Autonomous mobile device and control method and control apparatuses therefor, and readable storage medium

Abstract

Provided in the present application are an autonomous mobile device and a control method and control apparatuses therefor, and a readable storage medium. The autonomous mobile device comprises a body and a camera. The control method for an autonomous mobile device comprises: acquiring position information of an autonomous mobile device; and when determining, on the basis of the position information, that the autonomous mobile device enters a first area, adjusting the pitch angle of a camera relative to a body, wherein the first area is an area related to visual privacy. By means of changing the pitch angle of a camera relative to a body, a picture captured by the camera can be changed, thereby reducing the capture, by the camera, of pictures related to user privacy, and thus reducing the risk of user privacy leakage.

Description

Autonomous mobile device, control method, control device and readable storage medium thereof

[0001] This application claims priority to Chinese patent application No. CN202411008430.8, filed on July 25, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of control, in particular to an autonomous mobile device, a control method, a control device and a readable storage medium. BACKGROUND

[0003] The autonomous mobile device such as a sweeping robot uses a camera to collect environment images, and performs navigation and obstacle avoidance based on the collected environment images.

[0004] In the related technical solutions, the sweeping robot is deployed with the functions of virtual walls and functional forbidden areas, but the virtual walls and the functional forbidden areas can prevent the sweeping robot from entering, and at the same time, the areas divided by the virtual walls and the functional forbidden areas cannot be cleaned, which affects the cleaning effect.

[0005] In addition, the sweeping robot indiscriminately collects images of the environment during operation, which is easy to collect images related to user privacy, and thus there is a risk of leakage of user privacy. SUMMARY

[0006] The present application aims to at least solve the problem in the prior art or related art that the sweeping robot indiscriminately collects images of the environment during operation, which is easy to collect images related to user privacy, and thus there is a risk of leakage of user privacy.

[0007] To this end, a first aspect of the present application provides a control method of an autonomous mobile device.

[0008] A second aspect of the present application provides a control device of an autonomous mobile device.

[0009] A third aspect of the present application provides another control device of an autonomous mobile device.

[0010] A fourth aspect of the present application provides a readable storage medium.

[0011] A fifth aspect of the present application provides an autonomous mobile device.

[0012] Therefore, according to a first aspect of the present application, the present application provides a control method of an autonomous mobile device, the autonomous mobile device comprising a body and a camera, the control method comprising: obtaining position information of the autonomous mobile device; determining, based on the position information, that the autonomous mobile device enters a first region, and adjusting a pitch angle of the camera relative to the body; wherein the first region is a region related to visual privacy.

[0013] The technical solution of the present application provides a control method of an autonomous mobile device. By running the control method of the autonomous mobile device, the pitch angle of the camera relative to the body can be adjusted after the autonomous mobile device moves into the first region. In this process, by changing the pitch angle of the camera relative to the body, the picture taken by the camera can be changed, and the picture captured by the camera related to user privacy can be reduced, thereby reducing the risk of user privacy leakage.

[0014] Specifically, in the case of changing the pitch angle of the camera relative to the body, the shooting direction of the camera can be changed, the probability of the camera shooting an image related to privacy can be reduced, and the risk of user privacy leakage can be reduced.

[0015] In this process, the pitch angle of the camera relative to the body is adjusted only when the autonomous mobile device enters a region related to user privacy, so that the camera can shoot according to the original pitch angle in a region outside the first region. Therefore, the control method of the autonomous mobile device provided by the present application can not affect the operation of the autonomous mobile device in the region outside the first region, thereby ensuring the stable operation of the autonomous mobile device.

[0016] In some technical solutions, the autonomous mobile device is one of a cleaning robot, a carrying robot, and a meal delivery robot.

[0017] In some technical solutions, the region related to user privacy can be a region determined according to a scene in which the autonomous mobile device is located.

[0018] For example, in the case that the scene in which the autonomous mobile device is located is a home scene, the region related to user privacy can be a bedroom, a bathroom, an office, a children's room, or a study.

[0019] In some technical solutions, the region related to user privacy can be a region set by a user.

[0020] For example, the region set by the user can be a temporarily set home party region, a temporarily set region for holding activities, a pet resting region, or a region for storing confidential files or articles.

[0021] In some embodiments, the position information is compared with the coordinate interval corresponding to the first region, and if the position information is within the coordinate interval corresponding to the first region, it is determined that the autonomous mobile device enters the first region.

[0022] In addition, the control method of the autonomous mobile device further has the following additional technical features.

[0023] In some embodiments, the autonomous mobile device further comprises a holder, the holder is arranged on the body, and the camera is arranged on the holder. The adjusting the pitch angle of the camera relative to the body specifically comprises: adjusting the operating parameter of the holder to reduce the pitch angle of the camera relative to the body.

[0024] In some embodiments, the autonomous mobile device comprises a microphone. The control method further comprises: determining that the autonomous mobile device enters a second region based on the position information, and reducing the sensitivity of the microphone; wherein the second region is a region related to auditory privacy, the first region and the second region are the same region, or the first region includes the second region or the second region includes the first region.

[0025] In some embodiments, the first region and the second region are the same region.

[0026] In some embodiments, the first region includes the second region, i.e., the first region covers the second region.

[0027] In some embodiments, the second region includes the first region, i.e., the second region covers the first region.

[0028] In some embodiments, the control method further comprises: obtaining a privacy level of the first region and a privacy level of the second region; determining a target pitch angle based on the privacy level of the first region, and determining a target sensitivity of the microphone based on the privacy level of the second region; wherein the target pitch angle is the adjusted pitch angle, the target sensitivity is the reduced sensitivity, and the target pitch angle and the target sensitivity corresponding to different privacy levels are different.

[0029] In some embodiments, the privacy level comprises: low, medium and high, wherein the target sensitivity corresponding to the low is higher than the target sensitivity corresponding to the medium, the target sensitivity corresponding to the medium is higher than the target sensitivity corresponding to the high, the target pitch angle corresponding to the low is greater than the target pitch angle corresponding to the medium, and the target pitch angle corresponding to the medium is greater than the target pitch angle corresponding to the high.

[0030] In some embodiments, when the privacy level of the region is the highest, the power supply of the camera can be independently disconnected, and the camera can be turned off so that the camera no longer collects images.

[0031] In some embodiments, when the privacy level of the region is the highest, the power supply of the microphone can be independently disconnected, and the microphone can be turned off so that the microphone no longer collects audio.

[0032] In some embodiments, the first region is further associated with an effective period and an ineffective period, the ineffective period is a period other than the effective period, the autonomous mobile device enters the first region based on the position information, and the pitch angle of the camera relative to the body is adjusted, specifically including: based on the position information, the autonomous mobile device enters the first region, and the current time is within the effective period, the pitch angle of the camera relative to the body is adjusted; based on the position information, the autonomous mobile device enters the first region, and the current time is within the ineffective period, the adjustment of the pitch angle of the camera relative to the body is cancelled.

[0033] In some embodiments, after the pitch angle of the camera relative to the body is adjusted, the control method further includes: obtaining an image captured by the camera; and controlling the body to perform a work task based on the image.

[0034] According to a second aspect of the present application, the present application provides a control device of an autonomous mobile device, the autonomous mobile device including a body and a camera, and the control device including: an acquisition device configured to acquire position information of the autonomous mobile device; and an adjustment device configured to determine, based on the position information, that the autonomous mobile device enters a first region, and adjust a pitch angle of the camera relative to the body; wherein the first region is a region related to visual privacy.

[0035] In addition, the control device of the autonomous mobile device according to the present application further has the following additional technical features.

[0036] In some embodiments, the autonomous mobile device further includes a holder, the holder is arranged on the body, the camera is arranged on the holder, and the adjustment device is specifically configured to: adjust an operating parameter of the holder to reduce the pitch angle of the camera relative to the body.

[0037] In some embodiments, the autonomous mobile device includes a microphone, and the adjustment device is further configured to: determine, based on the position information, that the autonomous mobile device enters a second region, and reduce the sensitivity of the microphone; wherein the second region is a region related to auditory privacy, the first region and the second region are the same region, or the first region includes the second region or the second region includes the first region.

[0038] In some embodiments, the obtaining device is further configured to: obtain a privacy level of the first region and a privacy level of the second region; determine the target tilt angle based on the privacy level of the first region, and determine the target sensitivity of the microphone based on the privacy level of the second region; wherein the target tilt angle is the adjusted tilt angle, and the target sensitivity is the reduced sensitivity; and the target tilt angle and the target sensitivity corresponding to different privacy levels are different.

[0039] In some embodiments, the first region is further associated with an effective period and an ineffective period, the ineffective period being a period other than the effective period, and the adjusting device is specifically configured to: based on the position information, determine that the autonomous mobile device enters the first region and the current time is within the effective period, and adjust the tilt angle of the camera relative to the body; based on the position information, determine that the autonomous mobile device enters the first region and the current time is within the ineffective period, and cancel the adjustment of the tilt angle of the camera relative to the body.

[0040] In some embodiments, after the tilt angle of the camera relative to the body is adjusted, the obtaining device is further configured to: obtain an image captured by the camera; and the adjusting device is further configured to: control the body to perform a work task based on the image.

[0041] According to a third aspect of the present application, the present application provides a control device of an autonomous mobile device, comprising a processor and a memory, the memory storing programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the control method of the autonomous mobile device according to any one of the above aspects.

[0042] According to a fourth aspect of the present application, the present application provides a readable storage medium, the readable storage medium storing programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the control method of the autonomous mobile device according to any one of the above aspects.

[0043] According to a fifth aspect of the present application, the present application provides an autonomous mobile device, comprising: a control device of the autonomous mobile device and / or a readable storage medium, the autonomous mobile device comprising a body and a camera; the control device comprising: an obtaining device configured to obtain position information of the autonomous mobile device; and an adjusting device configured to determine that the autonomous mobile device enters a first region based on the position information, and adjust a tilt angle of the camera relative to the body; wherein the first region is a region related to visual privacy; or the control device comprises a processor and a memory, the memory storing programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the control method of the autonomous mobile device according to the first aspect of the embodiment; and the readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the control method of the autonomous mobile device according to the first aspect of the embodiment.

[0044] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0045] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0046] Figure 1 shows one of the flowcharts illustrating the control method of an autonomous mobile device according to an embodiment of this application;

[0047] Figure 2 shows a connection diagram of an autonomous mobile device in an embodiment of this application;

[0048] Figure 3 shows a control schematic diagram of a gimbal in an embodiment of this application;

[0049] Figure 4 shows a second schematic flowchart of the control method for the autonomous mobile device in an embodiment of this application;

[0050] Figure 5 shows a third schematic flowchart of the control method for the autonomous mobile device in an embodiment of this application;

[0051] Figure 6 shows a schematic block diagram of a control device for an autonomous mobile device according to an embodiment of this application;

[0052] Figure 7 shows a schematic block diagram of a control device for another autonomous mobile device according to an embodiment of this application.

[0053] The correspondence between the reference numerals and component names in Figures 2 and 3 is as follows: 200 Autonomous mobile device, 202 Body, 204 Camera, 206 Gimbal, 208 Microphone. Detailed Implementation

[0054] To better understand the above aspects, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0055] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0056] In one embodiment of this application, as shown in Figures 1, 2, and 3, a control method for an autonomous mobile device is provided. The autonomous mobile device 200 includes a body 202 and a camera 204. The control method includes:

[0057] Step 102, obtaining position information of the autonomous mobile device;

[0058] Step 104, determining that the autonomous mobile device enters a first region based on the position information, and adjusting the pitch angle of the camera relative to the body; wherein the first region is a region related to visual privacy.

[0059] Embodiments of the present application propose a control method of an autonomous mobile device. By running the control method of the autonomous mobile device, the pitch angle of the camera relative to the body can be adjusted after the autonomous mobile device moves into the first region. In this process, by changing the pitch angle of the camera relative to the body, the picture taken by the camera can be changed, and the picture related to user privacy captured by the camera can be reduced, thereby reducing the risk of user privacy leakage.

[0060] Specifically, in the case of changing the pitch angle of the camera relative to the body, the shooting direction of the camera can be changed, the probability of the camera shooting the image related to privacy can be reduced, and the risk of user privacy leakage can be reduced.

[0061] In this process, the pitch angle of the camera relative to the body is adjusted only when the autonomous mobile device enters the region related to user privacy, so that the camera can shoot according to the original pitch angle in the region outside the first region. Therefore, the control method of the autonomous mobile device proposed in the present application can not affect the operation of the autonomous mobile device in the region outside the first region, thereby ensuring the stable operation of the autonomous mobile device.

[0062] In some embodiments, the autonomous mobile device is optionally provided with a position sensor, and the position sensor is used to determine the position information of the autonomous mobile device.

[0063] Illustratively, the position information of the autonomous mobile device is the coordinates of the autonomous mobile device.

[0064] In some embodiments, the autonomous mobile device is optionally one of a cleaning robot, a delivery robot, and a carrying robot.

[0065] In some embodiments, the region related to user privacy can be a region determined according to the scene in which the autonomous mobile device is located.

[0066] Illustratively, in the case that the scene in which the autonomous mobile device is located is a home scene, the region related to user privacy can be a bedroom, a bathroom, an office, a children's room, and a study.

[0067] In some embodiments, the region related to user privacy can be a region set by a user.

[0068] Exemplarily, the region set by the user can be a temporarily set region for a family party, a temporarily set region for holding an activity, a region for pet resting, or a region for storing confidential files or articles.

[0069] In some embodiments, optionally, a coordinate interval corresponding to the first region is acquired, and the position information is compared with the coordinate interval corresponding to the first region, and if the position information is within the coordinate interval corresponding to the first region, it is considered that the autonomous mobile device enters the first region.

[0070] As shown in FIG. 2, in some embodiments, the autonomous mobile device 200 further includes a holder 206, the holder 206 is arranged on the body 202, the camera 204 is arranged on the holder 206, and the holder 206 is configured to adjust the pitch angle of the camera relative to the body, and the holder 206 is configured to adjust the operating parameters of the holder to reduce the pitch angle of the camera relative to the body.

[0071] In this embodiment, the holder is used to adjust the pitch angle of the camera relative to the body, and by reducing the pitch angle of the camera relative to the body, the camera is directed towards the ground on which the autonomous mobile device moves, in this process, more images about the ground are captured by the camera, and images other than the ground are reduced, in this process, the probability of capturing images involving privacy by the camera is reduced, thereby reducing the risk of user privacy leakage.

[0072] In this embodiment, the use of the holder can achieve fine adjustment of the pitch angle, so that the autonomous mobile device is more reliable.

[0073] As shown in FIG. 2, in some embodiments, the autonomous mobile device 200 includes a microphone 208, and the control method further includes: determining, based on the position information, that the autonomous mobile device enters a second region, and reducing the sensitivity of the microphone, after or before adjusting the pitch angle of the camera relative to the body, or at the same time as adjusting the pitch angle of the camera relative to the body; wherein the second region is a region related to auditory privacy, and the first region and the second region are the same region, or the first region includes the second region or the second region includes the first region.

[0074] In this embodiment, when it is determined that the autonomous mobile device enters the second region, the sensitivity of the microphone is reduced to reduce the ability of the microphone to capture sound, and thus after the autonomous mobile device moves to the second region, the sound captured in the second region is reduced, thereby reducing the probability of capturing sound involving privacy, and thus reducing the risk of user privacy leakage.

[0075] In some embodiments, optionally, the first region and the second region are the same region.

[0076] In some embodiments, optionally, the first region covers the second region, i.e., the first region includes the second region.

[0077] In some embodiments, optionally, the second region covers the first region, i.e., the second region includes the first region.

[0078] In some embodiments, optionally, the control method further comprises: obtaining a privacy level of the first region and a privacy level of the second region; determining the target tilt angle based on the privacy level of the first region, and determining the target sensitivity of the microphone based on the privacy level of the second region; wherein the target tilt angle is the adjusted tilt angle, and the target sensitivity is the reduced sensitivity, and the target tilt angle and the target sensitivity corresponding to different privacy levels are different.

[0079] In this embodiment, the adjusted tilt angle and / or the target sensitivity are not fixed, but are determined according to the privacy level of the region. In this process, the corresponding target tilt angle and / or target sensitivity can be selected according to the privacy level corresponding to the region. In this process, the selected target tilt angle and / or target sensitivity can be adapted to the privacy level corresponding to the region, thereby ensuring the reliable operation of the autonomous mobile device while effectively protecting the privacy involved in the region.

[0080] In some embodiments, optionally, the privacy level includes: low, medium and high, wherein the target sensitivity corresponding to the low level is higher than the target sensitivity corresponding to the medium level, the target sensitivity corresponding to the medium level is higher than the target sensitivity corresponding to the high level, the target tilt angle corresponding to the low level is greater than the target tilt angle corresponding to the medium level, and the target tilt angle corresponding to the medium level is greater than the target tilt angle corresponding to the high level.

[0081] In some embodiments, optionally, the first region is further associated with an effective period and an invalid period, the invalid period being a period other than the effective period, and the adjustment of the target tilt angle of the camera relative to the body based on the position information that the autonomous mobile device enters the first region comprises: based on the position information that the autonomous mobile device enters the first region and that the current time is within the effective period, adjusting the target tilt angle of the camera relative to the body; based on the position information that the autonomous mobile device enters the first region and that the current time is within the invalid period, canceling the adjustment of the target tilt angle of the camera relative to the body.

[0082] In this embodiment, the user can set the effective period and the invalid period for the first region, and only when the autonomous mobile device enters the first region and the current time is within the effective period, the target tilt angle of the camera relative to the body is adjusted. In this process, the user can set the effective period and the invalid period according to the actual needs, and control the autonomous mobile device to ensure that the autonomous mobile device meets the use needs in different scenarios.

[0083] In some embodiments, after adjusting the target pitch angle of the camera relative to the body, the control method further comprises: acquiring an image captured by the camera; and controlling the body to perform a work task based on the image.

[0084] In this embodiment, after adjusting the target pitch angle of the camera relative to the body, the image captured by the camera is acquired to identify the captured image, thereby determining the movement trajectory of the autonomous mobile device, and thereby achieving obstacle avoidance. In this process, the autonomous mobile device can also perform a work task in the first area. Compared with the related embodiment in which the work cannot be performed in the area divided by the virtual wall and the functional forbidden area, the control method of the autonomous mobile device proposed in the present application can overcome the drawbacks of the related embodiment, meet the user's privacy, and also meet the work needs in different scenarios.

[0085] In some embodiments, for example, the autonomous mobile device is a robot vacuum cleaner, the autonomous mobile device includes the following technical points:

[0086] (1) Installation of the gimbal and adjustment of the angle of the camera. Specifically, the gimbal installed in the robot vacuum cleaner can support and adjust the pitch angle of the camera, i.e., the pitch angle. The user sets the privacy level of the first area through the control panel or the matching application program, and automatically adjusts the pitch angle of the gimbal according to the privacy level, so that the pitch angle of the camera is reduced, i.e., the photographable area is reduced, to avoid capturing the image of the person.

[0087] Among them, the adjustment accuracy of the gimbal needs to be high enough to effectively reduce the capture of the image of the person by the camera in the area with a high privacy level.

[0088] (2) Adjustment of the sensitivity of the microphone. Specifically, in the area with a high privacy level, the sensitivity of the microphone is automatically adjusted to reduce the capture of low-volume sounds and protect the user's conversation privacy. The sensitivity of the microphone should be adjusted according to different privacy levels to meet different privacy protection needs. Among them, the adjustment accuracy of the microphone also needs to be high enough to effectively reduce the capture of low-volume sounds by the microphone in the area with a high privacy level.

[0089] (3) Setting of the privacy level. Specifically, the user sets the privacy level of different areas, such as low, medium, and high, through the control panel or the matching application program, and automatically adjusts the settings of the camera and the microphone according to the set privacy level to provide corresponding privacy protection. Among them, the setting of the privacy level should be simple and intuitive, and the user can easily understand and operate.

[0090] (4) Integration and management of control, specifically, the adjustment of the angle of the gimbal and the adjustment of the microphone sensitivity are integrated control, which can receive information from the position sensor to determine whether the sweeping robot enters the first area and adjust the settings of the camera and microphone accordingly.

[0091] (5) User-defined effective period, specifically, the user can set a corresponding effective period for each area, for example, during sleep time at night or when away from home during the day, so as to automatically activate or deactivate the privacy protection function according to the set effective period to meet the user's privacy protection needs. Among them, the user-defined effective period should be simple and intuitive, and the user can easily understand and operate.

[0092] In this embodiment, the sweeping robot applying the control method of the autonomous mobile device proposed in the present application has the following advantages:

[0093] 1. Significantly improve user privacy protection: by physically adjusting the angle of the camera and adjusting the microphone sensitivity, effectively reducing the capture of user images and sounds in private areas, providing more comprehensive privacy protection measures.

[0094] 2. Maintain functionality: even in areas with high privacy levels, the sweeping robot can still perform basic navigation and obstacle avoidance operations through the adjusted camera and microphone, ensuring the practicality and efficiency of the sweeping robot.

[0095] 3. User customization: users can set different privacy levels for different areas according to their privacy preferences, achieving personalized privacy protection.

[0096] 4. Intelligent upgrade: automatic adjustment function improves the intelligent level of the sweeping robot, making it more flexible to adapt to different home environments and user needs.

[0097] 5. Easy operation: users can easily set and adjust the privacy level through the mobile application or the control panel of the sweeping robot, with simple and easy-to-understand operation.

[0098] 6. Environmental adaptability: the sweeping robot can automatically adjust the settings of the camera and microphone according to different privacy levels, adapting to different home environments and user needs.

[0099] As shown in FIG. 4, in the case of the autonomous mobile device being a sweeping robot, the control method of the autonomous mobile device includes:

[0100] Step 402, obtaining the current position of the sweeping robot;

[0101] Step 404, whether the current position is in the visual privacy area, if the result of the judgment is yes, step 406 is executed, if the result of the judgment is no, step 408 is executed;

[0102] Step 406, based on the privacy level of the visual privacy area, a first adjustment angle is determined to control the gimbal to adjust the pitch angle;

[0103] Step 408, a second adjustment angle is determined to control the gimbal to adjust the pitch angle;

[0104] Step 410, whether the current position is in the auditory privacy area, if the result of the judgment is yes, step 412 is executed, if the result of the judgment is no, step 414 is executed;

[0105] Step 412, based on the privacy level of the auditory privacy area, a first sensitivity parameter is determined to control the sensitivity of the microphone;

[0106] Step 414, a second sensitivity parameter is determined to control the sensitivity of the microphone;

[0107] Step 416, the cleaning task is continued to be executed.

[0108] The user can set specific effective time periods for different privacy-related areas according to daily activity patterns and time schedules.

[0109] As shown in FIG. 5, in the case of the autonomous mobile device being a sweeping robot, the control method of the autonomous mobile device includes:

[0110] Step 502, the current position and the current time of the sweeping robot are acquired;

[0111] Step 504, whether the current position is in the visual privacy area and the current time is in the effective time period corresponding to the visual privacy area, if the result of the judgment is yes, step 506 is executed, if the result of the judgment is no, step 508 is executed;

[0112] Step 506, based on the privacy level of the visual privacy area, a first adjustment angle is determined to control the gimbal to adjust the pitch angle;

[0113] Step 508, a second adjustment angle is determined to control the gimbal to adjust the pitch angle;

[0114] Step 510, whether the current position is in the auditory privacy area and the current time is in the effective time period corresponding to the auditory privacy area, if the result of the judgment is yes, step 512 is executed, if the result of the judgment is no, step 514 is executed;

[0115] Step 512, based on the privacy level of the auditory privacy area, a first sensitivity parameter is determined to control the sensitivity of the microphone;

[0116] Step 514, determine a second sensitivity parameter to control the sensitivity of the microphone;

[0117] Step 516, continue to perform the cleaning task.

[0118] In this embodiment, during the period when privacy protection is not required, the sweeping robot can normally use all its sensors, improving cleaning efficiency and intelligent interaction ability, and reducing energy efficiency.

[0119] In addition, users can customize the effective time according to personal preferences and living habits, creating a more personalized smart home experience.

[0120] Among them, the control method of the autonomous mobile device as shown in FIGS. 4 and 5 can be applied to the following scenarios:

[0121] (1) Home bedroom and bathroom. Specifically, the user sets a visual exclusion zone in the bedroom and bathroom, automatically closes the robot's camera at night or during private time to prevent capturing private pictures. At the same time, set an auditory exclusion zone in these areas to avoid the robot recording private conversations or sounds.

[0122] (2) Home office or study. Specifically, the user does not want to be disturbed when working, and can set an auditory exclusion zone so that the robot will not pick up sound or play sound when it enters the area.

[0123] (3) Children's room or playroom. Specifically, in order to protect the safety and privacy of children, a visual and auditory exclusion zone can be set in the children's room to ensure that the robot does not capture images or sounds of children.

[0124] (4) Family gatherings or events. Specifically, when hosting a family gathering or event, temporary exclusion zones can be set to prevent the robot from interfering with the event or inadvertently recording the contents of the gathering.

[0125] (5) Pet area. Specifically, if pets are sensitive to the sound or vision of the robot, an exclusion zone can be set in the area where the pet rests or plays.

[0126] (6) Sensitive file or object storage area. Specifically, a visual exclusion zone is set in the area where sensitive files or valuable objects are stored to prevent the robot's camera from capturing detailed information about these objects.

[0127] (7) Night mode. Specifically, the user can set a night mode during which the robot will automatically turn off the camera and microphone in all areas designated as exclusion zones.

[0128] Among them, the visual exclusion zone mentioned above, i.e. the visual privacy area, is the first area in this application, and the auditory exclusion zone mentioned above, i.e. the auditory privacy area, is the second area in this application.

[0129] In some embodiments, as shown in FIG. 6, the application provides a control device 600 of an autonomous mobile device, the autonomous mobile device comprising a body and a camera, the control device comprising: an acquisition device 602 configured to acquire position information of the autonomous mobile device; and an adjustment device 604 configured to determine, based on the position information, that the autonomous mobile device enters a first region, and adjust a pitch angle of the camera relative to the body; wherein the first region is a region related to visual privacy.

[0130] Embodiments of the application provide a control device 600 of an autonomous mobile device, which can adjust a pitch angle of a camera relative to a body after the autonomous mobile device moves into a first region. In this process, by changing the pitch angle of the camera relative to the body, the picture taken by the camera can be changed, and the picture captured by the camera related to user privacy can be reduced, thereby reducing the risk of user privacy leakage.

[0131] Specifically, in the case of changing the pitch angle of the camera relative to the body, the shooting direction of the camera can be changed, and the probability of the camera shooting an image related to privacy can be reduced, thereby reducing the risk of user privacy leakage.

[0132] In this process, the pitch angle of the camera relative to the body is adjusted only when the autonomous mobile device enters a region related to user privacy, so that the camera can shoot according to the original pitch angle in a region outside the first region. Therefore, the control method of the autonomous mobile device provided by the application can not affect the operation of the autonomous mobile device in the region outside the first region, thereby ensuring the stable operation of the autonomous mobile device.

[0133] In some embodiments, the autonomous mobile device further comprises a holder, the holder is arranged on the body, and the camera is arranged on the holder. The adjustment device 604 is specifically configured to adjust an operating parameter of the holder to reduce the pitch angle of the camera relative to the body.

[0134] In this embodiment, the holder is used to adjust the pitch angle of the camera relative to the body. By reducing the pitch angle of the camera relative to the body, the camera is directed towards the ground where the autonomous mobile device moves. In this process, the camera shoots more images related to the ground, and reduces images other than the ground. In this process, the probability of the camera shooting an image related to privacy can be reduced, thereby reducing the risk of user privacy leakage.

[0135] In this embodiment, the use of the holder can realize fine adjustment of the pitch angle, so that the autonomous mobile device is more reliable.

[0136] In some embodiments, the autonomous mobile device comprises a microphone, and the adjusting device 604 is further configured to: determine, based on the position information, that the autonomous mobile device enters the second area, and reduce the sensitivity of the microphone; wherein the second area is an area related to auditory privacy, and the first area is the same as the second area or the first area comprises the second area or the second area comprises the first area.

[0137] In this embodiment, when it is determined that the autonomous mobile device enters the second area, the sensitivity of the microphone is reduced to reduce the ability of the microphone to capture sound, so as to reduce the sound captured in the second area after the autonomous mobile device moves to the second area, thereby reducing the probability of capturing the sound related to privacy, and reducing the risk of user privacy leakage.

[0138] In some embodiments, the obtaining device 602 is further configured to: obtain a privacy level of the first area and a privacy level of the second area; determine the target tilt angle based on the privacy level of the first area, and determine the target sensitivity of the microphone based on the privacy level of the second area; wherein the target tilt angle is the adjusted tilt angle, the target sensitivity is the reduced sensitivity, and the target tilt angle and the target sensitivity corresponding to different privacy levels are different.

[0139] In this embodiment, the target tilt angle and / or the target sensitivity are not fixed, but are determined according to the privacy level of the area. In this process, the corresponding target tilt angle and / or target sensitivity can be selected according to the privacy level corresponding to the area, so that the selected target tilt angle and / or target sensitivity can be adapted to the privacy level corresponding to the area, thereby ensuring the reliable operation of the autonomous mobile device while effectively protecting the privacy related to the area.

[0140] In some embodiments, the first area is further associated with an effective period and an invalid period, the invalid period is a period other than the effective period, and the adjusting device 604 is specifically configured to: determine, based on the position information, that the autonomous mobile device enters the first area and the current time is within the effective period, and adjust the tilt angle of the camera relative to the body; determine, based on the position information, that the autonomous mobile device enters the first area and the current time is within the invalid period, and cancel the adjustment of the tilt angle of the camera relative to the body.

[0141] In this embodiment, the user can set the effective period and the invalid period for the first area, and only when the autonomous mobile device enters the first area and the current time is within the effective period, the tilt angle of the camera relative to the body is adjusted. In this process, the user can set the effective period and the invalid period according to the actual needs, and control the autonomous mobile device to ensure that the autonomous mobile device meets the use needs in different scenarios.

[0142] In some embodiments, after adjusting the pitch angle of the camera relative to the body, the device 602 is further configured to: acquire an image captured by the camera; and adjust the device to control the body to perform the work task based on the image.

[0143] In this embodiment, after adjusting the pitch angle of the camera relative to the body, the image captured by the camera is acquired to identify the captured image, thereby determining the movement trajectory of the autonomous mobile device, and thereby achieving obstacle avoidance. In this process, the autonomous mobile device can also perform work tasks in the first area. Compared with the related embodiments in which the work cannot be performed in the area divided by the virtual wall and the functional forbidden area, the control method of the autonomous mobile device proposed in the present application can overcome the drawbacks of the related embodiments, meet the user's privacy, and meet the work needs in different scenarios.

[0144] In some embodiments, as shown in FIG. 7, the present application provides a control device 700 of an autonomous mobile device, which includes a processor 702 and a memory 704. The memory 704 stores programs or instructions executable on the processor 702. When the programs or instructions are executed by the processor 702, the steps of the control method of the autonomous mobile device according to any one of the above embodiments are implemented.

[0145] The memory 704 can be used to store software programs and various data. The memory 704 mainly includes a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 704 can include a volatile memory or a non-volatile memory, or the memory can include both a volatile memory and a non-volatile memory. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0146] In some embodiments, optionally, the present application provides a readable storage medium, and the readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the control method of the autonomous mobile device according to any one of the above.

[0147] In some embodiments, optionally, the application provides an autonomous mobile device, comprising: a control device and / or a readable storage medium of the autonomous mobile device, the autonomous mobile device comprising a body and a camera; the control device comprising: an acquisition device configured to acquire position information of the autonomous mobile device; an adjustment device configured to determine, based on the position information, that the autonomous mobile device enters a first region, and adjust a pitch angle of the camera relative to the body; wherein the first region is a region related to visual privacy; or the control device comprising a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions being executed by the processor to implement the steps of the control method of the autonomous mobile device according to the embodiment of the first aspect; the readable storage medium storing the program or instructions, the program or instructions being executed by the processor to implement the steps of the control method of the autonomous mobile device according to the embodiment of the first aspect.

[0148] The terms "first", "second" in the description and claims of the application can explicitly or implicitly include one or more of the features. In the literal description of the application, the meaning of "a plurality of" is two or more, unless otherwise specified. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in an "or" relationship.

[0149] In the literal description of the application, it can be understood that, unless there is a clear specification and limitation, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0150] In the claims, the specification and the drawings of the application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the claims, the specification and the drawings of the application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0151] The above merely provides preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A control method of an autonomous mobile device, wherein, The autonomous mobile device comprises a body and a camera, and the control method comprises: obtaining position information of the autonomous mobile device; determining, based on the position information, that the autonomous mobile device enters a first region, and adjusting a pitch angle of the camera relative to the body; wherein the first region is a region related to visual privacy.

2. The control method of an autonomous mobile device according to claim 1, wherein The autonomous mobile device further comprises a gimbal, the gimbal is arranged on the body, and the camera is arranged on the gimbal. The adjusting of the pitch angle of the camera relative to the body specifically comprises: adjusting a running parameter of the gimbal to reduce the pitch angle of the camera relative to the body.

3. The control method of an autonomous mobile device according to claim 1, wherein, The autonomous mobile device comprises a microphone, and the control method further comprises: determining, based on the position information, that the autonomous mobile device enters a second region, and reducing sensitivity of the microphone; wherein the second region is a region related to auditory privacy, the first region and the second region are the same region, or the first region comprises the second region or the second region comprises the first region.

4. The control method of an autonomous mobile device according to claim 3, wherein The control method further comprises: obtaining a privacy level of the first region and a privacy level of the second region; determining a target pitch angle based on the privacy level of the first region, and determining a target sensitivity of the microphone based on the privacy level of the second region; wherein the target pitch angle is an adjusted pitch angle, the target sensitivity is a reduced sensitivity, and the target pitch angles and the target sensitivities corresponding to different privacy levels are different.

5. The control method of an autonomous mobile device according to claim 3, wherein The first region is further associated with an effective period and an invalid period, the invalid period is a period outside the effective period, and the adjusting of the pitch angle of the camera relative to the body based on the position information that the autonomous mobile device enters the first region specifically comprises: determining, based on the position information, that the autonomous mobile device enters the first region and that the current time is within the effective period, and adjusting the pitch angle of the camera relative to the body; determining, based on the position information, that the autonomous mobile device enters the first region and that the current time is within the invalid period, and canceling the adjustment of the pitch angle of the camera relative to the body.

6. The control method of an autonomous mobile device according to any one of claims 1 to 5, wherein, After the adjusting of the pitch angle of the camera relative to the body, the control method further comprises: obtaining an image captured by the camera; controlling the body to perform a work task based on the image.

7. A control device of an autonomous mobile device, wherein, The autonomous mobile device comprises a body and a camera, and the control device comprises: an obtaining device configured to obtain position information of the autonomous mobile device; an adjusting device configured to determine, based on the position information, that the autonomous mobile device enters a first region, and adjust a pitch angle of the camera relative to the body; wherein the first region is a region related to visual privacy.

8. The control device of an autonomous mobile device according to claim 7, wherein, The autonomous mobile device further comprises a gimbal, the gimbal is arranged on the body, and the camera is arranged on the gimbal. The adjusting device specifically comprises: adjusting a running parameter of the gimbal to reduce the pitch angle of the camera relative to the body.

9. The control device of an autonomous mobile device according to claim 7, wherein, The autonomous mobile device comprises a microphone, and the adjusting device is further configured to determine, based on the position information, that the autonomous mobile device enters a second area, and reduce sensitivity of the microphone; The second area is an area related to auditory privacy, the first area is the same as the second area, or the first area comprises the second area or the second area comprises the first area.

10. The control device of an autonomous mobile device according to claim 9, wherein, The obtaining device is further configured to obtain a privacy level of the first area and a privacy level of a second area, determine a target tilt angle based on the privacy level of the first area, and determine a target sensitivity of the microphone based on the privacy level of the second area; The target tilt angle is an adjusted tilt angle, and the target sensitivity is a reduced sensitivity. The target tilt angle and the target sensitivity corresponding to different privacy levels are different.

11. The control device of an autonomous mobile device according to claim 9, wherein The first area is further associated with an effective time period and an invalid time period, the invalid time period is a time period outside the effective time period, and the adjusting device specifically comprises: Based on the position information, it is determined that the autonomous mobile device enters a first area and the current time is within the effective time period, and the tilt angle of the camera relative to the body is adjusted; Based on the position information, it is determined that the autonomous mobile device enters a first area and the current time is within the invalid time period, and the tilt angle of the camera relative to the body is adjusted.

12. The control device of an autonomous mobile device according to any one of claims 7 to 11, wherein, After adjusting the tilt angle of the camera relative to the body, the obtaining device is further configured to obtain an image captured by the camera; and control the body to perform a work task based on the image.

13. A control device of an autonomous mobile device, wherein, The processor and the memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to realize the steps of the control method of the autonomous mobile device in any one of claims 1 to 6.

14. A readable storage medium, wherein, The readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to realize the steps of the control method of the autonomous mobile device in any one of claims 1 to 6.

15. An autonomous mobile device, wherein, The control device and / or the readable storage medium of the autonomous mobile device, the autonomous mobile device comprising a body and a camera; The control device comprises: an obtaining device configured to obtain position information of the autonomous mobile device; and an adjusting device configured to determine, based on the position information, that the autonomous mobile device enters a first area, and adjust a tilt angle of the camera relative to the body; wherein the first area is an area related to visual privacy; or the control device comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to realize the steps of the control method of the autonomous mobile device in any one of claims 1 to 6; The readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to realize the steps of the control method of the autonomous mobile device in any one of claims 1 to 6. ​

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