determine the difference between the absolute value of the current walking speed of the self-moving device and a second speed value, and then determine the second speed value as the first speed value when the difference is less than a speed threshold; determine the difference between the absolute value of the current walking speed of the self-moving device and the speed threshold as the first speed value when the difference is not less than the speed threshold and the absolute value of the current walking speed of the self-moving device is greater than the second speed value; and determine the sum of the absolute value of the current walking speed of the self-moving device and the speed threshold as the first speed value when the difference is not less than the speed threshold and the absolute value of the current walking speed of the self-moving device is not greater than the second speed value. The second speed value is a preset walking speed value of the self-moving device.

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

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

[0036] The self-moving device can first obtain the current walking speed of the self-moving device, and then determine whether the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device. In the case that the current walking speed of the self-moving device is greater than or equal to the minimum walking speed of the self-moving device, it indicates that the self-moving device is moving forward, and the current current of the working motor can be obtained. In the case that the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, the difference between the absolute value of the current walking speed of the self-moving device and the second speed value can be determined, and then it is determined whether the difference is less than the speed threshold. In the case that the difference is less than the speed threshold, it indicates that the difference between the current walking speed value of the self-moving device and the second speed is small, and the second speed value can be directly determined as the first speed value. In the case that the difference is not less than (i.e., greater than or equal to) the speed threshold, it indicates that the difference between the current walking speed value of the self-moving device and the second speed value is large, and it is determined whether the absolute value of the current walking speed of the self-moving device is greater than the second speed value. In the case that the absolute value of the current walking speed of the self-moving device is greater than the second speed value, it indicates that the current walking speed value of the self-moving device is greater than the second speed value, and the difference between the absolute value of the current walking speed of the self-moving device and the speed threshold is determined as the first speed value, i.e., the walking speed value of the self-moving device is reduced, so as to make the walking speed value of the self-moving device close to the second speed value. In the case that the absolute value of the current walking speed of the self-moving device is not greater than (i.e., less than or equal to) the second speed value, it indicates that the current walking speed value of the self-moving device is less than the second speed value, and the sum of the absolute value of the current walking speed of the self-moving device and the speed threshold is determined as the first speed value, i.e., the walking speed value of the self-moving device is increased, so as to make the walking speed value of the self-moving device close to the second speed value.

[0037] In some embodiments, in the case that the current walking speed of the mobile device is determined to be less than the minimum walking speed of the mobile device, it can also be determined whether the current walking speed of the mobile device is less than the maximum negative walking speed of the mobile device. In the case that the current walking speed of the mobile device is determined to be less than the maximum negative walking speed of the mobile device, indicating that the current walking speed value is greater than the stored maximum walking speed value of the backward walking, 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 walking speed of the backward walking of the mobile device stored by 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 -0.3 m / s, or -0.4 m / s, or other values.

[0038] In the case 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, it can be determined that the difference between the absolute value of the current walking speed of the mobile device and the second speed value.

[0039] In some embodiments, in the case that 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 value can be determined according to the current time and the last time stamp.

[0040] In the case that 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 value can be determined directly according to the current time and the last time stamp, or the second speed value can be first determined whether it is greater than the maximum walking speed of the mobile device. In the case that the second speed value is determined to be 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, and therefore the second speed value can be determined as the maximum walking speed of the mobile device. In the case that the second speed value is determined to be not greater than (i.e. less than or equal to) the maximum walking speed of the mobile device, indicating that the walking speed of the mobile device can reach the second speed value, the time difference value can be determined according to the current time and the last time stamp.

[0041] After the mobile device determines the time difference value according to the current time and the last time stamp, the current current of the working motor can be obtained.

[0042] In some embodiments, it can be determined whether there is an obstacle. In the case that it is determined that there is an obstacle, the working current of the walking motor can be adjusted to make the walking speed of the mobile device 0. In the case that it is determined that there is no obstacle, the current current of the working motor can be obtained.

[0043] Before adjusting the speed, the self-moving device can first determine whether there is an obstacle. In the case where it is determined that there is an obstacle, if the self-moving device continues to walk in the original direction, the self-moving device and the obstacle can collide. In order to avoid the collision between the self-moving device and the obstacle, in one case, the self-moving device can adjust the working current of the walking motor so that the walking speed of the self-moving device is 0, i.e., the self-moving device stops walking. In another case, the self-moving device can bypass the obstacle, so as to avoid the collision between the self-moving device and the obstacle, and also not to affect the working of the self-moving device. In the case where it is determined that there is no obstacle, the current working current of the working motor can be directly obtained, or the current walking speed of the self-moving device can be obtained, and then it can be determined whether the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device.

[0044] It should be understood that the different embodiments described above can be freely combined. For example, refer to FIG. 2, which is a flowchart of triggering the acquisition of the current working current of the working motor according to an embodiment of the present application. FIG. 2 is one case of the combination of the different embodiments described above. As shown in FIG. 2, the flowchart can include the following steps.

[0045] A1, determine whether there is an obstacle, in the case where there is an obstacle, execute step A2, and in the case where there is no obstacle, execute step A3.

[0046] A2, adjust the working current of the walking motor so that the walking speed of the self-moving device is 0.

[0047] A3, determine whether the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, in the case where the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, execute step A4, and in the case where the current walking speed of the self-moving device is not less than (i.e., greater than or equal to) the minimum walking speed of the self-moving device, execute step A11.

[0048] A4, determine whether the current walking speed of the self-moving device is less than the maximum negative walking speed of the self-moving device, in the case where the current walking speed of the self-moving device is less than the maximum negative walking speed of the self-moving device, execute step A5, and in the case where the current walking speed of the self-moving device is not less than the maximum negative walking speed of the self-moving device, execute step A6.

[0049] A5, set the current walking speed of the self-moving device to the maximum negative walking speed of the self-moving device.

[0050] A6, determine whether the absolute value of the current walking speed of the self-moving device and the second speed value is less than the speed threshold value, in the case that the absolute value of the current walking speed of the self-moving device and the second speed value is less than the speed threshold value, step A7 is executed, in the case that 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 value, step A8 is executed.

[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, in the case that the absolute value of the current walking speed of the self-moving device is greater than the second speed value, step A9 is executed, in the case that the absolute value of the current walking speed of the self-moving device is not greater than the second speed value, step A10 is executed.

[0053] A9, determine the difference between the absolute value of the current walking speed of the self-moving device and the speed threshold value as the first speed value.

[0054] A10, determine the sum of the absolute value of the current walking speed of the self-moving device and the speed threshold value as the first speed value.

[0055] A11, determine whether the second speed value is greater than the maximum walking speed of the self-moving device, in the case that the second speed value is greater than the maximum walking speed of the self-moving device, step A12 is executed, in the case that the second speed value is not greater than the maximum walking speed of the self-moving device, step A13 is executed.

[0056] A12, set the second speed value as the maximum walking speed of the self-moving device.

[0057] A13, determine the time difference value according to the current time and the last time stamp.

[0058] A14, obtain the current current of the working motor.

[0059] The self-moving device can determine whether there is an obstacle in real time or periodically, in the case that it is determined that there is an obstacle, the self-moving device can adjust the working current of the walking motor, so that the walking speed of the self-moving device is 0, that is, the walking speed of the self-moving device is reduced to 0; the self-moving device can also bypass the obstacle.

[0060] The self-moving device determines whether there is an obstacle, which can be understood as determining whether there is an obstacle in front of the self-moving device. The self-moving device can detect whether there is an obstacle in front of the self-moving device through the sensor installed in front of the machine; wherein the sensor includes but is not limited to image sensor, laser sensor, millimeter wave sensor and infrared sensor.

[0061] The obstacle can be a living obstacle or a non-living obstacle. In a case where it is judged that there is a living obstacle, the working current of the walking motor can be directly adjusted to make the walking speed of the self-moving device 0, or the obstacle can be directly bypassed. In a case where it is judged that there is a non-living obstacle, it can be continuously judged whether the walking linear speed of the self-moving device is greater than 0, and in a case where it is judged that the walking linear speed of the self-moving device is greater than 0, the working current of the walking motor can be adjusted to make the walking speed of the self-moving device 0, or the obstacle can be bypassed.

[0062] In a case where it is judged that there is no obstacle, or after the obstacle is bypassed, or in a case where it is judged that the walking linear speed of the self-moving device is equal to 0, a speed threshold value can be obtained, and the current walking speed of the self-moving device can be determined. The speed threshold value is a value set in advance. Exemplarily, the speed threshold value can be 0.3 m / s, or can be other values, which are not limited herein. The current walking speed of the self-moving device is the speed at which the self-moving device is currently walking.

[0063] Exemplarily, in a case where the self-moving device walks according to wheel rolling, if the self-moving device includes two left and right wheels, the current walking speed of the self-moving device can be the average of the linear speeds of the two wheels. It should be understood that this example is an exemplary description of determining the current walking speed of the self-moving device, and does not constitute a limitation thereto.

[0064] Then it can be continuously judged whether the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, and in a case where it is judged that the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, it can be continuously judged whether the current walking speed of the self-moving device is less than the maximum negative walking speed of the self-moving device. In a case where it is judged that the current walking speed of the self-moving device is less than the maximum walking speed of the self-moving device, it indicates that the current walking speed value is greater than the stored maximum walking speed value of the backward movement, and the current walking speed of the self-moving device can be set to the maximum negative walking speed of the self-moving device, so as to update the stored maximum negative walking speed of the self-moving device. The maximum negative walking speed of the self-moving device is the maximum walking speed of the backward movement of the self-moving device stored by the self-moving device. It can be seen that the maximum negative walking speed of the self-moving device is not fixed. Exemplarily, the maximum negative walking speed of the self-moving device can be -0.3 m / s, or can be -0.4 m / s, or can be other values.

[0065] In a case where 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, a 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. In a case where 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 performed. The second speed value is a preset walking speed value of the mobile device.

[0066] In a case where 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 value 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. In a case where it is determined that the absolute value of the current walking speed of the mobile device is greater than the second speed value, a 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., in a case where the difference between the current walking speed value of the mobile device and the second speed value is large and the current walking speed value of the mobile device is greater than the second speed value, the walking speed value of the mobile device can be reduced to make the walking speed value of the mobile device close to the second speed value. In a case where it is determined that the absolute value of the current walking speed of the mobile device is less than the second speed value, a 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., in a case where the difference between the current walking speed value of the mobile device and the second speed value is large and the current walking speed value of the mobile device is less than the second speed value, the walking speed value of the mobile device can be increased to make the walking speed value of the mobile device close to the second speed value. It can be seen that in a case where the difference between the current walking speed value of the mobile device and the second speed value is large, the walking speed value of the mobile device can be adjusted to make the walking speed value of the mobile device close to the second speed value, instead of being adjusted to the second speed value at one time, and the speed can be adjusted in stages. The walking speed value can be understood as a 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 determined first, and then the absolute value of the difference is compared with the speed threshold. At this time, step A6 can be replaced by: judging 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, in the case that 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, and in the case that 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 not less than the speed threshold, step A8 is executed.

[0068] In the case that it is judged that the current walking speed of the self-moving device is not less than (i.e. greater than or equal to) the minimum walking speed of the self-moving device, it can be further judged whether the second speed value is greater than the maximum walking speed of the self-moving device, in the case that it is judged that the second speed value is greater than the maximum walking speed of the self-moving device, due to the limitation of the maximum walking speed of the self-moving device, the walking speed of the self-moving device cannot reach the second speed value, therefore, the second speed value can be set as the maximum walking speed of the self-moving device. In the case that it is judged that the second speed value is not greater than (i.e. less than or equal to) the maximum walking speed of the self-moving device, or after the second speed value is set as the maximum walking speed of the self-moving device, it indicates that the walking speed of the self-moving device can reach the second speed value, the time difference value can be determined according to the current time and the last time stamp, and the last time stamp can be updated as the current time. Then the current current of the working motor can be acquired. The maximum walking speed of the self-moving device is the maximum walking speed of the self-moving device stored by the self-moving device. It can be seen that the maximum walking speed of the self-moving device is not fixed. For example, the maximum walking speed of the self-moving device can be 0.3 m / s, or 0.4 m / s, or other values.

[0069] It should be understood that the flow shown in FIG. 2 is an exemplary illustration of the triggering condition for acquiring the current current of the working motor, and does not limit the specific triggering condition. For example, steps A1 and A2 can not be performed. For example, steps A3-A10 can not be performed, in which case, when the result of step A1 is no, step A11 can be directly performed. For example, steps A4 and A5 can not be performed, in which case, when the result of step A3 is yes, step A6 can be directly performed. For example, steps A11 and A12 can not be performed, in which case, when the result of step A3 is no, step A13 can be directly performed. For example, step A13 can not be performed. For example, steps A3-A13 can not be performed, in which case, when the result of step A1 is no, step A14 can be directly performed. For example, steps A1-A13 can not be performed.

[0070] As shown in FIG. 2, in the case that 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 can also be determined, in the case that the difference is less than the speed threshold, the second speed value can be determined as the first speed value; in the case that 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 can be determined as the first speed value; in the case that 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 can be determined as the first speed value. After the first speed value is determined, step 103 can be performed.

[0071] It can be seen that the first speed value can be determined by step 102, or can be determined in the above manner. In different cases, the way of determining the first speed value is different. In the case of meeting the use of the preset speed adjustment algorithm, the first speed value can be determined by using the preset speed adjustment algorithm, and in the case of not meeting the use of the preset speed adjustment algorithm, the first speed value can be determined by using other ways, which can ensure that the speed adjustment can be realized in different cases, and can improve the flexibility of speed adjustment. In addition, the application range of speed adjustment can also be improved, which can avoid the case that the speed can only be adjusted in one case and cannot be adjusted in other cases.

[0072] In some embodiments, the speed value of the walking motor can also be adjusted according to the environmental information, that is, steps 101-103 are performed. In the case of the self-moving device being a snow sweeper, the thickness of the snow can be determined, and then the walking speed value of the snow sweeper can be adjusted according to the thickness of the snow. The thickness of the snow can be determined by a visual sensor, a radar sensor, or the like, or can be determined by the load of the snow rolling shovel corresponding to the snow rolling motor. The thickness of the snow can be determined before the snow sweeper is used to clean the snow, or can be determined during the process of using the snow sweeper to clean the snow.

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

[0074] After the current current of the working motor is obtained, the first speed value can be determined according to the preset speed adjustment algorithm using the current current of the working motor. The preset speed adjustment algorithm can be a proportional integral derivative (PID) algorithm, or can be 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. In the case where it is determined that the self-moving device does not need to turn or make a turn, step 102 is performed. In the case where it is determined that the self-moving device needs to turn or make a turn, since the turning speed is slow when the self-moving device makes a turn in place, there is no problem of overcurrent of the working motor, that is, the parameters do not need to be adjusted, and therefore, step 102 is not performed.

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

[0077] In some embodiments, in the case where the speed adjustment proportion 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 proportion 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 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 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 according to the current current of the working motor using the preset speed adjustment algorithm. Then the self-moving device can directly determine the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device, or first determine whether the speed adjustment ratio is less than 0, and 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 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 and the speed adjustment ratio, and only 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 and the speed adjustment ratio, the first speed value can be determined according to 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 first speed value can be determined according to the minimum walking speed of the self-moving device. When 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 walking speed of the self-moving device is not greater than (i.e. less than or equal to) the starting walking speed of the self-moving device or the ratio of the starting walking speed of the self-moving device and the speed adjustment ratio, it can be determined whether the current walking speed of the self-moving device is less than the starting speed of the self-moving device, and when it is determined that 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 it is determined that 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.

[0080] In some embodiments, the third speed value can be determined 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 first speed value can be determined as the third speed value. When 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 according to the minimum walking speed of the self-moving device.

[0081] The self-moving device can first determine the third speed value according to the speed adjustment ratio and the current walking speed of the self-moving device. Then, the self-moving device can directly determine the third speed value as the first speed value, or 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, the self-moving device 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 according to the minimum walking speed of the self-moving device.

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

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

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

[0085] The following will be described taking the preset speed adjustment algorithm as a PID algorithm as an example.

[0086] [Corrected according to Rule 91 on 09.10.2025] In the case that the preset speed adjustment algorithm is a PID algorithm, the first speed value can be determined using the PID algorithm according to the current current of the working motor, the steady current of the working motor and the current control range of the working motor.

[0087] The steady current of the working motor is a value at which the current of the working motor needs to be stabilized. The PID control is to stabilize the current of the working motor to a stable value, and the steady current of the working motor is the value.

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

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

[0090] wherein E(t) represents the proportion, represents the integral of the proportion, represents the differential of the proportion, K p represents the proportion coefficient, K i represents the integral coefficient, K d represents the differential coefficient, and dt represents the time difference value.

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

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

[0093] When determining the speed adjustment proportion, the proportion result of the PID algorithm can be determined according to the current current of the working motor, the differential result of the PID algorithm can be determined according to the proportion result of the PID algorithm, the integral result of the PID algorithm can be determined according to the proportion result of the PID algorithm, and then the speed adjustment proportion can be determined according to the proportion result, the differential result and the integral result of the PID algorithm. The proportion result of the PID algorithm is E(t) described above, the differential result of the PID algorithm is the integral result of the PID algorithm is

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

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

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

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

[0098] The first speed value can be the product of the speed adjustment proportion and the absolute value of the current walking speed of the self-moving device, the ratio of the absolute value of the current walking speed of the self-moving device to the speed adjustment proportion, or other values determined according to the speed adjustment proportion 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 can 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, the first speed value can be determined using the PID algorithm according to the current current of the working motor. If it is determined that the current current of the working motor is outside the threshold range, the current of the walking motor can not be adjusted, or the current of the walking motor can be adjusted so that the walking speed of the self-moving device can be reduced to 0.

[0100] For example, assuming that the self-moving device is a snow blower, the current of the snow rolling motor is 10A when the snow rolling motor is unloaded, the current of the snow rolling motor is 60A when the snow rolling motor is overloaded, and the expected current is to be stabilized in the range of 30A. When the current of the snow rolling motor is lower than the range of 30A, the walking speed of the self-moving device can be accelerated when the walking speed of the self-moving device is lower than the second speed value, and the walking speed is accelerated faster when the current is lower. When the current of the snow rolling motor is in the range of 30A-50A, the walking speed of the self-moving device can be reduced by controlling the current of the working motor, so that the current of the snow rolling motor can be stabilized at 30A, and the deceleration acceleration is faster when the current is higher. When the current of the snow rolling motor exceeds 50A, the walking speed of the self-moving device can be reduced to 0, so as to avoid the overloading of the snow rolling motor. Since the walking speed of the snow blower is reduced, the snow intake per unit time is reduced, and the snow thrown by the snow rolling motor is also reduced, thereby reducing the load of 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, referring to FIG. 4, FIG. 4 is a flowchart of determining the first speed value using the PID algorithm. As shown in FIG. 4, the flowchart can include the following steps.

[0102] B1, determining the proportional result of the PID algorithm according to the current of the working motor.

[0103] B2, determining the differential result of the PID algorithm according to the proportional result of the PID algorithm.

[0104] B3, determining whether the time difference value is equal to 0, in the case that the time difference value is equal to 0, executing step B4, in the case that the time difference value is greater than 0, executing step B5.

[0105] B4, determining the second speed value as the first speed value.

[0106] B5, determining whether the time difference value is greater than 1, in the case that the time difference value is greater than 1, executing step B6, in the case that the time difference value is less than or equal to 1, executing step B7.

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

[0108] B7, determining the integral result of the PID algorithm according to the proportional result of the PID algorithm.

[0109] B8, determining the speed adjustment proportion according to the proportional result, the differential result and the integral result of the PID algorithm.

[0110] B9, determine whether the speed adjustment ratio is less than 0, in the case that the speed adjustment ratio is less than 0, execute step B10, in the case that the speed adjustment ratio is greater than or equal to 0, execute step B11.

[0111] B10, determine the first speed value according to the minimum walking speed of the mobile device.

[0112] B11, determine whether the current current of the working motor is greater than the starting current of the working motor, or the current walking speed of the mobile device is greater than the starting walking speed of the mobile device or the ratio of the starting walking speed and the speed adjustment ratio, in the case that the determination is yes, execute step B12, in the case that the determination is no, execute step B18.

[0113] B12, determine the 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, in the case that the third speed value is greater than the second speed value, execute step B14, in the case that 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 mobile device, in the case that the third speed value is less than the minimum walking speed of the mobile device, execute step B16, in the case that the third speed value is greater than or equal to the minimum walking speed of the mobile device, execute step B17.

[0117] B16, determine the first speed value according to the minimum walking speed of the mobile 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, in the case that the determination is yes, execute step B19, in the case that the determination is no, execute step B20.

[0120] B19, determine the second speed value as the first speed value.

[0121] B20, determine the starting speed of the mobile device as the first speed value.

[0122] After the current current of the working motor is acquired, the proportional result of the PID algorithm can be determined according to the current current of the working motor first. The differential result of the PID algorithm can be determined according to the proportional result of the PID algorithm. Then it can be judged whether the time difference value is equal to 0. In the case of judging that the time difference value is equal to 0, it is indicated that the current time and the last time stamp are the same, and the second speed value can be directly determined as the first speed value. In the case of judging that the time difference value is greater than 0, it can be further judged whether the time difference value is greater than 1. In the case of judging that the time difference value is greater than 1, it is indicated that the time interval between the current time and the last time stamp is large, and the last time stamp is not reference. The error result, the differential result and the integral result of the PID algorithm can be directly set to 0. In the case of judging that the time difference value is less than or equal to 1, the integral result of the PID algorithm can be determined according to the proportional result of the PID algorithm. After the integral result of the PID algorithm is determined, it can be first judged whether the absolute value of the integral result of the PID algorithm is greater than the integral upper limit. In the case of judging that 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 avoid that the final integral result of the PID algorithm is too large.

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

[0124] The speed adjustment proportion can be determined according to the proportional result, the differential result and the integral result (or the final integral result) of the PID algorithm. Then it can be judged whether the speed adjustment proportion is less than 0. In the case of judging that the speed adjustment proportion is less than 0, the first speed value can be determined according to the minimum walking speed of the self-moving device. The product of the minimum walking speed of the self-moving device and N can be determined as the first speed value. N is a value greater than or equal to 1. For example, N can be 2, or a value greater than 2.

[0125] In a case where it is judged that the speed adjustment ratio is greater than or equal to 0, it can be continued to judge 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 mobile device is greater than the starting walking speed of the mobile device or the ratio of the starting walking speed of the mobile device and the speed adjustment ratio. In a case where it is judged 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 mobile device is greater than the starting walking speed of the mobile device or the ratio of the starting walking speed of the mobile device and the speed adjustment ratio, a third speed value can be determined according to the speed adjustment ratio and the current walking speed of the mobile device. The product of the speed adjustment ratio and the absolute value of the current walking speed of the mobile device can be determined as the third speed value. It can be then judged whether the third speed value is greater than the second speed value. In a case where it is judged that the third speed value is greater than the second speed value, the second speed value can be determined as the first speed value, and then step 103 can be executed. In a case where it is judged that the third speed value is less than or equal to the second speed value, it can be continued to judge whether the third speed value is less than the minimum walking speed of the mobile device. In a case where it is judged that the third speed value is less than the minimum walking speed of the mobile device, it indicates that the third speed value is too small, and thus the first speed value can be determined according to the minimum walking speed of the mobile device. In a case where it is judged that the third speed value is greater than or equal to the minimum walking speed of the mobile device, the third speed value can be determined as the first speed value. The detailed description of determining the first speed value according to the minimum walking speed of the mobile device can be referred to the above related description. The starting current of the working motor is the current of the working motor when the mobile device starts this time. The starting walking speed of the mobile device is the walking speed of the mobile device when the mobile device starts this time.

[0126] In a case where it is judged that the current current of the working motor is not greater than the starting current of the working motor and the current walking speed of the mobile device is not greater than the starting walking speed of the mobile device or the ratio of the starting walking speed of the mobile device and the speed adjustment ratio, it can be continued to judge whether the current walking speed of the mobile device is less than the starting speed of the mobile device. In a case where it is judged that the current walking 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. In a case where it is judged that the current walking 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. The starting speed of the mobile device is the time used from when the mobile device receives a starting instruction to when the starting is completed.

[0127] As shown in Figure 4, 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 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 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. After determining the first speed value, step 103 can be executed.

[0128] For example, assume the previous current of the working motor is 20A, A is 30A, B is 60A, C is 20A, D is 2, and K is 2. p 1.0, K i 0.1, K d The time difference is 0.5s and the last time was 0.2. This time Since 1.125 is greater than the upper limit of integration 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 based on the minimum walking speed of the self-moving device.

[0129] For example, assume the previous current of the working motor is 20A, A is 40A, B is 30A, C is 20A, D is 2A, and K is 40A. p 1.0, K i 0.1, K d The time difference is 0.5s and the last time was 0.2. 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 * the absolute value of the current walking speed. It can be seen that the self-moving device is slowing down.

[0130] [Corrected according to Rule 91, 09.10.2025] It should be understood that during the operation of the self-moving device, K in the PID algorithm... p K i and K d It can be kept fixed or adjusted according to the actual situation, and the optimal result is taken as the final value.

[0131] It should be understood that the flow shown in FIG. 4 is an exemplary illustration of determining the first speed value using the preset speed adjustment algorithm, and does not limit the same. For example, the step B1-step B2 can be executed after the step B3-step B6. For example, the preset speed adjustment algorithm can be other preset speed adjustment algorithm, at this time, the step B1, the step B2 and the step B7 can not be executed, and the step B8 can be replaced by: determining the speed adjustment ratio using other preset speed adjustment algorithm according to the current current of the working motor. For example, the step B3-step B6 can not be executed. For example, the step B9 and the step B10 can not be executed. For example, the step B9-step B10 and the step B10-step B20 can not be executed. For example, the step B13-step B17 can not be executed, at this time, the step B12 can be replaced by: determining the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device.

[0132] 103. Adjusting the working current of the walking motor, so that the value of the walking speed of the self-moving device is the first speed value.

[0133] After the first speed value is determined, the working current of the walking motor can be adjusted, so that the value of the walking speed of the self-moving device is the first speed value, that is, the value of the walking speed of the self-moving device is adjusted to the first speed value by adjusting the working current of the walking motor.

[0134] In the speed adjustment method described in FIG. 1, the self-moving device including the walking motor and the working motor obtains the current current of the working motor, determines the first speed value using the preset speed adjustment algorithm according to the current current of the working motor, and adjusts the working current of the walking motor, so that the value of the walking speed of the self-moving device is the first speed value. It can be seen that the walking speed of the self-moving device can be adjusted according to the current of the working motor of the self-moving device, so that the flexibility of speed adjustment can be improved. In addition, the walking speed of the self-moving device can be adjusted according to the current of the working motor of the self-moving device, so that the overload of the self-moving device can be avoided, thereby improving the working efficiency, balance and stability of the self-moving device, and reducing the power consumption of the self-moving device.

[0135] Referring to FIG. 5, FIG. 5 is a structural schematic diagram of a speed adjustment device disclosed by an embodiment of the present application. The speed adjustment device is applied to a self-moving device, and the self-moving device includes a walking motor and a working motor. As shown in FIG. 5, the speed adjustment device can include:

[0136] The obtaining unit 501 is configured to obtain the current current of the working motor;

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

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

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

[0140] determine the speed adjustment ratio according to the preset speed adjustment algorithm and the current current of the working motor;

[0141] determine the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving 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 self-moving device, including:

[0143] In the case that 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] In the case that the speed adjustment ratio is less than 0, the first speed value is determined according to the minimum walking speed of the self-moving device;

[0146] In the case that 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 a preset walking speed value of the self-moving device;

[0147] In the case that 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 self-moving device, including:

[0149] determine the third speed value according to the speed adjustment ratio and the current walking speed of the self-moving device;

[0150] In a case where 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 a preset walking speed value of the self-moving device.

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

[0152] In a case where the third speed value is greater than the second speed value, the second speed value is determined 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 acquisition unit 501 is specifically configured to, 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, acquire the current current of the working motor.

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

[0156] In a case where the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, a difference between the current walking speed of the self-moving device and the second speed value is determined, and the second speed value is a preset walking speed value of the self-moving device.

[0157] In a case where the difference is less than the speed threshold value, the second speed value is determined as the first speed value.

[0158] In a case where the difference is not less than the speed threshold value and the current walking speed of the self-moving device is greater than the second speed value, a difference between the current walking speed of the self-moving device and the speed threshold value is determined as the first speed value.

[0159] In a case where the difference is not less than the speed threshold value and the current walking speed of the self-moving device is not greater than the second speed value, a sum of the current walking speed of the self-moving device and the speed threshold value is determined as the first speed value.

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

[0161] In a case where the current current of the working motor is within a threshold range, the first speed value is determined according to the current current of the working motor using a preset speed adjustment algorithm.

[0162] In some embodiments, the determination unit 502 is further configured to, 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, determine a time difference value according to the current time and the last time stamp.

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

[0164] The determining unit 502 is further configured to, in a case where the time difference value is equal to 0, determine the second speed value as the first speed value, the second speed value being a preset walking speed value of the self-moving 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 apparatus, the obtaining unit 501, the determining unit 502 and the adjusting unit 503 described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described here.

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

[0167] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0168] Please refer to FIG. 6, which is a structural schematic diagram of a self-moving device according to an embodiment of the present application. As shown in FIG. 6, the self-moving device can include a walking motor 601, a working motor 602, a processor 603 and a memory 604. The memory 604 can store one or more computer programs. The one or more computer programs are configured to execute the method as described in the foregoing method embodiments. The memory 604 can exist independently, or can be integrated with the processor 603.

[0169] The processor 603 can include one or more processing cores. The processor 603 can utilize various interfaces and lines to connect various parts within the self-moving device, can execute various functions of the self-moving device and process data by running or executing instructions, programs, code sets or instruction sets stored in the memory 604, and calling data stored in the memory 604. Alternatively, the processor 603 can be implemented in at least one of a digital signal processing (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 603 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU is mainly used to process operating systems, user interfaces, and application programs; the GPU is used to render and draw display content; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 603, but can be realized by a separate communication chip.

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

[0171] When the computer program instructions stored in the memory 604 are executed, the processor 603 can be used to execute various operations of the self-moving device in the above method embodiments, specifically to realize various operations of the self-moving device in the above method embodiments according to the working motor control walking motor. The specific implementation of these operations can refer to the previous embodiments, which will not be repeated here.

[0172] The computer readable storage medium in the present application also stores computer program codes, which can be called and executed by the processor to perform various operations in the above method embodiments. The specific implementation of the above operations can refer to the previous embodiments, which will not be repeated here.

[0173] The computer readable storage medium can be an electronic storage 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 can include a non-transitory computer readable medium. The computer readable storage medium has a storage space for storing program codes for performing any method steps in the above methods. The computer program codes can be read from or written into one or more computer program products. The computer program codes can be compressed in a suitable form, for example.

[0174] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not drive 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 including a walking motor and a working motor, comprising: obtaining a current current of the working motor; determining a first speed value according to the current current using a preset speed adjustment algorithm; adjusting a working current of the walking motor, so that a walking speed value of the self-moving device is the first speed value.

2. The method of claim 1, wherein, The determining of the first speed value according to the current current using the preset speed adjustment algorithm comprises: determining a speed adjustment ratio according to the current current using the preset speed adjustment algorithm; determining the first speed value according to the speed adjustment ratio and a current walking speed of the self-moving device.

3. The method of claim 2, wherein, The determining of the speed adjustment ratio according to the current current using the preset speed adjustment algorithm comprises: determining a proportional result of the preset speed adjustment algorithm according to the current current of the working motor, and determining a differential result and an integral result of the preset speed adjustment algorithm according to the proportional result; determining the speed adjustment ratio according to the proportional result, the differential result and the integral result of the preset speed adjustment algorithm.

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

5. The method according to any one of claims 2 to 4, wherein, The determining of the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device comprises: in a case that the speed adjustment ratio is greater than or equal to 0, and the current current is greater than a starting current of the working motor or the current walking speed is greater than a starting walking speed of the self-moving device, determining the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device.

6. The method of any one of claims 2 to 4, wherein, The determining of the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device comprises: in a case that the speed adjustment ratio is less than 0, determining the first speed value according to a minimum walking speed of the self-moving device; in a case that 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 a starting speed of the self-moving device, determining a second speed value as the first speed value, the second speed value being a preset walking speed value of the self-moving device; in a case that 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, determining the starting speed as the first speed value.

7. The method of claim 2, wherein, The determining of the first speed value according to the speed adjustment ratio and the current walking speed of the self-moving device comprises: determining a third speed value according to the speed adjustment ratio and the current walking speed of the self-moving device; determining the third speed value as the first speed value when the third speed value is less than or equal to a second speed value and greater than or equal to a minimum walking speed of the self-moving device, the second speed value being a preset walking speed value of the self-moving device.

8. The method of claim 7, wherein, The method further comprises, after determining the third speed value according to the speed adjustment ratio and the current walking speed of the self-moving device: determining the second speed value as the first speed value when the third speed value is greater than the second speed value; determining the first speed value according to the minimum walking speed when the third speed value is less than the minimum walking speed of the self-moving device.

9. The method of claim 1, wherein, The method further comprises, before obtaining the current current of the working motor: determining whether there is an obstacle in a walking direction of the self-moving device; adjusting the working current of the walking motor to make the walking speed of the self-moving device 0 when there is an obstacle; determining whether the current walking speed of the self-moving device is less than a minimum walking speed of the self-moving device when there is no obstacle.

10. The method of claim 1, wherein, The method further comprises, before obtaining the current current of the working motor: obtaining 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.

11. The method of claim 10, wherein, The method further comprises, before obtaining the current current of the working motor: determining a difference between an absolute value of the current walking speed and a second speed value when the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, the second speed value being a preset walking speed value of the self-moving device; determining the second speed value as the first speed value when the difference is less than a speed threshold value; determining a difference between the absolute value of the current walking speed and the speed threshold value as the first speed value when the difference is not less than the speed threshold value and the absolute value of the current walking speed is greater than the second speed value; determining a sum of the absolute value of the current walking speed and the speed threshold value as the first speed value when the difference is not less than the speed threshold value and the absolute value of the current walking speed is not greater than the second speed value.

12. The method of claim 1, wherein, The method further comprises, when the current current is within a threshold range, determining the first speed value according to the current current using a preset speed adjustment algorithm. The method further comprises, when the time difference value is greater than 0 and less than or equal to 1, determining the first speed value according to the current current using a preset speed adjustment algorithm.

13. The method of claim 1, wherein, The method further comprises, when the time difference value is equal to 0, determining the second speed value as the first speed value, the second speed value being a preset walking speed value of the self-moving device. The method further comprises:

14. The method of claim 1, wherein, determining the third speed value as the first speed value when the third speed value is less than or equal to a second speed value and greater than or equal to a minimum walking speed of the self-moving device, the second speed value being a preset walking speed value of the self-moving device. determining the second speed value as the first speed value when the third speed value is greater than the second speed value; 15. The method of claim 13 or 14, wherein, determining the first speed value according to the minimum walking speed when the third speed value is less than the minimum walking speed of the self-moving device. The method further comprises, before obtaining the current current of the working motor: determining whether there is an obstacle in a walking direction of the self-moving device; adjusting the working current of the walking motor to make the walking speed of the self-moving device 0 when there is an obstacle; determining whether the current walking speed of the self-moving device is less than a minimum walking speed of the self-moving device when there is no obstacle. The method further comprises, before obtaining the current current of the working motor: obtaining 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. The method further comprises, before obtaining the current current of the working motor: determining a difference between an absolute value of the current walking speed and a second speed value when the current walking speed of the self-moving device is less than the minimum walking speed of the self-moving device, the second speed value being a preset walking speed value of the self-moving device; determining the second speed value as the first speed value when the difference is less than a speed threshold value; determining a difference between the absolute value of the current walking speed and the speed threshold value as the first speed value when the difference is not less than the speed threshold value and the absolute value of the current walking speed is greater than the second speed value; determining a sum of the absolute value of the current walking speed and the speed threshold value as the first speed value when the difference is not less than the speed threshold value and the absolute value of the current walking speed is not greater than the second speed value. The method further comprises, when the current current is within a threshold range, determining the first speed value according to the current current using a preset speed adjustment algorithm. The method further comprises, when the time difference value is greater than 0 and less than or equal to 1, determining the first speed value according to the current current using a preset speed adjustment algorithm. The method further comprises, when the time difference value is equal to 0, determining the second speed value as the first speed value, the second speed value being a preset walking speed value of the self-moving device. 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 value is determined according to a current time and a last time stamp.

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

17. A self-moving device, wherein, comprising a walking motor, a working motor and a processor, wherein one or more processors control the working motor to work according to the walking motor, and the one or more processors perform the following steps: obtaining a current current of the working motor; determining a first speed value according to the current current using a preset speed adjustment algorithm; adjusting the working current of the walking motor, so that the value of the walking speed of the self-moving device is the first speed value.

18. The self-moving device of claim 17, wherein, The self-moving device is a snow sweeper.

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

20. One or more computer-readable storage media storing computer- readable instructions, wherein, The computer readable instructions, when executed by one or more processors, cause the one or more processors to perform the following steps: obtaining a current current of the working motor; determining a first speed value according to the current current using a preset speed adjustment algorithm; adjusting the working current of the walking motor, so that the value of the walking speed of the self-moving device is the first speed value.

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