Ultrasound-based moving method, self-moving device, and storage medium

Abstract

An ultrasound-based moving method, a self-moving device, and a storage medium. A front ultrasonic radar is provided at the front of the self-moving device, and a rear ultrasonic radar is provided at the rear of the self-moving device. The moving method comprises: determining a first target position and operating state of a self-moving device (S10); determining the usage of a front ultrasonic radar and / or a rear ultrasonic radar on the basis of the first target position and the operating state (S20); and on the basis of the usage, controlling the self-moving device to execute a preset movement strategy until the self-moving device switches from the first target position to the next second target position (S30).

Description

Ultrasonic-based movement method, self-moving device and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving device movement, in particular to an ultrasonic-based movement method, a self-moving device and a storage medium. BACKGROUND

[0002] As an important tool for yard automation work, the self-moving device has the ability of autonomous walking as one of its core functions. However, the yard environment is complex and changeable, and is full of various potential obstacles such as trees, flowerpots, etc. These obstacles may challenge the normal operation of the self-moving device. TECHNICAL PROBLEM

[0003] The prior art mainly relies on visual sensors installed on the front of the self-moving device to identify and avoid obstacles. Although this method can achieve obstacle identification and avoidance to some extent, due to the limited recognition range of the visual sensor, especially when the self-moving device is retreating or turning, its blind area may cause the self-moving device to fail to detect obstacles in time, resulting in collision with obstacles, thereby affecting the working efficiency of the device and causing damage to the self-moving device.

[0004] Therefore, the inventors realize the need to find a new technical solution to solve the above technical problems. TECHNICAL SOLUTION

[0005] Therefore, it is necessary to provide an ultrasonic-based movement method, a self-moving device and a storage medium to solve the technical problems in the prior art.

[0006] To achieve the above purpose, an ultrasonic-based movement method is provided, which is applied to a self-moving device, a front ultrasonic radar is arranged in the front of the self-moving device, and a rear ultrasonic radar is arranged in the rear of the self-moving device; the method comprises:

[0007] determining a first target position where the self-moving device is located and an operating state of the self-moving device;

[0008] determining the use of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the operating state;

[0009] controlling the self-moving device to execute a preset movement strategy according to the use until the self-moving device switches from the first target position to a next second target position.

[0010] To achieve the above object, the application further provides a self-moving device, comprising a controller and a memory, wherein the memory stores an ultrasonic-based moving program, and the controller controls the ultrasonic-based moving program to control the following steps when executed:

[0011] determining a first target position and a running state of the self-moving device;

[0012] determining a use condition of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the running state;

[0013] controlling the self-moving device to execute a preset moving strategy according to the use condition, until the self-moving device switches from the first target position to a next second target position.

[0014] To achieve the above object, the application further provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to realize the following steps:

[0015] determining a first target position and a running state of the self-moving device;

[0016] determining a use condition of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the running state;

[0017] controlling the self-moving device to execute a preset moving strategy according to the use condition, until the self-moving device switches from the first target position to a next second target position. Advantages

[0018] The ultrasonic-based moving method provided by the application comprises the following steps: determining a first target position and a running state of the self-moving device; determining a use condition of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the running state; and controlling the self-moving device to execute a preset moving strategy according to the use condition, until the self-moving device switches from the first target position to a next second target position. The front and rear positions of the self-moving device are provided with ultrasonic radars for identifying obstacles. After determining that the self-moving device is in the corresponding first target position and the running state, the movement of the self-moving device is controlled by starting the corresponding ultrasonic radars to identify obstacles, which increases the range of identifying obstacles of the self-moving device, and thus plays a role in avoiding obstacles, improves the working efficiency of the self-moving device, and avoids damaging the self-moving device.

[0019] The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the application will become apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application 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 creative labor.

[0021] FIG. 1 is a flow diagram of an embodiment of the ultrasonic-based mobile method of the present application.

[0022] FIG. 2 is a schematic diagram of an embodiment of the self-moving device of the present application.

[0023] FIG. 3 is a schematic block diagram of an embodiment of the self-moving device of the present application.

[0024] In FIG. 2, the downward part of the self-moving device is the vehicle head, and the upward part is the vehicle body. The field of view angle of the front ultrasonic radar of the vehicle head can be two conical shapes formed left and right, and the field of view angle of the rear ultrasonic radar of the vehicle body can be two conical shapes formed left and right. Best Mode for Carrying Out the Invention

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] As shown in FIGS. 1 and 2, an embodiment of the present application provides a regional working method of a self-moving device, which can be applied to a controller in the self-moving device. The controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function. The method comprises the following steps:

[0027] S10, determining a first target position where the self-moving device is located and an operating state where the self-moving device is located.

[0028] Understandably, the self-moving device can be a mower for mowing or a snow blower for snow removal as a robot applied in a yard scene; the first target position can include a target area, a walking path of the self-moving device and a target boundary, wherein the first target position can be determined by a positioning sensor or a positioning device installed on the self-moving device; the running state can be a moving condition of the self-moving device, including a forward state, a backward state, an edge walking state and a turning and obstacle avoiding state.

[0029] S20, determining a use condition of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the running state.

[0030] Understandably, the ultrasonic radar can be installed on the front and rear of the self-moving device, wherein according to different installation positions, the ultrasonic radar can be divided into a front ultrasonic radar and a rear ultrasonic radar, and in a conventional self-moving device, the front can be provided with a visual sensor for identifying obstacles, so that the field of view angle of the front ultrasonic radar can be smaller than that of the rear ultrasonic radar, and the front ultrasonic radar is used to make up for the identification range of the visual sensor. More specifically, the ultrasonic radar emits an ultrasonic pulse with a certain time width through a transmitting probe, the ultrasonic pulse propagates in the air, and when encountering an obstacle, reflection occurs, and the reflected ultrasonic wave is received by a receiving probe. In addition, the time is started at the same time as the ultrasonic pulse is sent, and when the ultrasonic radar receives the reflected ultrasonic wave, the time is stopped. By measuring the propagation time difference of the ultrasonic wave from emission to reception, the distance between the obstacle and the ultrasonic radar can be calculated. In addition, the self-moving device can also process the received ultrasonic signal, including noise elimination, effective signal extraction, etc. According to the processed signal and the calculated distance information, the self-moving device can judge the existence, position and possible shape of the obstacle, etc. The use condition can specifically refer to the identification or non-identification state of the ultrasonic radar, and the identification means that the ultrasonic radar needs to identify or detect the obstacle. The specific use condition can be determined according to the position and working state of the self-moving device.

[0031] S30, controlling the self-moving device to execute a preset moving strategy according to the use condition, until the self-moving device switches from the first target position to a next second target position.

[0032] It can be understood that the preset movement strategy can refer to the manner in which the mobile device needs to move, such as how the mobile device moves in the target area, how the mobile device moves in the target boundary, and the like; the second target position is consistent with the position type of the first target position mentioned above, such as the target area, the walking path of the mobile device, and the target boundary mentioned above, in addition, when the first target position is the target area, the second target position can or can not be the target area, such as when the mobile device is always moving in the target area, the second target position can be the target area, and when the mobile device moves from the target area to the target boundary, the second target position can be the target boundary;

[0033] In the embodiment of steps S10 to S30, the front and rear positions in the mobile device are provided with ultrasonic radars for identifying obstacles, so that the mobile device can control the movement of the mobile device by starting the corresponding ultrasonic radar to identify obstacles after being in the corresponding position and running state, thereby playing a role in avoiding obstacles and improving the working efficiency of the mobile device and avoiding damage to the mobile device.

[0034] In some embodiments, the determination of the use of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the running state comprises:

[0035] When it is determined that the first target position is a target area and the running state is a forward state, it is determined that the use of the front ultrasonic radar is an obstacle identification state at a first preset identification distance, and it is determined that the use of the rear ultrasonic radar is a no-data reading state;

[0036] When it is determined that the first target position is a target area and the running state is a turning and obstacle avoidance state, it is determined that the use of the front ultrasonic radar is an obstacle identification state at a second preset identification distance, and it is determined that the use of the rear ultrasonic radar is an obstacle identification state at a third preset identification distance.

[0037] It can be understood that the distance corresponding to the first preset identification distance and the second preset identification distance can be consistent or inconsistent, and the distance corresponding to the third preset identification distance is inconsistent with the first preset identification distance and the second preset identification distance, and the specific reason is that the mobile device is in a forward state most of the time, and the front ultrasonic radar needs to determine the obstacle as soon as possible and in advance;

[0038] In the embodiment, when the first target position is determined as the target area in the advancing state of the self-moving device, the front ultrasonic radar is set to the identification obstacle state at the first preset identification distance, so that the vehicle can timely perceive the obstacle in front, thereby avoiding potential collision risk and improving driving safety; the rear ultrasonic radar is set to the non-data reading state, so that unnecessary calculation and processing work can be reduced and the working efficiency of the self-moving device can be improved; when the self-moving device is in the turning and obstacle-avoiding state, the front and rear ultrasonic radars are simultaneously enabled and work at different preset identification distances, so that the perception ability of the self-moving device can be greatly enhanced, the self-moving device can not only perceive the obstacles on both sides when turning, but also timely acquire the obstacle information in front and behind when avoiding obstacles, thereby helping the self-moving device to more safely and accurately complete the turning and obstacle-avoiding actions; the use of the ultrasonic radar is dynamically adjusted according to the running state and the target position, so that the dynamic adaptability is achieved to adapt to the complex and changeable driving environment, and the safety and reliability of the self-moving device are ensured.

[0039] In some embodiments, the use of the front ultrasonic radar and / or the rear ultrasonic radar is determined according to the first target position and the running state, including:

[0040] When the first target position is determined as the walking path of the self-moving device and the running state is the backward state, the use of the rear ultrasonic radar is determined as the identification obstacle state at the fourth preset identification distance;

[0041] When the first target position is determined as the narrow position and the running state is the backward state, the use of the rear ultrasonic radar is determined as the identification obstacle state at the fifth preset identification distance.

[0042] Understandably, the fourth preset identification distance and the fifth preset identification distance are both identification distances corresponding to the rear ultrasonic radar, so that the distance sizes thereof can be smaller than the first preset identification distance and the second preset identification distance mentioned above based on the reasons mentioned above; the walking path can refer to the passing path of the self-moving device in the target area; the narrow position point can refer to the corner position or the narrow alley position in the target area (i.e., the area that cannot be reached by the self-moving device once).

[0043] In the embodiment, when the first target position is determined to be a walking path in the backward state of the self-moving device, the rear ultrasonic radar is set to the fourth preset recognition distance for recognizing obstacles, which can ensure that the device timely perceives the obstacles behind and avoids collision with the obstacles, and significantly improves the safety of the self-moving device in the backward process; when the self-moving device is in a narrow position and needs to back up, the rear ultrasonic radar is adjusted to the fifth preset recognition distance for recognizing obstacles, which can more accurately perceive the obstacles in the narrow space, and helps the self-moving device to safely and accurately complete the backward action in the limited space, avoiding collision or being stuck in the narrow area; by dynamically adjusting the use of the rear ultrasonic radar according to the different walking paths and positions, the self-moving device can exhibit stronger adaptability and flexibility, and can make appropriate responses according to the current state whether in an open walking path or in a narrow space, to ensure smooth movement of the self-moving device.

[0044] In some embodiments, the determining the use of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the running state comprises:

[0045] When the first target position is determined to be a target boundary and the running state is an edge walking state, the use of the front ultrasonic radar is determined to be a sixth preset recognition distance for recognizing obstacles, and the use of the rear ultrasonic radar is determined to be a seventh preset recognition distance for recognizing obstacles.

[0046] Understandably, the distance corresponding to the sixth preset recognition distance can be consistent with the first preset recognition distance, the second preset recognition distance mentioned above, and the distance corresponding to the seventh preset recognition distance can be consistent with the third preset recognition distance, the fourth preset recognition distance and the fourth preset recognition distance mentioned above; the target boundary can refer to the boundary corresponding to the enclosed target area, such as a rectangular target area, and the four edges are the target boundary;

[0047] In this embodiment, the simultaneous use of front and rear ultrasonic radars can significantly enhance the sensing ability of the self-moving color device when walking along the edge, and by setting different recognition distances, the self-moving device can more accurately identify the position of the target boundary, ensuring that it does not deviate from the path or cross the target boundary when walking near the target boundary; setting specific recognition distances enables the front and rear radars to more effectively detect obstacles that may appear in front and behind when walking along the edge, helping the device to avoid obstacles in a timely manner during travel, ensuring smoothness and safety of walking along the edge; accurate boundary sensing and obstacle detection capabilities enable the self-moving device to reduce unnecessary pauses and adjustments when walking along the edge, thereby improving operational efficiency, and at the same time, by avoiding collisions with obstacles, the operational stability of the self-moving device is also improved.

[0048] In some embodiments, the controlling the self-moving device to execute a preset movement strategy according to the use case comprises:

[0049] When it is determined that the first target position is a target area and the self-moving device is in a forward state, the self-moving device is controlled to execute a speed reduction operation after the front ultrasonic radar identifies an obstacle within a first preset recognition distance.

[0050] In this embodiment, in the forward state of the self-moving device, and when the current position is located in the target area, by controlling the self-moving device to reduce speed in a timely manner, the self-moving device can quickly reduce the risk of collision when encountering obstacles, especially in the target area, where the obstacles may be more complex and diverse, the speed reduction operation can significantly reduce potential collision accidents, and can significantly improve the safety of the device, ensuring the safety of the device and the surrounding environment.

[0051] In some embodiments, the controlling the self-moving device to execute a preset movement strategy according to the use case comprises:

[0052] When it is determined that the first target position is a target area and the self-moving device is in a turning and obstacle-avoiding state, the self-moving device is controlled to execute a speed reduction operation after the front ultrasonic radar identifies an obstacle within a second preset recognition distance, and to stop moving after the front ultrasonic radar identifies an obstacle within an eighth preset recognition distance; the eighth preset recognition distance is less than the second preset recognition distance.

[0053] The self-moving device is controlled to execute a forward operation after the rear ultrasonic radar identifies an obstacle within a third preset recognition distance.

[0054] In the embodiment, the front ultrasonic radar is used for continuous detection, and when a smaller distance is detected, the self-moving device is directly controlled to stop moving, so as to avoid collision between the self-moving device and the obstacle. Through setting of different preset recognition distances, the self-moving device can dynamically adjust the turning and obstacle-avoiding strategy according to the distance and position of the obstacle. The speed reduction and stop moving operation can provide more time and space for the self-moving device to plan a safer and more effective path, so that the self-moving device can better adapt to different complexity environments. In the area where the obstacle exists or the turning radius is small, the self-moving device can ensure safety by reducing speed and stopping moving. In the relatively open area, the self-moving device has completed the turning and obstacle-avoiding operation, and directly controls the self-moving device to perform the forward moving operation.

[0055] In some embodiments, the controlling the self-moving device to perform the preset moving strategy according to the use case comprises:

[0056] When it is determined that the first target position is a walking path of the self-moving device and the self-moving device is in the backward state, the self-moving device is controlled to switch from the backward state to a forward state corresponding to a forward operation according to the rear ultrasonic radar recognizing the obstacle within the fourth preset recognition distance.

[0057] When it is determined that the first target position is a walking path of the self-moving device and the self-moving device is in the backward state, the self-moving device is controlled to stop moving according to the rear ultrasonic radar recognizing the obstacle within the fifth preset recognition distance.

[0058] In the embodiment, when the rear ultrasonic radar recognizes the obstacle within the fourth preset recognition distance, the self-moving device switches from the backward state to the forward state, so that the self-moving device can quickly adjust the direction when encountering the obstacle during the backward process, to avoid collision with the obstacle, thereby improving the safety and flexibility of the operation of the device. When the rear ultrasonic radar recognizes the obstacle within the fifth preset recognition distance, the self-moving device stops moving, thereby further enhancing the safety of the self-moving device. When the distance to the obstacle is very close, immediate stop moving can avoid collision with the obstacle, especially when the obstacle is fixed and cannot be moved.

[0059] In some embodiments, the controlling the self-moving device to perform the preset moving strategy according to the use case comprises:

[0060] When the first target position is determined as a target boundary and the self-moving device is in an edge-following state, the self-moving device is controlled to perform a speed-reducing operation according to the front ultrasonic radar identifying an obstacle within a sixth preset identification distance, and the self-moving device is controlled to stop moving according to the front ultrasonic radar identifying an obstacle within a ninth preset identification distance; the ninth preset identification distance is smaller than the sixth preset identification distance.

[0061] The self-moving device is controlled to perform a forward operation according to the rear ultrasonic radar identifying an obstacle within a seventh preset identification distance.

[0062] In this embodiment, the front ultrasonic radar is used to continuously detect, and when a smaller distance is detected, the self-moving device is directly controlled to stop moving, thereby avoiding collision between the self-moving device and the obstacle. Through the setting of different preset identification distances, the self-moving device can dynamically adjust the moving strategy according to the distance and position of the obstacle. The speed-reducing and stopping moving operations can provide more time and space for the self-moving device to plan a safer and more effective path, so that the self-moving device can better adapt to different complexity environments. In an area with dense obstacles, the self-moving device can ensure safety by reducing speed and stopping moving. In a relatively open area, the self-moving device can more flexibly perform a forward operation.

[0063] In another embodiment, during the process of controlling the self-moving device to follow an edge, the self-moving device side ultrasonic radar is used to detect values corresponding to obstacles in real time. When the values are greater than a preset value, the self-moving device is controlled to be close to the obstacles. The heading of the self-moving device is controlled to be adjusted in real time, and when the self-moving device is controlled to move in a straight line, the self-moving device is controlled to keep a constant distance from the target boundary along the edge.

[0064] The application provides a moving method based on ultrasonic waves, belonging to the technical field of self-moving device moving, and applied to a self-moving device. A front ultrasonic radar is arranged at the head of the self-moving device, and a rear ultrasonic radar is arranged at the tail of the self-moving device. The method comprises the following steps: determining a first target position where the self-moving device is located and a running state of the self-moving device; determining the use of the front ultrasonic radar and / or the rear ultrasonic radar according to the first target position and the running state; and controlling the self-moving device to execute a preset moving strategy according to the use until the self-moving device switches from the first target position to a second target position. The front and rear positions of the self-moving device are both provided with ultrasonic radars for identifying obstacles, including a front ultrasonic radar and a rear ultrasonic radar. In this way, after the self-moving device is in the corresponding first target position and the running state, the self-moving device can be controlled to move by starting the ultrasonic radar at the corresponding position to identify obstacles, thereby playing a role in avoiding obstacles. The working efficiency of the self-moving device can be improved, and bidirectional damage to the self-moving device and obstacles can be avoided.

[0065] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the application.

[0066] As shown in FIG. 3, a self-moving device is also provided, comprising a controller and a memory. The memory stores a moving program based on ultrasonic waves, and the controller controls the moving program based on ultrasonic waves to control the execution to realize the steps of the above moving method based on ultrasonic waves. The self-moving device can be a mower applied to a weeding scene, and a blade for weeding can be arranged at the bottom of the head of the self-moving device. The self-moving device can be a snow remover applied to a snow removal scene, and a blade for snow removal can be arranged at the head of the self-moving device.

[0067] The execution function of the controller corresponds to the moving method based on ultrasonic waves in the above embodiment one by one. For specific limitations of the controller, refer to the limitations of the moving method based on ultrasonic waves in the above, which will not be repeated here. The processes executed by each sub-module in the above controller can be referred to the limitations of the moving method based on ultrasonic waves in the above, which will not be repeated here. They can be realized by software, hardware and their combinations in whole or in part. Each sub-module can be embedded in or independent of the controller in hardware form, or can be stored in the memory in the controller in software form, so as to be called and executed by the controller to execute the operations corresponding to each sub-module.

[0068] In an embodiment, the application also provides one or more readable storage media storing computer readable instructions, the readable storage media including non-volatile readable storage media and volatile readable storage media; the readable storage media storing computer readable instructions, which, when executed by one or more processors, cause the one or more processors to implement the steps of the ultrasonic-based movement method described in the above embodiments.

[0069] Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by computer readable instructions instructing related hardware, and the computer readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium, and when executed, can include the processes of the above embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided by the application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct RAM bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0070] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the self-moving device is divided into different functional units or modules to complete all or part of the above described functions.

[0071] The above described embodiments are only used to illustrate the technical solutions of the application, rather than limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be included in the protection scope of the application.

Claims

1. A motion method based on ultrasound, wherein, An application to a self-moving device, wherein a front-mounted ultrasonic radar is installed at the front of the self-moving device, and a rear-mounted ultrasonic radar is installed at the rear of the self-moving device; the method includes: Determine the first target location and operating state of the self-moving device; The usage status of the front ultrasonic radar and / or the rear ultrasonic radar is determined based on the first target location and the operating status. Based on the usage situation, the self-moving device is controlled to execute a preset movement strategy until the self-moving device switches from the first target location to the next second target location.

2. The ultrasonic-based movement method as described in claim 1, wherein, Determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status includes: When the first target location is determined to be the target area and the running state is the forward state, the usage of the front ultrasonic radar is determined to be the obstacle recognition state at the first preset recognition distance, and the usage of the rear ultrasonic radar is determined to be the non-data reading state. When the first target location is determined to be the target area and the operating state is turning and obstacle avoidance, the usage of the front ultrasonic radar is determined to be the obstacle identification state at the second preset identification distance, and the usage of the rear ultrasonic radar is determined to be the obstacle identification state at the third preset identification distance.

3. The ultrasonic-based movement method as described in claim 1, wherein, Determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status includes: When the first target location is determined to be the walking path of the self-moving device and the running state is backward, the usage of the rear ultrasonic radar is determined to be the obstacle recognition state at the fourth preset recognition distance. When the first target location is determined to be a narrow location and the operating state is a backward state, the usage of the rear ultrasonic radar is determined to be the obstacle recognition state at the fifth preset recognition distance.

4. The ultrasonic-based movement method as described in claim 1, wherein, Determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status includes: When the first target location is determined to be the target boundary and the running state is the edge-walking state, the usage of the front ultrasonic radar is determined to be the obstacle identification state at the sixth preset identification distance, and the usage of the rear ultrasonic radar is determined to be the obstacle identification state at the seventh preset identification distance.

5. The ultrasonic-based movement method as described in claim 1, wherein, The step of controlling the self-mobile device to execute a preset movement strategy based on the usage situation includes: When the first target location is determined to be the target area and the self-moving device is in a forward state, the self-moving device is controlled to perform a deceleration operation after the front ultrasonic radar detects an obstacle at a first preset recognition distance.

6. The ultrasonic-based movement method as described in claim 1, wherein, The step of controlling the self-mobile device to execute a preset movement strategy based on the usage situation includes: When the first target location is determined to be the target area and the self-moving device is in a turning or obstacle-avoiding state, the self-moving device is controlled to perform a deceleration operation after the front ultrasonic radar detects an obstacle within a second preset recognition distance, and the self-moving device is controlled to stop moving after the front ultrasonic radar detects an obstacle within an eighth preset recognition distance; the eighth preset recognition distance is less than the second preset recognition distance. After the rear ultrasonic radar detects an obstacle within a third preset recognition distance, it controls the self-moving device to perform a forward operation.

7. The ultrasonic-based movement method as described in claim 1, wherein, The step of controlling the self-mobile device to execute a preset movement strategy based on the usage situation includes: When the first target location is determined to be the walking path of the self-moving device and the self-moving device is in a backward state, the self-moving device is controlled to switch from a backward state to a forward state corresponding to the forward operation after the rear ultrasonic radar detects an obstacle within a fourth preset recognition distance. When the first target location is determined to be the walking path of the self-moving device and the self-moving device is in a backward state, the self-moving device is controlled to stop moving after the rear ultrasonic radar detects an obstacle within a fifth preset recognition distance.

8. The ultrasonic-based movement method as described in claim 1, wherein, The step of controlling the self-mobile device to execute a preset movement strategy based on the usage situation includes: When the first target location is determined to be the target boundary and the self-moving device is in a walking state along the edge, the self-moving device is controlled to perform a deceleration operation after the front ultrasonic radar detects an obstacle within a sixth preset recognition distance, and the self-moving device is controlled to stop moving after the front ultrasonic radar detects an obstacle within a ninth preset recognition distance; the ninth preset recognition distance is less than the sixth preset recognition distance; After the rear ultrasonic radar detects an obstacle within a seventh preset recognition distance, it controls the self-moving device to perform a forward operation.

9. The ultrasonic-based movement method as described in claim 1, wherein, The method further includes: During the process of controlling the self-moving device to walk along the edge, the ultrasonic radar on the side of the self-moving device detects the corresponding values ​​of the obstacle in real time. When the value is greater than the preset value, the self-moving device is controlled to get closer to the obstacle, the self-moving device is controlled to continuously adjust the heading of the self-moving device in real time, and when the self-moving device is controlled to move in a straight line, the self-moving device is controlled to maintain a constant distance from the target boundary along the edge.

10. A self-moving device, wherein, The device includes a controller and a memory, the memory storing an ultrasonic-based mobility program. A front-mounted ultrasonic radar is located at the front of the self-moving device, and a rear-mounted ultrasonic radar is located at the rear of the self-moving device. The controller controls the ultrasonic-based mobility program to perform the following steps: Determine the first target location and operating state of the self-moving device; The usage status of the front ultrasonic radar and / or the rear ultrasonic radar is determined based on the first target location and the operating status. Based on the usage situation, the self-moving device is controlled to execute a preset movement strategy until the self-moving device switches from the first target location to the next second target location.

11. The self-moving device as claimed in claim 10, wherein, The step of determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status, wherein the ultrasonic-based mobility program is configured to implement the following steps: When the first target location is determined to be the target area and the running state is the forward state, the usage of the front ultrasonic radar is determined to be the obstacle recognition state at the first preset recognition distance, and the usage of the rear ultrasonic radar is determined to be the non-data reading state. When the first target location is determined to be the target area and the operating state is turning and obstacle avoidance, the usage of the front ultrasonic radar is determined to be the obstacle identification state at the second preset identification distance, and the usage of the rear ultrasonic radar is determined to be the obstacle identification state at the third preset identification distance.

12. The self-moving device as claimed in claim 10, wherein, The step of determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status, wherein the ultrasonic-based mobility program is configured to implement the following steps: When the first target location is determined to be the walking path of the self-moving device and the running state is backward, the usage of the rear ultrasonic radar is determined to be the obstacle recognition state at the fourth preset recognition distance. When the first target location is determined to be a narrow location and the operating state is a backward state, the usage of the rear ultrasonic radar is determined to be the obstacle recognition state at the fifth preset recognition distance.

13. The self-moving device as claimed in claim 10, wherein, The step of determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status, wherein the ultrasonic-based mobility program is configured to implement the following steps: When the first target location is determined to be the target boundary and the running state is the edge-walking state, the usage of the front ultrasonic radar is determined to be the obstacle identification state at the sixth preset identification distance, and the usage of the rear ultrasonic radar is determined to be the obstacle identification state at the seventh preset identification distance.

14. The self-moving device as claimed in claim 10, wherein, The step of controlling the self-moving device to execute a preset movement strategy based on the usage situation, wherein the ultrasound-based movement program is configured to implement the following steps: When the first target location is determined to be the target area and the self-moving device is in a forward state, the self-moving device is controlled to perform a deceleration operation after the front ultrasonic radar detects an obstacle at a first preset recognition distance.

15. The self-moving device as claimed in claim 10, wherein, The step of controlling the self-moving device to execute a preset movement strategy based on the usage situation, wherein the ultrasound-based movement program is configured to implement the following steps: When the first target location is determined to be the target area and the self-moving device is in a turning or obstacle-avoiding state, the self-moving device is controlled to perform a deceleration operation after the front ultrasonic radar detects an obstacle within a second preset recognition distance, and the self-moving device is controlled to stop moving after the front ultrasonic radar detects an obstacle within an eighth preset recognition distance; the eighth preset recognition distance is less than the second preset recognition distance. After the rear ultrasonic radar detects an obstacle within a third preset recognition distance, it controls the self-moving device to perform a forward operation.

16. A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by the processor, it performs the following steps: Determine the primary target location and operational status of the mobile device; The usage status of the front ultrasonic radar and / or the rear ultrasonic radar is determined based on the first target location and the operating status. Based on the usage situation, the self-moving device is controlled to execute a preset movement strategy until the self-moving device switches from the first target location to the next second target location.

17. The computer-readable storage medium of claim 16, wherein, The process of determining the usage of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status, when the computer program is executed by the processor, implements the following steps: When the first target location is determined to be the target area and the running state is the forward state, the usage of the front ultrasonic radar is determined to be the obstacle recognition state at the first preset recognition distance, and the usage of the rear ultrasonic radar is determined to be the non-data reading state. When the first target location is determined to be the target area and the operating state is turning and obstacle avoidance, the usage of the front ultrasonic radar is determined to be the obstacle identification state at the second preset identification distance, and the usage of the rear ultrasonic radar is determined to be the obstacle identification state at the third preset identification distance.

18. The computer-readable storage medium of claim 16, wherein, The process of determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status, when the computer program is executed by the processor, implements the following steps: When the first target location is determined to be the walking path of the self-moving device and the running state is backward, the usage of the rear ultrasonic radar is determined to be the obstacle recognition state at the fourth preset recognition distance. When the first target location is determined to be a narrow location and the operating state is a backward state, the usage of the rear ultrasonic radar is determined to be the obstacle recognition state at the fifth preset recognition distance.

19. The computer-readable storage medium of claim 16, wherein, The process of determining the usage status of the front ultrasonic radar and / or rear ultrasonic radar based on the first target location and the operating status, when the computer program is executed by the processor, implements the following steps: When the first target location is determined to be the target boundary and the running state is the edge-walking state, the usage of the front ultrasonic radar is determined to be the obstacle identification state at the sixth preset identification distance, and the usage of the rear ultrasonic radar is determined to be the obstacle identification state at the seventh preset identification distance.

20. The computer-readable storage medium of claim 16, wherein, The step of controlling the self-moving device to execute a preset movement strategy based on the usage situation, when the computer program is executed by the processor, involves the following steps: When the first target location is determined to be the target area and the self-moving device is in a forward state, the self-moving device is controlled to perform a deceleration operation after the front ultrasonic radar detects an obstacle at a first preset recognition distance.

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