Control method for self-moving device, and self-moving device

Abstract

A control method for a self-moving device, and a self-moving device. The control method is applied to a controller of a self-moving device. The self-moving device comprises a controller, a movement electric motor and a functional electric motor, and a direct-current power supply is configured to be mounted on the self-moving device, so as to provide power for the controller. The method comprises: detecting whether a direct-current power supply has been unloaded from a self-moving device (S301); and when it is detected that the direct-current power supply has been unloaded from the self-moving device, braking a movement electric motor and / or a functional electric motor (S302). The safety and controllability of a self-moving device in the event of a non-active shutdown condition during movement and / or function execution operation can be improved, and once a condition corresponding to an event requiring shutdown, such as a direct-current power supply having been unloaded from the self-moving device, occurs, a controller can output a brake signal in time, such that a movement electric motor and / or a functional electric motor actively stops running within a short period of time.

Description

Self-moving device control method and self-moving device

[0001] This disclosure claims all priority from claims 1 to 12 of Chinese patent application number 202410199454.X, filed on February 22, 2024, entitled “Control Method of Self-Moving Device and Self-Moving Device,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of self-moving equipment, and in particular to a control method of a self-moving equipment and a self-moving equipment. Background Art

[0003] Autonomous vehicles, such as robotic lawn mowers, are increasingly common. However, while these devices offer convenience, they also present safety risks. For example, without the user's active shutdown, the vehicle's travel and function motors are difficult to stop immediately, potentially leading to the risk of accidental injury or damage. Some autonomous vehicles are equipped with safety measures, but these measures are ineffective in responding to involuntary shutdowns.

[0004] As people's demand for automation and intelligent technology continues to grow, the market prospects for self-moving equipment are very broad. If you want users to be able to use self-moving equipment with confidence, you need to ensure the security of self-moving equipment.

[0005] Based on this, the present application provides a control method for a self-moving device and a self-moving device to improve the relevant technology. Summary of the Invention

[0006] The purpose of the present application is to provide a control method for a self-moving device and a self-moving device, so as to improve the safety of the self-moving device when encountering an involuntary shutdown situation.

[0007] The purpose of this application is achieved by the following technical solutions:

[0008] In a first aspect, the present application provides a control method for a self-moving device, which is applied to a controller of the self-moving device, wherein the self-moving device includes the controller, a travel motor, and a function motor, and a DC power supply is installed in the self-moving device to provide power to the controller. The method includes:

[0009] detecting whether the DC power supply is unloaded from the self-moving device;

[0010] In the event that the DC power source is detected to be discharged from the self-moving device, the travel motor and / or the function motor are braked. In some embodiments, the detecting whether the DC power source is discharged from the self-moving device includes:

[0011] Detecting whether the voltage at the input end of the DC power supply is lower than a preset voltage;

[0012] When it is detected that the voltage at the input end of the DC power supply is lower than the preset voltage, it is determined that the DC power supply is discharged from the mobile device.

[0013] In some embodiments, the self-moving device further includes a motor driver, a drive module, and a reserve power supply.

[0014] The braking of the travel motor and / or the functional motor includes:

[0015] Output a braking signal to brake the travel motor and / or function motor;

[0016] In the process of braking the travel motor and / or the functional motor, the controller, the motor driver, and the drive module are powered by the reserve power supply. In some embodiments, the preset voltage is a voltage threshold that triggers the self-mobile device to return to the charging base.

[0017] In some embodiments, the DC power source is a battery pack, the self-mobile device further comprises a battery compartment and a battery compartment cover capable of closing or opening an opening of the battery compartment, and the battery pack is detachably mounted in the battery compartment;

[0018] The detecting whether the DC power supply is discharged from the mobile device includes:

[0019] Obtaining a detection signal indicating whether the opening of the battery compartment is in an open state;

[0020] When the detection signal indicates that the opening of the battery compartment is open, determining that the DC power supply is discharged from the mobile device;

[0021] The braking of the travel motor and / or the functional motor includes:

[0022] Output a braking signal to brake the travel motor and / or function motor;

[0023] Wherein, during the process of braking the travel motor and / or the functional motor, the controller, the motor driver and the drive module are powered by the DC power supply.

[0024] In second aspect, an embodiment of the present application provides a self-moving device, which includes the controller, a walking motor and a functional motor, a DC power supply is used to be installed in the self-moving device to provide power to the controller, the controller includes a memory and at least one processor, the memory stores a computer program, and the at least one processor is configured to implement the steps of any one of the above methods when executing the computer program.

[0025] In some embodiments, the self-moving device further includes a motor driver, a drive module and a reserve power supply. In the event of a shutdown event, the reserve power supply provides power to the controller, the motor driver and the drive module to brake the travel motor and / or the functional motor.

[0026] In some embodiments, the reserve power source includes an energy storage module, and the energy storage module is charged by the DC power source when the DC power source is installed in the self-moving device;

[0027] The energy storage module includes a first diode, a first energy storage capacitor and a second energy storage capacitor;

[0028] The anode of the first diode is used to receive an input voltage signal, the cathode of the first diode is connected to the ground terminal through the first energy storage capacitor, and the cathode of the first diode is further connected to the ground terminal through the second energy storage capacitor;

[0029] Wherein, the capacitance of the first energy storage capacitor and the second energy storage capacitor is greater than a preset capacitance.

[0030] In some embodiments, a discharge time of the first energy storage capacitor and the second energy storage capacitor is greater than 200 ms.

[0031] In some embodiments, the controller has a brake signal output terminal corresponding to each motor including the travel motor and the functional motor, and each brake signal output terminal is used to output a brake signal for the corresponding motor;

[0032] The motor driver includes a motor drive unit corresponding to each motor, each motor drive unit having a brake signal receiving end and a drive control signal output end, the brake signal receiving end of each motor drive unit being electrically connected to the brake signal output end corresponding to the same motor to receive a brake signal for the corresponding motor, and the drive control signal output end of each motor drive unit being used to output a drive control signal for the corresponding motor;

[0033] The drive module has a drive unit corresponding to each motor, each drive unit has a drive control signal receiving end and a motor drive signal output end, the drive control signal receiving end of each drive unit is electrically connected to the drive control signal output end of the motor drive unit corresponding to the same motor to receive the drive control signal for the corresponding motor, and the motor drive signal output end of each drive unit is electrically connected to the motor drive signal receiving end of the corresponding motor to output the motor drive signal for the corresponding motor.

[0034] In some embodiments, the self-moving device further includes a Hall detection module corresponding to each motor, each Hall detection module being configured to collect a Hall detection signal for the corresponding motor;

[0035] The motor drive unit further comprises a Hall detection signal receiving end, and the Hall detection signal receiving end of the motor drive unit is electrically connected to a Hall detection module corresponding to the same motor to receive a Hall detection signal for the corresponding motor.

[0036] In some embodiments, the DC power supply is a battery pack, and the mobile device further includes a power switch module, wherein the power switch module includes a first PMOS transistor, a first NMOS transistor, first to fifth resistors, a first capacitor and a second capacitor;

[0037] The source of the first PMOS transistor is used to be connected to the positive electrode of the battery pack, the drain of the first PMOS transistor provides an input voltage signal through the first resistor, the gate of the first PMOS transistor is connected to the positive electrode of the battery pack through the second resistor, and the positive electrode of the battery pack is also used to be connected to the ground terminal through the first capacitor;

[0038] The source of the first NMOS transistor is connected to the ground terminal, the drain of the first NMOS transistor is connected to the gate of the first PMOS transistor through the third resistor, the gate of the first NMOS transistor is electrically connected to the charger wake-up signal output terminal of the controller through the fourth resistor to receive the charger wake-up signal, the gate of the first NMOS transistor is also connected to the ground terminal through the fifth resistor, and the gate of the first NMOS transistor is also connected to the ground terminal through the second capacitor.

[0039] In some embodiments, the self-mobile device further includes an input voltage detection module, and the input voltage detection module includes a sixth resistor, a seventh resistor, and a third capacitor;

[0040] The first end of the sixth resistor is used to receive an input voltage signal, the second end of the sixth resistor is connected to the ground end through the seventh resistor, and the second end of the sixth resistor is also connected to the ground end through the third capacitor.

[0041] In some embodiments, the self-moving device is a lawn mower, the travel motor includes a left travel motor and a right travel motor, and the functional motor includes a lawn mowing motor.

[0042] The present application provides a control method and a self-moving device. First, the controller detects whether the DC power is discharged from the self-moving device. When it is detected that the DC power is discharged from the self-moving device, the controller outputs a braking signal to brake the travel motor and / or the functional motor, stopping the operation of these motors in a short time. The present application can improve the safety and controllability of the self-moving device when it encounters an involuntary shutdown during walking and / or performing functional operations. Once the corresponding situation of DC power being discharged from the self-moving device occurs, the controller can output a braking signal in a timely manner, causing the travel motor and / or the functional motor to actively stop operation in a short time, thereby reducing safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present application is further described below with reference to the accompanying drawings and specific implementation methods.

[0044] FIG1 is a flow chart of a method for controlling a self-moving device provided in an embodiment of the present application.

[0045] FIG2 is a flow chart of a method for detecting whether a shutdown event occurs according to an embodiment of the present application.

[0046] FIG3 is a schematic diagram of a process for triggering active braking provided in an embodiment of the present application.

[0047] FIG4 is a schematic diagram of another flow chart of detecting whether a shutdown event occurs according to an embodiment of the present application.

[0048] FIG5 is a schematic diagram of another flow chart of detecting whether a shutdown event occurs, provided in an embodiment of the present application.

[0049] FIG6 is a logic block diagram of active braking of a self-propelled device provided in an embodiment of the present application.

[0050] FIG7 is a circuit schematic diagram of an energy storage module, a power switch module, and an input voltage detection module provided in an embodiment of the present application.

[0051] FIG8 is a schematic diagram of an embodiment of the present application providing an unenlarged energy storage capacity of an energy storage module.

[0052] FIG9 is a schematic diagram of increasing the energy storage capacity of an energy storage module provided in an embodiment of the present application.

[0053] FIG10 is a circuit diagram of a motor drive unit provided in an embodiment of the present application.

[0054] FIG11 is a circuit diagram of a driving unit provided in an embodiment of the present application.

[0055] FIG12 is a structural block diagram of a computer device provided in an embodiment of the present application.

[0056] In the figure: U1, motor driver chip; U2, first driver chip; U3, second driver chip; U4, third driver chip; D1, first diode; Q1, first PMOS transistor; Q2, first NMOS transistor; C1, first capacitor; C2, second capacitor; C3, third capacitor; C4, first energy storage capacitor; C5, second energy storage capacitor; R1, first resistor; R2, second resistor; R3, third resistor; R4, fourth resistor; R5, fifth resistor; R6, sixth resistor; R7, seventh resistor; R8, eighth resistor; R9, ninth resistor; R10, tenth resistor; R11, eleventh resistor; R12, twelfth resistor; R13, thirteenth resistor; R14, fourteenth resistor; R15, fifteenth resistor; R16, sixteenth resistor. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative work are within the scope of protection of this application.

[0058] In the description of the embodiments of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly indicate the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] Currently, when a self-mobile device is working, if it encounters an involuntary shutdown, its travel motor and functional motor cannot be stopped in a short time, so there is a safety risk. Among them, involuntary shutdown refers to the situation where the machine movement or functional operation is stopped without the user's operation or instruction, such as the input power of the self-mobile device being disconnected, the battery pack being pulled out during the movement of the self-mobile device, etc. The travel motor refers to the motor that drives the self-mobile device to move, and the functional motor refers to the motor that drives the self-mobile device to perform functional operations. Self-mobile devices include smart lawn mowers, sweeping robots, sweeping and mopping robots, delivery robots, disinfection robots, security robots, inspection robots, etc. Taking the smart lawn mower as an example, the travel motor and mowing motor refer to the motors that drive the lawn mower to move and mow the grass, respectively.

[0060] The present application provides a control method and a self-moving device to improve the relevant technology so that when the self-moving device encounters a non-active shutdown situation (such as when the input power is disconnected at any time), its travel motor and functional motor can stop running within a preset braking time.

[0061] It should be noted that although some embodiments of the present application take a smart lawn mower as an example, the present application can be applied to other self-moving devices and the present application is not limited thereto.

[0062] The present invention provides a control method for a self-moving device, which is applied to a controller of the self-moving device. The self-moving device may include, for example, a smart lawn mower, a sweeping robot, a sweeping and mopping robot, a delivery robot, a disinfection robot, a security robot, an inspection robot, etc.

[0063] The self-moving device includes the controller, the travel motor and the functional motor, and a DC power supply is used to be installed in the self-moving device to provide power to the controller. The embodiment of the present application does not limit the number of travel motors and functional motors, which can be 1, 2, 3, 4, etc. As an example, the self-moving device may also include a left drive wheel and a right drive wheel, and the travel motor includes a left travel motor and a right travel motor, which correspond to the left drive wheel and the right drive wheel of the self-moving device, respectively, to facilitate driving the self-moving device forward and turning. When the self-moving device is an intelligent lawn mower, the functional motor may be a lawn mowing motor.

[0064] In some embodiments, the self-moving device may further include a motor driver, a drive module, and a reserve power supply. In the event of a partial shutdown, the reserve power supply provides power to the controller, the motor driver, and the drive module to brake the travel motor and / or the functional motor. The motor driver may include a motor driver chip corresponding to each motor, and the drive module may include a drive unit corresponding to each motor. For example, when the motor is a three-phase motor, each drive unit may include three driver chips, and each driver chip may include, for example, an NMOS transistor and a PMOS transistor.

[0065] The embodiments of the present application do not limit the reserve power supply. In some embodiments, the reserve power supply may include an energy storage module, and the energy storage module is charged by the DC power supply when the DC power supply is installed on the self-moving device. That is to say, in the absence of an event requiring shutdown, the DC power supply can provide power to the controller, motor driver and drive module, and can also charge the energy storage module. In the event of an event requiring shutdown, the reserve power supply can provide power to the controller, motor driver and drive module to brake the walking motor and / or functional motor. Optionally, the reserve power supply may also include a voltage stabilizing module, a voltage conversion module, an overvoltage protection module, a surge protection module, etc. By setting up a reserve power supply, the reserve power supply includes an energy storage module, and when the DC power supply is installed on the self-moving device, the energy storage module can be charged, and when the DC power supply is unloaded from the self-moving device, the energy storage module can be discharged to provide power to electronic components such as the controller. By utilizing the charging and discharging functions of the energy storage module, a temporary power supply is provided when the DC power supply is unloaded, so that the self-moving device can achieve the braking function.

[0066] Refer to FIG1 , which is a flow chart of a method for controlling a self-moving device provided in an embodiment of the present application.

[0067] The control method includes steps S101-S102.

[0068] Step S101: Detecting whether a shutdown event has occurred. The present embodiment of the present invention does not limit the shutdown event, and may include, for example, the removal of the DC power supply from the mobile device, the opening of the battery compartment cover, the voltage at the DC power supply input showing a specified downward trend, or the depletion of the DC power supply.

[0069] Refer to FIG2 , which is a flowchart of detecting whether a shutdown event occurs according to an embodiment of the present application.

[0070] The process of detecting whether a shutdown event occurs (ie, step S101 ) at least includes step S201 .

[0071] Step S201: Detect whether the DC power source is unloaded from the self-moving device.

[0072] Step S202: When it is detected that the DC power supply is unloaded from the self-moving device, a shutdown event is confirmed. The DC power supply is unloaded from the self-moving device, for example, by a person or due to an external force causing the device to become loose and unloaded.

[0073] In some embodiments, detecting whether the DC power supply is unloaded from the self-moving device (i.e., step S201) may include: detecting whether the voltage at the input end of the DC power supply is lower than a preset voltage, and if it is detected that the voltage at the input end of the DC power supply is lower than the preset voltage, determining that the DC power supply is unloaded from the self-moving device.

[0074] The embodiment of the present application does not limit the preset voltage. The preset voltage may be, for example, 12V, 15V, 16.5V, 18V, 20V, etc.

[0075] In this embodiment, the preset voltage is a voltage threshold that triggers the mobile device to return to the charging base.

[0076] For example, the fully charged voltage for normal operation can be 21V, and the preset voltage can be 18V. When the voltage falls below 18V, it indicates that the DC power is being removed from the mobile device. Using this method to detect whether the DC power is being removed from the mobile device is not only easy to implement, but also allows for convenient adjustment of the preset voltage value based on actual application needs.

[0077] Optionally, when it is detected that the voltage at the input end of the DC power supply is not lower than a preset voltage, it can be determined that the DC power supply has not been unloaded from the mobile device.

[0078] The voltage at the input end of the DC power supply refers to the voltage input from the DC power supply to the mobile device, for example, the voltage input from the DC power supply to the controller, energy storage module, motor driver, and drive module.

[0079] In addition, when the voltage at the input end of the DC power supply drops to the second preset voltage, the mobile device begins to return to the charging base. At this time, the voltage at the input end of the DC power supply is basically stable at the preset voltage, and the conditions for the shutdown event are not met, thereby avoiding the controller from braking the travel motor before the mobile device returns to the charging base, making it difficult to execute the operation of returning to the charging base. Therefore, in the actual program written, the actual preset voltage will be slightly lower than the theoretical value.

[0080] In some embodiments, detecting whether the DC power has been discharged from the self-moving device (i.e., step S201) may include: detecting whether the voltage at the input terminal of the DC power supply is lower than a first preset voltage, wherein the first preset voltage is lower than a second preset voltage, and the second preset voltage is a voltage threshold that triggers the self-moving device to return to the charging base; if the voltage at the input terminal of the DC power supply is detected to be lower than the first preset voltage, it is determined that the DC power has been discharged from the self-moving device. Alternatively, if the voltage at the input terminal of the DC power supply is detected to be not lower than the first preset voltage, it can be determined that the DC power has not been discharged from the self-moving device.

[0081] The voltage at the input end of the DC power supply refers to the voltage input by the DC power supply to the self-moving device, for example, the voltage input by the DC power supply to the controller, energy storage module, motor driver, or drive module. The embodiments of the present application do not limit the first preset voltage and the second preset voltage, as long as the first preset voltage is less than the second preset voltage, and both are less than the normal operating full-charge voltage. The first preset voltage can be, for example, 12V, 15V, 16.5V, 18V, 20V, etc., and the second preset voltage can be, for example, 13V, 16V, 18V, 19V, 20.5V, etc. As an example, the normal operating full-charge voltage can be 21V, the second preset voltage can be 18V, and the first preset voltage can be 16.5V. Using the above method to detect whether the DC power is being discharged from the self-moving device, it is sufficient to specify the first preset voltage and the second preset voltage. This is not only easy to implement, but also allows the values ​​of the first preset voltage and the second preset voltage to be conveniently adjusted according to the needs of actual applications.

[0082] In addition, the first preset voltage is set to be lower than the second preset voltage. When the voltage at the input end of the DC power supply drops to the second preset voltage, the self-mobile device begins to return to the charging base. At this time, the voltage at the input end of the DC power supply is higher than the first preset voltage, and the condition of the shutdown event is not met, thereby avoiding the controller from braking the travel motor before the self-mobile device returns to the charging base, resulting in difficulty in executing the operation of returning to the charging base. The embodiment of the present application does not limit the number of charging bases, which can be one or more, for example. In some embodiments, multiple charging bases can be set in a designated area. When the voltage at the input end of the DC power supply drops to the second preset voltage, the self-mobile device is triggered to return to the nearest charging base, to avoid a long return distance. In the process of returning the self-mobile device to the charging base, the voltage at the input end of the DC power supply gradually drops below the first preset voltage, meeting the condition of the shutdown event, triggering the braking of the travel motor, resulting in the self-mobile device being unable to return to the charging base. Optionally, multiple self-mobile devices and multiple charging seats can be set up in the designated area. Each self-mobile device can query the status types of all charging seats. The status type of each charging seat is occupied or idle. The self-mobile device that needs to be charged can automatically go to the nearest idle charging seat for charging. Alternatively, the self-mobile device that needs to be charged can query the status types of the charging seats in the designated area in order from near to far, and automatically go to the nearest idle charging seat for charging. The above two methods can realize intelligent matching between multiple self-mobile devices and multiple charging seats, and are suitable for designated areas such as airports, railway stations, office buildings, and communities.

[0083] In some embodiments, the step of confirming the event requiring a shutdown may be skipped, that is, braking may be initiated immediately upon detecting that the DC power is being removed from the self-moving device.

[0084] Specifically, as shown in FIG3 , the method includes:

[0085] Step S301: Detecting whether the DC power supply is unloaded from the mobile device;

[0086] Step S302: braking the travel motor and / or the function motor when it is detected that the DC power supply is unloaded from the self-moving device.

[0087] The detecting whether the DC power supply is discharged from the mobile device includes:

[0088] Detecting whether the voltage at the input end of the DC power supply is lower than a preset voltage;

[0089] When the voltage at the input end of the DC power supply is detected to be lower than the preset voltage, it is determined that the DC power is discharged from the self-moving device. In addition to the method of directly detecting the voltage, this embodiment also provides a method for inferring that the DC power is discharged from the self-moving device.

[0090] Specifically, referring to FIG4 , FIG4 is a flowchart illustrating another method of detecting whether a shutdown event occurs according to an embodiment of the present application.

[0091] In some embodiments, the DC power source may be a battery pack, and the self-moving device may further include a battery compartment and a battery compartment cover capable of closing or opening the battery compartment, wherein the battery pack is detachably mounted in the battery compartment. The process of detecting whether the DC power source has been removed from the self-moving device may further include steps S401 and S402.

[0092] Step S401: Obtain a detection signal indicating whether the battery compartment opening is in an open state. The present embodiment does not limit the method for obtaining the detection signal; for example, the detection signal may be obtained by detecting whether the battery compartment opening is in an open state using any one or more electronic components such as a magnetic or mechanical switch, a photoelectric sensor, a pressure sensor, a position sensor, or the like.

[0093] Step S402: When the detection signal indicates that the opening of the battery compartment is open, it is determined that the DC power supply is removed from the mobile device.

[0094] Specifically, the battery compartment has an opening, and the battery compartment cover can close or open the battery compartment opening. When the battery compartment cover is opened, the battery compartment opening is open, and the controller receives a detection signal, such as voltage signal A. When the battery compartment cover is closed, the battery compartment opening is closed, and the controller receives another detection signal, such as voltage signal B, which is different from voltage signal A. Thus, the controller can determine whether the battery compartment opening is open by detecting whether the voltage signal corresponding to the battery compartment cover is A or B. When the controller receives voltage signal A, it indicates that the battery compartment opening is open, and the DC power supply is determined to be discharged from the self-moving device. This is a method for pre-determining the discharge of DC power from the self-moving device. Specifically, when the battery compartment cover is opened, it is determined that the DC power supply is being discharged from the self-moving device, confirming that a shutdown event has occurred, and the controller enters active braking logic, outputting a braking signal to control the drive modules of the travel motor and the functional motor to apply an emergency brake, so that the travel motor and the functional motor can stop operation within a specified time.

[0095] It should be noted that the braking method based on lid opening detection in this embodiment differs from the braking method based on the emergency stop button in non-intelligent lawn mowers. The emergency stop button design of non-intelligent lawn mowers is subject to strict safety regulations. The purpose of detecting whether the battery compartment lid is open (or whether the battery compartment opening is open) here is to predict that the user may intend to remove the battery pack, thereby confirming that a shutdown event has occurred. In other words, the braking method based on the emergency stop button can be categorized as a situation where the movement or function of the self-moving device is stopped by user operation or instruction, which is essentially a user-initiated shutdown. However, the lid opening detection in this embodiment applies to situations where the user does not input an operation or instruction to stop the movement or function of the self-moving device. It is essentially an inactive shutdown. Even in this inactive shutdown situation, it can still confirm that a shutdown event has occurred, thereby triggering the controller to enter the active braking logic and brake the motor.

[0096] In some embodiments, the step of confirming the event requiring a shutdown may be skipped, that is, braking may be initiated immediately upon detecting that the DC power is being removed from the self-moving device.

[0097] Specifically, the method includes:

[0098] Step S301: Detecting whether the DC power supply is unloaded from the mobile device;

[0099] Step S302: braking the travel motor and / or the function motor when it is detected that the DC power supply is unloaded from the self-moving device.

[0100] The detecting whether the DC power supply is discharged from the mobile device includes:

[0101] Obtaining a detection signal indicating whether the opening of the battery compartment is in an open state;

[0102] When the detection signal indicates that the opening of the battery compartment is open, determining that the DC power supply is discharged from the mobile device;

[0103] The braking of the travel motor and / or the functional motor includes:

[0104] Output a brake signal to brake the travel motor and / or function motor.

[0105] Refer to FIG5 , which is a flowchart illustrating another method of detecting whether a shutdown event occurs according to an embodiment of the present application.

[0106] In some embodiments, the process of detecting whether the DC power supply is unloaded from the mobile device may further include steps S501 to S503.

[0107] Step S501: Obtain multiple voltages at the input end of the DC power supply during a preset time period. The present embodiment of the present application does not limit the preset time period; for example, the preset time period may be a time period whose start and end times are both before the current time, or a time period whose start time is before the current time and whose end time is the current time. The duration of the preset time period may be, for example, 15 seconds, 30 seconds, 45 seconds, 1 minute, 3 minutes, 5 minutes, etc., and the present application does not impose any limitation on this.

[0108] Step S502: Multiple voltages at the input of the DC power supply during the preset time period are input into a pre-trained trend detection model to obtain a trend detection result. The trend detection result indicates whether the voltage at the input of the DC power supply exhibits a specified downward trend. The present embodiment does not limit the training process of the trend monitoring model. For example, an initial model may be trained using a training set. The training set may include historical data on voltage drops at the input of the DC power supply. The initial model may be a machine learning-based model trained using supervised learning, unsupervised learning, semi-supervised learning, or the like. As an example, the initial model may be a deep learning-based model, such as a convolutional neural network (CNN), a recurrent neural network (RNN), or a transformer model. The present embodiment does not limit the specified downward trend. In some embodiments, the specified downward trend may be, for example, a voltage drop at the input of the DC power supply during the preset time period that is greater than a preset voltage. The preset voltage may be, for example, 0.5V, 1V, or 2V. In other embodiments, the specified downward trend is, for example, that the voltage drop ratio of the input terminal of the DC power supply within a preset time period is greater than a preset ratio, and the preset ratio may be, for example, 2.5%, 5%, 10%, etc.

[0109] Step S503: When the voltage at the input end of the DC power supply shows a specified downward trend, it is determined that the DC power supply is being discharged from the mobile device.

[0110] After introducing machine learning, this embodiment can obtain historical data of voltage drops for training to obtain a trend detection model. The trend detection model can be used to detect whether there is a trend of voltage drops (i.e., a specified downward trend). When the specified downward trend occurs, braking is triggered in advance, so that the controller outputs a braking signal before the voltage drops to the first preset voltage, brakes the motor, and ensures that the motor can stop working in time.

[0111] In some embodiments, the control method may further include: confirming that a shutdown event has not occurred if the DC power supply is not detected to be discharged from the mobile device, the battery compartment opening is closed, and the voltage at the input terminal of the DC power supply does not show a specified downward trend. That is, if the DC power supply is discharged from the mobile device as condition 1, the battery compartment opening is open as condition 2, and the voltage at the input terminal of the DC power supply shows a specified downward trend as condition 3, a shutdown event is determined to have occurred if any one or more of these three conditions are met; only if none of these three conditions are met (i.e., none of conditions 1, 2, and 3 are met) is it determined that a shutdown event has not occurred.

[0112] Step S102: When a shutdown event occurs, a braking signal is output to brake the travel motor and / or the functional motor.

[0113] In some embodiments, the control method may further include: when no shutdown event occurs, the controller may not perform any braking operation, that is, the travel motor and / or the functional motor will not be braked.

[0114] The embodiments of the present application do not limit the braking method in step S102. In some embodiments, when a shutdown event occurs, the controller outputs a braking signal, the motor driver receives the braking signal and brakes the travel motor and / or the functional motor through the drive module. As an example, when the motor is a three-phase motor, the motor controller of the corresponding motor outputs a motor drive signal to the corresponding driver chip to make the motor have a reverse trend, so that rapid braking can be achieved. The braking principle is to change the power phase sequence of the motor stator winding while cutting off the normal operation of the motor, so that the motor has a reverse trend and thus generates a larger braking torque. When the speed of the motor approaches zero, the motor driver stops outputting the motor drive signal to prevent the motor from reversing.

[0115] In this embodiment, after the voltage at the input end of the DC power supply is disconnected, for example, by directly unplugging the battery pack or disconnecting the main power switch, and the DC power supply is unable to supply power, the energy storage module (reserve power supply) is used to provide power to the controller, motor driver, and drive module. The voltage input from the energy storage module to the controller shows a slowly decreasing process. At this time, the controller is still operating normally. The controller can correctly detect the change in the input voltage. When the input voltage drops to the set voltage threshold for active braking, that is, the preset voltage, the controller outputs a braking signal to the motor driver. The motor driver brakes through the drive module, that is, an emergency brake, so that the travel motor and the functional motor can stop running within a specified time.

[0116] Furthermore, motors generally require a certain braking time to stop. Specifically, due to inertia, the controller, motor driver, and drive module need to operate continuously for a certain period of time before the motor can completely stop. Therefore, the operating time of the controller, motor driver, and drive module can be increased by increasing the energy storage capacity of the energy storage module, thereby achieving a stable braking time. In other words, to ensure the discharge time of the energy storage module so that the controller, motor driver, and drive module have sufficient operating time, the energy storage capacity of the energy storage module can be increased, for example, by increasing the capacity of the capacitor used for energy storage in the energy storage module so that the discharge time is longer than the braking time.

[0117] In some embodiments, when a partial shutdown event occurs, the energy storage module provides power to the controller, motor driver, and drive module. The controller outputs a braking signal, and the motor driver brakes the travel motor and / or functional motor through the drive module, causing the travel motor and / or functional motor to stop operating within a specified braking duration. The embodiments of the present application do not limit the specified braking duration; for example, it can be 400ms. Here, ms stands for milliseconds, a unit of time.

[0118] That is, in this control process, the method includes: detecting whether the DC power supply is unloaded from the self-moving device; and braking the travel motor and / or the functional motor when it is detected that the DC power supply is unloaded from the self-moving device.

[0119] The detecting whether the DC power supply is discharged from the mobile device includes:

[0120] Detecting whether the voltage at the input end of the DC power supply is lower than a preset voltage;

[0121] When it is detected that the voltage at the input end of the DC power supply is lower than the preset voltage, it is determined that the DC power supply is discharged from the mobile device.

[0122] The self-propelled device also includes a motor driver, a drive module and a reserve power supply.

[0123] The braking of the travel motor and / or the functional motor includes:

[0124] Output a braking signal to brake the travel motor and / or function motor;

[0125] During the process of braking the travel motor and / or the functional motor, the controller, the motor driver and the drive module are powered by the reserve power supply.

[0126] In some embodiments, the DC power source is confirmed to have been removed from the mobile device by inference, such as by inferring whether the DC power source has been removed from the mobile device by checking whether the battery compartment cover is open. In this case, the DC power source is still able to supply power, and there is no need for a reserve power source.

[0127] That is, in this control process, the method includes: detecting whether the DC power supply is unloaded from the self-moving device; and braking the travel motor and / or the functional motor when it is detected that the DC power supply is unloaded from the self-moving device.

[0128] Wherein, the DC power supply is a battery pack, the self-moving device further includes a battery compartment and a battery compartment cover capable of closing or opening the opening of the battery compartment, and the battery pack is detachably mounted in the battery compartment;

[0129] The detecting whether the DC power supply is discharged from the mobile device includes:

[0130] Obtaining a detection signal indicating whether the opening of the battery compartment is in an open state;

[0131] When the detection signal indicates that the opening of the battery compartment is open, determining that the DC power supply is discharged from the mobile device;

[0132] The braking of the travel motor and / or the functional motor includes:

[0133] Output a braking signal to brake the travel motor and / or function motor;

[0134] During the process of braking the travel motor and / or the functional motor, the controller, the motor driver and the drive module are powered by the DC power supply.

[0135] When the power is supplied by a DC power supply, since the DC power supply can continuously supply power, there is no need to increase the capacity of the capacitor used for energy storage in the energy storage module. At this time, the additional capacitor in the energy storage module only plays a filtering role.

[0136] This embodiment provides a control method for a self-moving device to improve its safety when encountering an involuntary shutdown situation. First, the controller detects whether an event requiring shutdown (i.e., a shutdown event) occurs, such as the DC power supply being unloaded from the self-moving device or the battery compartment cover being opened. Then, in the event of a shutdown event, the controller outputs a braking signal to brake the travel motor and / or the functional motor, i.e., to stop the operation of these motors. This control method can ensure that the self-moving device can stop the travel motor and / or the functional motor when encountering an involuntary shutdown, thereby improving safety and controllability. Moreover, this method can be applied to various self-moving devices, not limited to smart lawn mowers.

[0137] See FIG. 6 , which is a logic block diagram of active braking of a self-propelled device provided in an embodiment of the present application.

[0138] An embodiment of the present application also provides a self-moving device, which includes the controller 601 and a motor 604, the motor 604 includes a walking motor and a functional motor, a DC power supply 701 is used to be installed in the self-moving device to provide power to the controller 601, the controller 601 includes a memory and at least one processor, the memory stores a computer program, and the at least one processor is configured to implement the steps of any of the above methods when executing the computer program.

[0139] As shown in FIG6 , in some embodiments, the self-moving device may further include a motor driver 602, a drive module 603, and a reserve power supply. In the event of a shutdown event, the reserve power supply provides power to the controller 601, the motor driver 602, and the drive module 603 to brake the travel motor and / or the functional motor. The reserve power supply may include, for example, an energy storage module 608. In some embodiments, the self-moving device may further include a Hall detection module 605, a voltage reduction module 606, and an input voltage detection module 607. The Hall detection module 605 is used to detect the magnetic field around the motor 604, the voltage reduction module 606 is used to reduce the input voltage input to the controller 601, and the input voltage detection module 607 is used to detect the input voltage.

[0140] See Figure 7, which is a schematic circuit diagram of an energy storage module, power switch module, and input voltage detection module provided in an embodiment of the present application. In Figure 7, Battery+ is the network symbol for the positive terminal of the battery pack, GND is the network symbol for the ground terminal, VIN is the network symbol for the input voltage, AD_B+ is the network symbol for the input voltage detection signal, Charger_Wake is the network symbol for the charger wake-up signal, VIN_21V is the network symbol for the 21V voltage, VIN_Walking is the network symbol for the voltage input to the driver chip of the walking motor, and VIN_Mowing is the network symbol for the voltage input to the driver chip of the functional motor (e.g., a mowing motor).

[0141] In some embodiments, the reserve power supply may include an energy storage module, and the energy storage module is charged by the DC power supply when the DC power supply is installed in the self-moving device. The energy storage module may include a first diode D1, a first energy storage capacitor C4, and a second energy storage capacitor C5. The anode of the first diode D1 is used to receive an input voltage signal, the cathode of the first diode D1 is connected to the ground terminal through the first energy storage capacitor C4, and the cathode of the first diode D1 is also connected to the ground terminal through the second energy storage capacitor C5. The capacitance of the first energy storage capacitor C4 and the second energy storage capacitor C5 is greater than the preset capacitance. The first energy storage capacitor C4 and the second energy storage capacitor C5 are connected in parallel to store energy, and the first diode D1 and the two parallel energy storage capacitors are connected in series to control the direction of the current. The embodiment of the present application does not limit the preset capacitance, which can be, for example, 100 nanofarads, 200 nanofarads, 500 nanofarads, 1000 nanofarads, etc.

[0142] In some embodiments, the discharge time of the first energy storage capacitor C4 and the second energy storage capacitor C5 may be greater than a preset time, for example, 100ms, 200ms, 300ms, 400ms, 500ms, 1000ms, 2000ms, etc.

[0143] If the energy storage capacity of the energy storage module is insufficient, braking will be performed immediately when the shutdown conditions are met, and the time left for the motor driver and the drive module to brake is relatively short, for example, it may be only 300ms. Assuming that the braking time of the motor is 400ms, it is not enough to complete the braking of the motor. Therefore, the embodiment of the present application limits the energy storage capacity of the energy storage module. The capacitance of the first energy storage capacitor C4 and the second energy storage capacitor C5 needs to be greater than the preset capacitance, so that the discharge time of the first energy storage capacitor C4 and the second energy storage capacitor C5 is greater than the preset time, thereby providing the controller, motor driver and drive module with power protection that is not less than the braking time, so that the controller, motor driver and drive module can work normally within the braking time to meet the braking requirements of the motor.

[0144] 8 and 9 , FIG8 is a schematic diagram of an embodiment of the present application without increasing the energy storage capacity of the energy storage module, and FIG9 is a schematic diagram of an embodiment of the present application with increasing the energy storage capacity of the energy storage module.

[0145] The top line in Figure 8 shows the voltage detected by the input voltage detection circuit, with each background square corresponding to a 200ms horizontal axis duration. Figure 8 shows that the first turning point occurs when the DC power is removed from the mobile device (for example, by unplugging the battery pack). Approximately 300ms later, the voltage at the input controller drops to 10V (the mobile device's sleep voltage). This means that even if braking is performed immediately after the battery pack is removed, the controller, motor driver, and drive module only have a maximum braking time of 300ms, which is too short to meet the motor's braking time (assuming 400ms).

[0146] The bottom line in Figure 9 shows the voltage detected by the input voltage detection circuit. As shown in Figure 9, when the input controller voltage drops to 16.5V, the motor driver is triggered to brake the motors through the driver module. Due to the increased energy storage capacity of the energy storage module, the time from removing the battery pack to the input controller voltage dropping to 16.5V takes approximately 400ms. The controller then triggers the motor driver to brake through the driver module, which takes another 400ms to essentially stop the travel and mowing motors.

[0147] In the embodiments of the present application, the energy storage capacity requirement of the energy storage module can be determined based on the model of the travel motor and the functional motor (related to parameters such as power, speed, and torque). In some embodiments, the larger the motor size, the greater the energy storage capacity requirement of the energy storage module.

[0148] Referring to Figures 10 and 11, Figure 10 is a schematic circuit diagram of a motor drive unit provided in an embodiment of the present application, and Figure 11 is a schematic circuit diagram of a drive unit provided in an embodiment of the present application. In Figure 10, H_PU_A, H_PV_A, H_PW_A, L_NU_A, L_NV_A, and L_NW_A are the network labels for the drive control signals, HALL_A_A, HALL_B_A, and HALL_C_A are the network labels for the Hall detection signals, IV+_A is the network label for the source voltage, Brake_A is the network label for the brake signal, and PWM_A is the network label for the PWM signal. In Figure 11, V_A, U_A, and W_A are the network labels for the motor drive signals.

[0149] In some embodiments, the controller may have a brake signal output terminal corresponding to each motor including the travel motor and the functional motor, and each brake signal output terminal is used to output a brake signal for the corresponding motor.

[0150] As shown in Figure 10, the motor driver may include a motor drive unit corresponding to each motor, each motor drive unit having a brake signal receiving terminal and a drive control signal output terminal. The brake signal receiving terminal of each motor drive unit is electrically connected to the brake signal output terminal corresponding to the same motor to receive the brake signal for the corresponding motor, and the drive control signal output terminal of each motor drive unit is used to output the drive control signal for the corresponding motor. As an example, the motor drive unit may include a motor drive chip U1 and an eighth resistor R8. The motor drive chip U1 has a brake signal receiving terminal and a drive control signal output terminal. The motor drive chip U1 also outputs a source voltage through the eighth resistor R8.

[0151] In some embodiments, the controller may also have a PWM signal output terminal corresponding to each motor, and each motor driver chip U1 may also have a PWM signal receiving terminal. The PWM signal receiving terminal of each motor driver chip U1 is electrically connected to the PWM signal output terminal corresponding to the same motor to receive the PWM signal for the corresponding motor.

[0152] As shown in Figure 11, the driving module can have a driving unit corresponding to each motor, each driving unit has a driving control signal receiving end and a motor driving signal output end, the driving control signal receiving end of each driving unit is electrically connected to the driving control signal output end of the motor driving unit corresponding to the same motor to receive the driving control signal for the corresponding motor, and the motor driving signal output end of each driving unit is electrically connected to the motor driving signal receiving end of the corresponding motor to output the motor driving signal for the corresponding motor.

[0153] The motor is, for example, a three-phase motor. In FIG11 , the drive unit may include, for example, three drive chips (i.e., a first drive chip U2 to a third drive chip U4) and a ninth resistor R9 to a sixteenth resistor R16. Each drive chip includes, for example, a PMOS transistor and an NMOS transistor. Thus, the three drive chips in the drive unit include a total of six transistors. The gates of the six transistors in the drive unit are each electrically connected to the drive control signal output terminal of the motor drive chip U1 via a resistor. The sources of the three PMOS transistors in the drive unit receive VIN_Walking. The drive unit may also have a source voltage receiving terminal, which is electrically connected to the eighth resistor R8 to receive the source voltage. The sources of the three NMOS transistors in the drive unit are electrically connected to the source voltage receiving terminal. The drains of the PMOS transistor and the NMOS transistor in each drive chip are electrically connected, and output a motor drive signal.

[0154] In some embodiments, the self-moving device may further include a Hall detection module corresponding to each motor, each Hall detection module being configured to collect a Hall detection signal for the corresponding motor. The motor drive unit may further include a Hall detection signal receiving terminal, the Hall detection signal receiving terminal of the motor drive unit being electrically connected to the Hall detection module corresponding to the same motor to receive the Hall detection signal for the corresponding motor. For example, the motor driver chip U1 may include a Hall detection signal receiving terminal to receive the Hall detection signal for the corresponding motor.

[0155] In some embodiments, the controller may further include a charger wake-up signal output terminal and an input voltage detection signal receiving terminal.

[0156] As shown in FIG7 , in some embodiments, the DC power supply is a battery pack, and the mobile device may further include a power switch module comprising a first PMOS transistor Q1, a first NMOS transistor Q2, first to fifth resistors R1 to R5, a first capacitor C1, and a second capacitor C2. The source of the first PMOS transistor Q1 is connected to the positive terminal of the battery pack, the drain of the first PMOS transistor Q1 provides an input voltage signal via the first resistor R1, the gate of the first PMOS transistor Q1 is connected to the positive terminal of the battery pack via the second resistor R2, and the positive terminal of the battery pack is also connected to the ground terminal via the first capacitor C1. The source of the first NMOS transistor Q2 is connected to the ground terminal, the drain of the first NMOS transistor Q2 is connected to the gate of the first PMOS transistor Q1 via a third resistor R3, the gate of the first NMOS transistor Q2 is electrically connected to the charger wake-up signal output terminal of the controller via a fourth resistor R4 to receive the charger wake-up signal, the gate of the first NMOS transistor Q2 is also connected to the ground terminal via the fifth resistor R5, and the gate of the first NMOS transistor Q2 is also connected to the ground terminal via the second capacitor C2.

[0157] Continuing with FIG. 7 , in some embodiments, the self-moving device may further include an input voltage detection module, comprising a sixth resistor R6, a seventh resistor R7, and a third capacitor C3. The first end of the sixth resistor R6 is configured to receive an input voltage signal, the second end of the sixth resistor R6 is connected to the ground terminal via the seventh resistor R7, and the second end of the sixth resistor R6 is further connected to the ground terminal via the third capacitor C3. The input voltage detection module may further include an input voltage detection signal output terminal located between the sixth resistor R6 and the seventh resistor R7. The input voltage detection signal output terminal is electrically connected to an input voltage detection signal receiving terminal of the controller to output the input voltage detection signal to the controller.

[0158] In some embodiments, the self-moving device may be a lawn mower, the travel motor may include a left travel motor and a right travel motor, and the functional motor may include a lawn mowing motor.

[0159] See Figure 12, which is a structural block diagram of a computer device provided in an embodiment of the present application.

[0160] As shown in Figure 12, the computer device may include: a memory 110, a processor 120, and a communication interface 130. The memory 110, the processor 120, and the communication interface 130 are connected via an internal connection path.

[0161] The memory 110 is used to store instructions and codes. In some implementations, the codes may be codes for implementing the methods of the embodiments of the present application.

[0162] The processor 120 is configured to execute the instructions and codes stored in the memory 110 to control the communication interface 130 to receive input data and information and output data such as operation results. In some implementations, when the solutions of the embodiments of the present application are implemented through software or firmware, the code used to implement the solutions of the embodiments of the present application may be stored in the processor 120 and executed by the processor 120.

[0163] The memory 110 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory may be a random access memory (RAM). It should be noted that the memory 110 described herein is intended to include, but is not limited to, any memory of these and other suitable types. As an example, the memory 110 includes a random access memory (RAM), a cache memory and a read-only memory (ROM). Among them, the memory 110 stores a computer program, and the computer program can be executed by the processor 120 so that the processor 120 implements the steps of any of the above methods.

[0164] The processor 120 may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor, or the processor 120 may be any conventional processor.

[0165] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor 120 or by instructions in the form of software. The method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor 120. The software module can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 110, and the processor 120 reads the information in the memory 110 and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0166] In some implementations, in addition to the hardware units described above, a computer device may also include software modules, where the software modules may be, for example, an operating system, a basic input and output system (BIOS), application software, etc.

[0167] An operating system manages the hardware and / or software resources of a computer device and is the core and cornerstone of the computer. It handles basic tasks such as managing and allocating memory, prioritizing the supply and demand of system resources, controlling input and output devices, operating the network, and managing the file system. To facilitate user operation, most operating systems provide an interface for users to interact with the system.

[0168] The BIOS is used to run hardware initialization during the power-on boot phase and provide runtime services for the operating system and applications. In some implementations, the BIOS can also monitor and display the processor temperature and execute functions such as adjusting temperature protection strategies.

[0169] Application software, also known as an application program, can be understood as software written for a specific user purpose. It is one of the main categories of computer software. For example, application software can be used to implement power control, temperature management, and other purposes.

[0170] An embodiment of the present application further provides a computer-readable storage medium storing instructions for any of the above-mentioned methods for controlling a mobile device.

[0171] An embodiment of the present application further provides a computer program product, which includes instructions for any of the above-mentioned methods for controlling a mobile device.

[0172] The computer program product may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the computer program product of the present application is not limited thereto, and the computer program product may be any combination of one or more computer-readable media.

[0173] The user information or user account information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, etc.) involved in multiple implementation methods of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws and standards of relevant countries and regions, and corresponding instruction portals are provided for users to choose to authorize or refuse.

[0174] It should be understood that the specific examples in this specification are only intended to help those skilled in the art better understand the implementation methods of the present application, rather than to limit the scope of protection of the present application.

[0175] It can be understood that in the various implementations of this specification, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application.

[0176] It can be understood that the various implementation methods described in this specification can be implemented individually or in combination, and this application is not limited to this.

[0177] Unless otherwise indicated, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art in the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more of the relevant listed items. The singular forms "a", "above", and "the" used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0178] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this specification.

[0179] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described embodiments may refer to the corresponding processes in other embodiments and will not be repeated here.

[0180] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0181] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the objectives of the technical solutions of this application.

[0182] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0183] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this specification, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this specification. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0184] The above are only specific embodiments of this specification, but the scope of protection of this application is not limited to them. Any changes or substitutions that can be easily conceived by any person skilled in the art within the technical scope disclosed in this specification should be included in the scope of protection of this specification. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control method for a self-moving device, applied to a controller of the self-moving device, wherein the self-moving device comprises the controller, a travel motor, and a function motor, and a DC power supply is installed in the self-moving device to provide power to the controller, characterized in that: The method comprises: detecting whether the DC power supply is unloaded from the self-moving device; When it is detected that the DC power supply is unloaded from the self-moving device, the travel motor and / or the function motor are braked.

2. The control method of the self-moving device according to claim 1, characterized in that: The detecting whether the DC power supply is discharged from the mobile device includes: Detecting whether the voltage at the input end of the DC power supply is lower than a preset voltage; When it is detected that the voltage at the input end of the DC power supply is lower than the preset voltage, it is determined that the DC power supply is discharged from the mobile device.

3. The control method of the self-moving device according to claim 1 or 2, characterized in that: The self-propelled device also includes a motor driver, a drive module and a reserve power supply. The braking of the travel motor and / or the functional motor includes: Output a braking signal to brake the travel motor and / or function motor; Wherein, during the process of braking the travel motor and / or the functional motor, the controller, the motor driver and the drive module are powered by the reserve power supply.

4. The control method of the self-moving device according to claim 1 or 2, characterized in that: The preset voltage is a voltage threshold that triggers the mobile device to return to the charging base.

5. The control method of the self-moving device according to claim 1, characterized in that: The DC power source is a battery pack, and the self-moving device further includes a battery compartment and a battery compartment cover capable of closing or opening the battery compartment, wherein the battery pack is detachably mounted on the battery compartment; The detecting whether the DC power supply is discharged from the mobile device includes: Obtaining a detection signal indicating whether the opening of the battery compartment is in an open state; When the detection signal indicates that the opening of the battery compartment is open, determining that the DC power supply is discharged from the mobile device; The braking of the travel motor and / or the functional motor includes: Output a braking signal to brake the travel motor and / or function motor; Wherein, during the process of braking the travel motor and / or the functional motor, the controller, the motor driver and the drive module are powered by the DC power supply.

6. A self-moving device, comprising the controller, a travel motor and a function motor, wherein a DC power supply is installed in the self-moving device to provide power to the controller, characterized in that: The controller includes a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the steps of the method according to any one of claims 1 to 5 when executing the computer program.

7. The self-moving device according to claim 6, characterized in that: The self-moving device further includes a reserve power supply, the reserve power supply including an energy storage module, and the energy storage module is charged by the DC power supply when the DC power supply is installed in the self-moving device; The energy storage module includes a first diode, a first energy storage capacitor and a second energy storage capacitor; The anode of the first diode is used to receive an input voltage signal, the cathode of the first diode is connected to the ground terminal through the first energy storage capacitor, and the cathode of the first diode is further connected to the ground terminal through the second energy storage capacitor; Wherein, the capacitance of the first energy storage capacitor and the second energy storage capacitor is greater than a preset capacitance.

8. The self-moving device according to claim 7, characterized in that: The discharge time of the first energy storage capacitor and the second energy storage capacitor is greater than 200ms.

9. The self-moving device according to claim 6, characterized in that: The DC power supply is a battery pack, and the mobile device further includes a power switch module, the power switch module including a first PMOS transistor, a first NMOS transistor, first to fifth resistors, a first capacitor and a second capacitor; The source of the first PMOS transistor is used to be connected to the positive electrode of the battery pack, the drain of the first PMOS transistor provides an input voltage signal through the first resistor, the gate of the first PMOS transistor is connected to the positive electrode of the battery pack through the second resistor, and the positive electrode of the battery pack is also used to be connected to the ground terminal through the first capacitor; The source of the first NMOS transistor is connected to the ground terminal, the drain of the first NMOS transistor is connected to the gate of the first PMOS transistor through the third resistor, the gate of the first NMOS transistor is electrically connected to the charger wake-up signal output terminal of the controller through the fourth resistor to receive the charger wake-up signal, the gate of the first NMOS transistor is also connected to the ground terminal through the fifth resistor, and the gate of the first NMOS transistor is also connected to the ground terminal through the second capacitor.

10. The self-moving device according to claim 6, characterized in that: The self-mobile device further includes an input voltage detection module, and the input voltage detection module includes a sixth resistor, a seventh resistor and a third capacitor; The first end of the sixth resistor is used to receive an input voltage signal, the second end of the sixth resistor is connected to the ground end through the seventh resistor, and the second end of the sixth resistor is also connected to the ground end through the third capacitor.

11. The self-moving device according to any one of claims 6 to 10, characterized in that: The self-moving device is a lawn mower, the travel motor includes a left travel motor and a right travel motor, and the functional motor includes a lawn mowing motor.

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