Self-moving device and control method and control apparatus therefor, and readable storage medium

Abstract

A self-moving device and a control method and control apparatus therefor, and a readable storage medium. The control method for a self-moving device comprises: controlling a self-moving device to rotate in a first rotation direction (S102); when a first collision signal is acquired during the process of the self-moving device rotating in the first rotation direction, controlling the self-moving device to rotate in a second rotation direction (S104); when a second collision signal is acquired during the process of the self-moving device rotating in the second rotation direction, controlling the self-moving device to rotate in the first rotation direction to a target heading angle (S106); and controlling the self-moving device to travel in a target traveling direction (S108). In this way, a self-moving device can quickly and safely escape from a low-height, long and narrow trap area, thereby reducing the occurrence of a situation in which the self-moving device is trapped, and improving the cleaning capability of the self-moving device in a long and narrow area.

Description

Self-moving device, control method, control device and readable storage medium thereof

[0001] This application claims priority to Chinese Patent Application No. CN202411035483.9, filed on July 30, 2024, Chinese Patent Application No. CN202411025494.9, filed on July 29, 2024, and Chinese Patent Application No. CN202411028115.1, filed on July 30, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of self-moving devices, in particular to a self-moving device, a control method, a control device and a readable storage medium. BACKGROUND

[0003] In the process of performing a cleaning task, the self-moving device may encounter an obstacle blocking the planned cleaning route, thereby affecting the cleaning task of the self-moving device. SUMMARY

[0004] The present application aims to solve the technical problem of the self-moving device being affected by the obstacle in the prior art or related art.

[0005] To this end, the first aspect of the present application provides a control method of a self-moving device.

[0006] The second aspect of the present application provides a control device of a self-moving device.

[0007] The third aspect of the present application provides a control device of a self-moving device.

[0008] The fourth aspect of the present application provides a readable storage medium.

[0009] The fifth aspect of the present application provides a self-moving device.

[0010] Therefore, according to the first aspect of the present application, a control method of a self-moving device is provided, which is applied to the self-moving device, the self-moving device comprising a collision sensing component for generating an obstacle signal, the control method comprising: obtaining the obstacle signal in the process of performing a task by the self-moving device; and controlling a driving mode of the self-moving device based on the obstacle signal.

[0011] In this technical solution, the self-moving device controls the driving mode of the self-moving device according to the specific situation of the detected obstacle in the process of performing a task, thereby reducing the influence of the obstacle on the self-moving device.

[0012] In some embodiments, the control of the moving manner of the self-moving device based on the obstacle signal comprises: in the case that the self-moving device is trapped, controlling the self-moving device to rotate in a first rotating direction; in the case that the first collision signal is acquired during the rotation of the self-moving device in the first rotating direction, controlling the self-moving device to rotate in a second rotating direction; in the case that the second collision signal is acquired during the rotation of the self-moving device in the second rotating direction, controlling the self-moving device to rotate in the first rotating direction to a target heading angle; and controlling the self-moving device to move in a target moving direction.

[0013] In this embodiment, the self-moving device is provided with a collision sensing component for triggering a collision signal, and the collision sensing component is arranged on the body of the self-moving device. When the self-moving device collides, the collision sensing component can trigger a collision signal to prompt the self-moving device to collide.

[0014] In this embodiment, the self-moving device is in a trapped state, and the self-moving device is controlled to rotate in a first rotating direction. During the rotation of the self-moving device in the first rotating direction, it is continuously monitored whether the collision sensing component acquires a first collision signal.

[0015] It should be noted that the collision sensing component comprises a first collision sensor arranged on one side of the self-moving device and a second collision sensor arranged on the other side of the self-moving device. When the self-moving device rotates in the first rotating direction, since the self-moving device is in a trapped state, the first collision sensor will trigger a first collision signal during the rotation of the self-moving device. After the first collision signal is triggered during the rotation of the self-moving device in the first rotating direction, it is determined that the self-moving device is still in a trapped state, and the self-moving device is controlled to rotate in a second rotating direction.

[0016] In this embodiment, when the self-moving device rotates in the second rotating direction, and the self-moving device acquires a second collision signal triggered by the second collision sensor, it is determined that the self-moving device is still in a trapped state. At this time, the self-moving device is controlled to rotate in the first rotating direction again until a target heading angle, which is a trapped heading angle, is reached.

[0017] In the technical solution, if the self-moving device collides with the obstacle during rotation in the first rotation direction, the collision sensing component can trigger a first collision signal, and at this time, the self-moving device records a first heading angle at which the first collision signal is triggered. If the self-moving device collides with the obstacle during rotation in the second rotation direction, the collision sensing component can trigger a second collision signal, and at this time, the self-moving device records a second heading angle at which the second collision signal is triggered. When the self-moving device rotates to the target heading angle, the backward direction of the self-moving device matches the central axis of the channel formed by the obstacle, and at this time, the self-moving device can travel in the target travel direction corresponding to the target heading angle to travel away from the obstacle.

[0018] In the technical solution, by arranging the first collision sensor and the second collision sensor on the two sides of the self-moving device respectively, the self-moving device can accurately control the switching of the self-moving device to rotate in the second rotation direction based on the first collision signal triggered by the first collision sensor during rotation in the first rotation direction, avoiding the self-moving device continuing to rotate after collision, and improving the timeliness of switching the rotation direction of the self-moving device.

[0019] It should be noted that the target travel direction of the self-moving device can be a forward direction or a backward direction.

[0020] In the technical solution, when the self-moving device travels into a low and narrow environment and is trapped, the self-moving device is controlled to rotate in the first rotation direction and the second rotation direction in turn, and the target heading angle of the self-moving device during the escape travel is determined during rotation, so that the self-moving device can rotate to the target heading angle and travel in the target travel direction at the target heading angle, so that the self-moving device escapes. The application enables the self-moving device to quickly and safely escape from a low and narrow trapped area, reduces the occurrence of the self-moving device being trapped, and improves the cleaning ability of the self-moving device in a narrow area.

[0021] In some technical solutions, the control method of the self-moving device also includes, for example:

[0022] In the case where the self-moving device travels in the target travel direction for a preset distance, the step of controlling the self-moving device to rotate in the first rotation direction is returned to the step of controlling the self-moving device to travel in the target travel direction.

[0023] In some technical solutions, the control method of the self-moving device also includes, for example:

[0024] In a case where the rotation angle of the self-moving device rotating in the first rotation direction reaches the angle threshold and the first collision signal is not triggered, the self-moving device is controlled to travel according to the target travel path.

[0025] In a case where the rotation angle of the self-moving device rotating in the second rotation direction reaches the angle threshold and the second collision signal is not triggered, the self-moving device is controlled to travel according to the target travel path.

[0026] In some technical solutions, the control method further includes, after the self-moving device is controlled to travel according to the target travel path:

[0027] acquiring and storing target trajectory information and / or target position information,

[0028] The target trajectory information includes at least one of the following: a rotation trajectory rotating in the first rotation direction, a rotation trajectory rotating in the second rotation direction, and a travel trajectory in the target travel direction.

[0029] The target position information includes at least one of the following: a rotation position rotating in the first rotation direction, a rotation position rotating in the second rotation direction, and a travel position in the target travel direction.

[0030] In some technical solutions, the self-moving device includes an inertial sensing component for collecting a heading angle of the self-moving device.

[0031] Before the self-moving device is controlled to rotate in the first rotation direction to the target heading angle, the control method of the self-moving device further includes:

[0032] acquiring a first heading angle of the self-moving device corresponding to the first collision signal, and acquiring a second heading angle of the self-moving device corresponding to the second collision signal;

[0033] determining the target heading angle according to the first heading angle and the second heading angle.

[0034] In some technical solutions, the collision sensing component includes a first collision sensor and a second collision sensor, and the acquiring of the first heading angle of the self-moving device corresponding to the first collision signal and the acquiring of the second heading angle of the self-moving device corresponding to the second collision signal include:

[0035] In a case where the first collision sensor triggers the first collision signal, the self-moving device is controlled to stop rotating, and the first heading angle collected by the inertial sensing component is acquired;

[0036] In a case where the second collision sensor triggers the second collision signal, the self-moving device is controlled to stop rotating, and the second heading angle collected by the inertial sensing component is acquired.

[0037] In some embodiments, the target heading angle is determined based on the first heading angle and the second heading angle, including:

[0038] The first heading angle and the second heading angle are averaged to determine the target heading angle.

[0039] In some embodiments, before the self-moving device is controlled to rotate in the first rotation direction, the control method of the self-moving device further includes:

[0040] In the case that the collision sensing component triggers the third collision signal, the current angular velocity of the self-moving device is obtained;

[0041] In the case that the current angular velocity is less than the first angular velocity threshold and the preset angular velocity of the self-moving device is greater than the second angular velocity threshold, it is determined that the self-moving device is in a trapped state.

[0042] The first angular velocity threshold is less than the second angular velocity threshold.

[0043] In some embodiments, based on the obstacle signal, the control method of the self-moving device includes: in the case that there is a first obstacle on the first cleaning path, the first obstacle being an obstacle that can be pushed by the self-moving device, obtaining an initial position of the first obstacle; in the case that the first obstacle is in a movable state, outputting a first prompt information; in the case that a first response information is obtained, controlling the self-moving device to push the first obstacle to a target position according to a first pushing path, and controlling the self-moving device to clean according to a second cleaning path, the second cleaning path passing through the initial position; in the case that a second response information is obtained, controlling the self-moving device to clean according to a third cleaning path, the third cleaning path not passing through the initial position of the first obstacle.

[0044] The first response information and the second response information are response information of the first prompt information.

[0045] In this embodiment, the first cleaning path is a cleaning path planned by the self-moving device. During normal operation of the self-moving device, the self-moving device travels along the first cleaning path and controls the cleaning component of the self-moving device to clean the area passing through. When the self-moving device travels on the first cleaning path, the object existing on the first cleaning path can be identified. When the first obstacle is determined to be located on the first cleaning path during the travel along the first cleaning path, the initial position of the first obstacle is obtained, and a target position to which the first obstacle can be moved is planned.

[0046] In the technical solution, the first prompt information includes graphic information, wherein the first prompt information includes text prompt information and obstacle image information of the first obstacle, and the user can determine whether to push the first obstacle through the first prompt information.

[0047] In the technical solution, the first response information is response information transmitted by the user to the self-moving device based on the first prompt information, and the self-moving device is controlled to push the first obstacle through the first response information.

[0048] Specifically, when the self-moving device obtains the first response information, it is determined that the user needs to move the first obstacle, and the self-moving device is controlled to travel according to the first pushing path. Since the first pushing path passes through the initial position and the target position of the first obstacle, the self-moving device can push the first obstacle from the initial position to the target position.

[0049] It should be noted that the algorithm identifies the first obstacle as a pushable obstacle. Since there is a discrepancy between the actual situation and the algorithm calculation, the self-moving device cannot push the obstacle due to the actual environmental influence. In the case where the first obstacle is in a pushable state, the corresponding pushing operation is performed to avoid the self-moving device pushing the first obstacle for a long time, thereby improving the safety and stability of the self-moving device.

[0050] In the technical solution, the self-moving device can re-plan a cleaning path according to the initial position before the first obstacle moves and the target position after the first obstacle moves, to obtain a corresponding second cleaning path. After the self-moving device pushes the first obstacle to the target position, the self-moving device is controlled to clean according to the second cleaning path re-planned, and since the second cleaning path passes through the initial position before the first obstacle moves, the self-moving device can clean the initial position before the first obstacle moves.

[0051] In the technical solution, the self-moving device can re-plan a cleaning path according to the initial position before the first obstacle moves and the target position after the first obstacle moves, to obtain a corresponding second cleaning path. After the self-moving device pushes the first obstacle to the target position, the self-moving device is controlled to clean according to the second cleaning path re-planned, and since the second cleaning path passes through the initial position before the first obstacle moves, the self-moving device can clean the initial position before the first obstacle moves.

[0052] In the technical solution, the second response information is used to indicate that the self-moving device does not need to move the first obstacle. When the self-moving device receives the second response information, the self-moving device determines that the first obstacle on the first cleaning path does not need to be moved at this time, and the self-moving device re-plans based on the initial position of the first obstacle to obtain a third cleaning path, which is a bypass path of the self-moving device for the first obstacle, i.e., the self-moving device does not pass through the initial position of the first obstacle when cleaning according to the third cleaning path.

[0053] It should be noted that when the first obstacle is in a movable state, but the user does not need to control the self-moving device to push the first obstacle, the second response information is transmitted to the self-moving device. When the self-moving device receives the second response information, it is determined that the user does not need the self-moving device to move the first obstacle. At this time, the self-moving device re-plans the third cleaning path according to the initial position of the first obstacle. The third cleaning path obtained by re-planning does not pass through the initial position of the first obstacle, and the self-moving device bypasses the initial position of the first obstacle.

[0054] In the technical solution of the present application, when the self-moving device identifies that there is a first obstacle that can be pushed by the self-moving device on the first cleaning path planned in advance, the self-moving device can extract the initial position of the first obstacle currently located and plan a target position to which the first obstacle can be moved. When the self-moving device determines that the first obstacle is in a movable state, the self-moving device outputs first prompt information to prompt the user that the first obstacle can be moved by the self-moving device, so that the user can choose whether to move the first obstacle according to actual needs. When the user needs to move the first obstacle, the first response information is transmitted to the self-moving device, so that the self-moving device pushes the first obstacle to the target position according to the first pushing path based on the first response information, and cleans the initial position based on the re-planned second cleaning path. When the user does not need to move the first obstacle, the second response information is transmitted to the self-moving device, so that the self-moving device re-plans a bypass third cleaning path based on the second response information, and bypasses the initial position of the first obstacle through the third cleaning path. The present application can enable the user to choose whether to remove the first obstacle on the first cleaning path according to actual needs when there is a movable first obstacle on the first cleaning path, and after the first obstacle is removed, the self-moving device can clean the area that cannot be reached before due to the existence of the first obstacle, thereby improving the cleaning coverage and cleaning efficiency, and improving the use flexibility of the self-moving device.

[0055] In some technical solutions, the control method further includes, in the case where the second response information is obtained, controlling the self-moving device to clean according to the third cleaning path.

[0056] based on the self-moving device not obtaining the first response information within a preset time length, determining that the self-moving device obtains the second response information.

[0057] In some embodiments, the first pushing path passes through the initial position and the target position.

[0058] In some embodiments, the self-moving device comprises an image acquisition device, and when the first obstacle exists on the first cleaning path, before obtaining the initial position of the first obstacle, the control method further comprises:

[0059] acquiring an environment image corresponding to the first cleaning path by the image acquisition device when the self-moving device travels on the first cleaning path;

[0060] when it is identified that the environment image comprises a first image feature, determining that the first obstacle exists on the first cleaning path, the first image feature corresponding to the first obstacle.

[0061] In some embodiments, after acquiring the environment image corresponding to the first cleaning path by the image acquisition device when the self-moving device travels on the first cleaning path, the control method further comprises:

[0062] when it is identified that the environment image comprises a second image feature, determining that a second obstacle exists on the first cleaning path, the second obstacle being an obstacle that cannot be pushed by the self-moving device, the second image feature corresponding to the second obstacle;

[0063] determining an obstacle position of the second obstacle according to the second image feature;

[0064] wherein the second cleaning path does not include the obstacle position of the second obstacle.

[0065] In some embodiments, obtaining the initial position of the first obstacle comprises:

[0066] determining physical parameter information of the first obstacle according to the environment image;

[0067] constructing an environment map according to the environment image, the environment map comprising the first obstacle;

[0068] determining the initial position according to position information of the first obstacle in the environment map;

[0069] determining a target position in the environment map according to the initial position and the physical parameter information;

[0070] wherein the physical parameter information comprises at least one of the following: weight parameter information, volume parameter information, shape parameter information.

[0071] In some embodiments, the target position in the environment map is determined based on the initial position and the physical parameter information, including:

[0072] A first pushing path is planned in the environment map based on the initial position and the physical parameter information, the path end point of the first pushing path being the target position, and the path start point of the first pushing path being adjacent to the initial position.

[0073] In some embodiments, during the process of controlling the self-moving device to clean according to the second cleaning path, the control method further includes:

[0074] The self-moving device is controlled to push the first obstacle to the initial position according to the second pushing path, wherein the second pushing path is a path planned based on the target position and the initial position.

[0075] In some embodiments, in the case where the first response information is obtained, before the self-moving device is controlled to push the first obstacle to the target position according to the first pushing path, the control method of the self-moving device further includes:

[0076] The self-moving device is controlled to move to a target pushing position, the target pushing position being the start point position of the first pushing path.

[0077] The self-moving device is controlled to push the first obstacle according to a preset pushing force at the target pushing position.

[0078] Based on the displacement of the first obstacle, it is determined that the first obstacle is in a movable state.

[0079] In some embodiments, after the self-moving device is controlled to push the first obstacle according to the preset pushing force at the target pushing position, the control method of the self-moving device further includes:

[0080] Based on the non-displacement of the first obstacle, the pushing of the first obstacle is stopped.

[0081] A fourth cleaning path is planned based on the initial position.

[0082] The self-moving device is controlled to clean according to the fourth cleaning path, the fourth cleaning path not passing through the initial position.

[0083] In some embodiments, the self-moving device includes a pressure sensor, and during the process of controlling the self-moving device to push the first obstacle to the target position according to the first pushing path, the control method of the self-moving device further includes:

[0084] The pressure sensing signal collected by the pressure sensor is obtained.

[0085] Adjust the pushing force of the self-moving device on the first obstacle according to the pressure sensing signal.

[0086] In some embodiments, the self-moving device comprises a moving mechanism, and the method comprises: in the case that the obstacle is detected, acquiring local map data of the obstacle region; and controlling the moving mechanism to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the local map data, so that the self-moving device leaves the obstacle region or the motion trajectory of the self-moving device is in a closed loop state.

[0087] The execution subject of the self-moving device control method provided in the present application can be the self-moving device, a processor in the self-moving device, a control device of the self-moving device, or determined according to actual use requirements, which is not specifically limited herein. In order to more clearly describe the self-moving device control method provided in the present application, the execution subject of the self-moving device control method is taken as the control device of the self-moving device in the following description.

[0088] Specifically, in the self-moving device control method provided in the present application, in the process of performing the cleaning task by the self-moving device, in the case that the control device of the self-moving device detects an obstacle in the advancing direction, the control device of the self-moving device acquires local map data of the obstacle region in real time, and controls the moving mechanism on the self-moving device to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the acquired local map data, until the self-moving device leaves the above obstacle region, the self-moving device triggers a new collision, or the motion trajectory of the self-moving device is in a closed loop state. In this way, when the self-moving device encounters an obstacle in the process of performing the cleaning task, the self-moving device performs the obstacle-avoiding action based on the local map data of the obstacle region, the calculation is simple, the collision with the obstacle can be reduced, the accuracy and comprehensiveness of the obstacle-avoiding action are improved, and the robustness and success rate of the self-moving device in avoiding obstacles are improved.

[0089] The self-moving device control method provided in the present application can further have the following additional technical features:

[0090] In some embodiments, before controlling the moving mechanism to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the local map data, the method further comprises: detecting an angle range blocked by the obstacle to the self-moving device; and controlling the moving mechanism to drive the self-moving device to rotate toward the second direction by a first angle with the center of the self-moving device as the rotation center, the first angle being related to the angle range.

[0091] In some embodiments, the control method further includes: after the mobile mechanism drives the self-moving device to rotate by the first angle towards the second direction, controlling the mobile mechanism to drive the self-moving device to move straight until the distance between the center of the self-moving device and the obstacle is greater than the first threshold range.

[0092] In some embodiments, the mobile mechanism includes a first moving part and a second moving part, and the control method of controlling the mobile mechanism to sequentially perform arc movement in the first direction, turning in the second direction, and moving straight according to the local map data includes: determining distance information between the self-moving device and the obstacle according to the local map data, and controlling the mobile mechanism to sequentially perform arc movement in the first direction, turning in the second direction, and moving straight according to the distance information; wherein the arc movement in the first direction includes taking the first moving part as the rotation center, controlling the second moving part to drive the self-moving device to rotate towards the first direction until the distance information meets the first condition; the turning in the second direction includes taking the center of the self-moving device as the rotation center, controlling the mobile mechanism to drive the self-moving device to rotate by a second angle towards the second direction; and the moving straight includes controlling the mobile mechanism to drive the self-moving device to move straight by a first distance.

[0093] In some embodiments, the first condition is that, during the rotation of the self-moving device driven by the second moving part, the distance information presents a change trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the change curve of the distance information is greater than a second threshold.

[0094] In some embodiments, after the control method of controlling the mobile mechanism to sequentially perform arc movement in the first direction, turning in the second direction, and moving straight according to the local map data, the control method further includes: recording the position of the self-moving device; in the case that the distance between the current position and the initial position of the self-moving device is greater than a third threshold, controlling the mobile mechanism to sequentially perform turning in the first direction and arc movement in the second direction; and updating the initial position of the self-moving device to the current position.

[0095] In some embodiments, the turning in the first direction includes taking the center of the self-moving device as the rotation center, controlling the mobile mechanism to drive the self-moving device to rotate towards the first direction until the local map data of the obstacle region is successfully acquired; and the arc movement in the second direction includes taking the second moving part as the rotation center, controlling the first moving part to drive the self-moving device to rotate towards the second direction until the distance information meets the first condition.

[0096] According to a second aspect of the present application, a control device of a self-moving device is provided, which includes: the self-moving device includes a collision sensing component, and the collision sensing component is configured to generate an obstacle signal; the control device includes: an acquisition device configured to acquire the obstacle signal during the execution of a task by the self-moving device; and a control device configured to control the driving mode of the self-moving device based on the obstacle signal.

[0097] In the technical solution, the self-moving device controls the driving mode of the self-moving device according to the specific situation of the detected obstacle during the execution of the task, thereby reducing the influence of the obstacle on the self-moving device.

[0098] In some technical solutions, the control device includes: a first control module configured to control the self-moving device to rotate in a first rotation direction; the first control module is configured to, in a case where the first collision signal is acquired during the rotation of the self-moving device in the first rotation direction, control the self-moving device to rotate in a second rotation direction; the first control module is configured to, in a case where the second collision signal is acquired during the rotation of the self-moving device in the second rotation direction, control the self-moving device to rotate in the first rotation direction to a target heading angle; and the first control module is configured to control the self-moving device to drive in the target driving direction.

[0099] In some technical solutions, the control device includes: a fourth determination module configured to, in a case where the first obstacle exists on the first cleaning path, acquire an initial position of the first obstacle; an output module configured to, in a case where the first obstacle is in a movable state, output first prompt information; a second control module configured to, in a case where the first response information is acquired, control the self-moving device to push the first obstacle to a target position according to a first pushing path, and control the self-moving device to clean according to a second cleaning path, the second cleaning path passing through the initial position; and the second control module is configured to, in a case where the second response information is acquired, control the self-moving device to clean according to a third cleaning path, the third cleaning path not passing through the initial position of the first obstacle.

[0100] In some technical solutions, the self-moving device includes a moving mechanism, and the control device includes: a third acquisition module configured to, in a case where the obstacle is detected, acquire local map data of the obstacle region; and a third control module configured to control the moving mechanism to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight driving according to the local map data, so that the self-moving device leaves the obstacle region or the motion trajectory of the self-moving device is in a closed loop state.

[0101] According to a third aspect of the present application, a control device of a self-moving device is provided, wherein the control device of the self-moving device includes a processor and a memory, and the memory stores a program or instructions which, when executed by the processor, implement the steps of the control method of the self-moving device according to any one of the above technical solutions. Therefore, the control device of the self-moving device has all the beneficial effects of the control method of the self-moving device according to any one of the above technical solutions, which will not be described here again.

[0102] According to a fourth aspect of the present application, there is provided a readable storage medium having stored thereon a program or instructions, which when executed by a processor implement the control method of the self-moving device according to any one of the above technical solutions, and thus have all the beneficial technical effects of the control method of the self-moving device according to any one of the above technical solutions.

[0103] According to a fifth aspect of the present application, there is provided a self-moving device comprising: the control apparatus of the self-moving device according to any one of the above technical solutions, and / or the readable storage medium according to any one of the above technical solutions, and thus have all the beneficial technical effects of the control apparatus of the self-moving device according to any one of the above technical solutions, and / or the readable storage medium according to any one of the above technical solutions, which will not be repeated here.

[0104] In some technical solutions, the self-moving device further comprises a body; the collision sensing component and the inertia sensing component are arranged on the body.

[0105] In some technical solutions, the collision sensing component comprises: a first collision sensor and a second collision sensor, which are arranged on two sides of the body, respectively.

[0106] Additional aspects and advantages of the present application will become apparent from the following description with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0107] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0108] FIG. 1 shows one of flow diagrams of a control method of a self-moving device according to some embodiments of the present application;

[0109] FIG. 2 shows one of driving diagrams of a self-moving device according to some embodiments of the present application;

[0110] FIG. 3 shows another of driving diagrams of a self-moving device according to some embodiments of the present application;

[0111] FIG. 4 shows a third of driving diagrams of a self-moving device according to some embodiments of the present application;

[0112] FIG. 5 shows a fourth of driving diagrams of a self-moving device according to some embodiments of the present application;

[0113] FIG. 6 shows one of schematic block diagrams of a control apparatus of a self-moving device according to some embodiments of the present application;

[0114] FIG. 7 shows a structural schematic diagram of a self-moving device according to some embodiments of the present application;

[0115] Figure 8 shows a flowchart of a control method of a self-moving device according to some embodiments of the present application;

[0116] Figure 9 shows a structural diagram of a self-moving device according to some embodiments of the present application;

[0117] Figure 10 shows a schematic block diagram of a control device of a self-moving device according to some embodiments of the present application;

[0118] Figure 11 shows a schematic block diagram of a control device of a self-moving device according to some embodiments of the present application;

[0119] Figure 12 shows a flowchart of a control method of a self-moving device according to some embodiments of the present application;

[0120] Figure 13 shows a flowchart of a control method of a self-moving device according to some embodiments of the present application;

[0121] Figure 14 shows a flowchart of a control method of a self-moving device according to some embodiments of the present application;

[0122] Figure 15 shows a flowchart of a control method of a self-moving device according to some embodiments of the present application;

[0123] Figure 16 shows a flowchart of a control method of a self-moving device according to some embodiments of the present application;

[0124] Figure 17 shows a flowchart of a self-moving device according to some embodiments of the present application;

[0125] Figure 18 shows a schematic diagram of a control method of a self-moving device according to some embodiments of the present application;

[0126] Figure 19 shows a schematic diagram of a control method of a self-moving device according to some embodiments of the present application;

[0127] Figure 20 shows a schematic diagram of a control method of a self-moving device according to some embodiments of the present application;

[0128] Figure 21 shows a schematic diagram of a control method of a self-moving device according to some embodiments of the present application;

[0129] Figure 22 shows a schematic diagram of a control method of a self-moving device according to some embodiments of the present application;

[0130] Figure 23 shows a curve diagram of distance information in a control method of a self-moving device according to some embodiments of the present application;

[0131] Figure 24 shows a schematic block diagram of a control device of a self-moving device according to some embodiments of the present application;

[0132] FIG. 25 shows a structural block diagram of a self-moving device according to some embodiments of the present application;

[0133] FIG. 26 shows a schematic block diagram of a control device of a self-moving device according to some embodiments of the present application.

[0134] The reference signs in FIG. 2, FIG. 3, FIG. 4, FIG. 5, FIG. 7, FIG. 9, FIG. 18, FIG. 19, FIG. 20, FIG. 21 and FIG. 22 are as follows:

[0135] 300 self-moving device, 310 body, 320 collision sensing component, 322 first collision sensor, 324 second collision sensor, 340 inertial sensing component, 350 image acquisition device, 360 pressure sensor, 370 laser radar, 380, 384 obstacle, 390 local map. DETAILED DESCRIPTION

[0136] In order to enable a clearer understanding of the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the features in the embodiments and examples can be combined with each other as long as they do not conflict.

[0137] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0138] The control method of a self-moving device, the control device of a self-moving device, the readable storage medium and the self-moving device according to some embodiments of the present application are described below with reference to FIG. 1 to FIG. 26.

[0139] According to a first aspect of the present application, a control method of a self-moving device is provided, applied to a self-moving device, the self-moving device comprising a collision sensing component, the collision sensing component being configured to generate an obstacle signal, the control method comprising: obtaining the obstacle signal during execution of a task by the self-moving device; and controlling a driving mode of the self-moving device based on the obstacle signal.

[0140] In this technical solution, the control method of a self-moving device is applied to a self-moving device, the self-moving device comprising a collision sensing component, the collision sensing component being configured to generate an obstacle signal, the self-moving device obtaining the obstacle signal during execution of a task, and controlling a driving mode of the self-moving device based on the obstacle signal, thereby reducing the influence of the obstacle on the self-moving device.

[0141] According to one embodiment of the present application, Fig. 1 shows a flowchart of a control method of a self-moving device provided in some embodiments of the present application. As shown in Fig. 1, a control method of a self-moving device is proposed, which is applied to a self-moving device, the self-moving device comprising a collision sensing component for triggering a collision signal, the control method of the self-moving device comprising:

[0142] Step 102, controlling the self-moving device to rotate in a first rotation direction;

[0143] In this embodiment, the self-moving device is provided with a collision sensing component for triggering a collision signal, the collision sensing component is arranged on the body of the self-moving device, and the collision sensing component can trigger a collision signal when the self-moving device collides, so as to prompt the self-moving device to collide.

[0144] Exemplarily, the collision sensing component can be a collision plate sensor.

[0145] Fig. 2 shows one of the driving schematic diagrams of a self-moving device provided in some embodiments of the present application. As shown in Fig. 2, the self-moving device 300 is a square self-moving device, and when the self-moving device 300 drives to the end of the low and narrow obstacle 380, the self-moving device 300 will turn around and drive. Due to the interference of the obstacle 380, the self-moving device 300 cannot rotate, and at this time, it is determined that the self-moving device 300 is in a trapped state.

[0146] Step 104, in the process that the self-moving device rotates in the first rotation direction, when a first collision signal is acquired, controlling the self-moving device to rotate in a second rotation direction;

[0147] In this embodiment, when the self-moving device is in a trapped state, the self-moving device is first controlled to rotate in a first rotation direction, and in the process that the self-moving device rotates in the first rotation direction, whether the collision sensing component acquires a first collision signal is continuously monitored.

[0148] It should be noted that the collision sensing component comprises a first collision sensor arranged on one side of the self-moving device and a second collision sensor arranged on the other side of the self-moving device. When the self-moving device rotates in the first rotation direction, since the self-moving device is in a trapped state, the first collision sensor will trigger a first collision signal in the rotating process of the self-moving device. After the first collision signal is triggered in the process that the self-moving device rotates in the first rotation direction, it is determined that the self-moving device is still in a trapped state, and the self-moving device is controlled to rotate in a second rotation direction.

[0149] Step 106, in the process that the self-moving device rotates in the second rotation direction, when a second collision signal is acquired, controlling the self-moving device to rotate in the first rotation direction to a target heading angle;

[0150] In this embodiment, when the self-moving device rotates along the second rotating direction, the self-moving device acquires a second collision signal triggered by the second collision sensor, and then it is determined that the self-moving device is still in the trapped state. At this time, the self-moving device is controlled to rotate again along the first rotating direction until a target heading angle is reached, which is the trapped-escape heading angle.

[0151] Step 108: Control the self-moving device to move along the target moving direction.

[0152] It should be noted that the target moving direction of the self-moving device can be a forward direction or a backward direction.

[0153] For example, when the self-moving device is trapped in a forward moving state, the target moving direction can be the backward direction of the self-moving device. When the self-moving device is trapped in a backward moving state, the target moving direction can be the forward direction of the self-moving device.

[0154] In this embodiment, during the rotation of the self-moving device along the first rotating direction, if the self-moving device collides with the obstacle, the collision sensing component can trigger a first collision signal, and at this time, the self-moving device records a first heading angle at which the first collision signal is triggered. During the rotation of the self-moving device along the second rotating direction, if the self-moving device collides with the obstacle, the collision sensing component can trigger a second collision signal, and at this time, the self-moving device records a second heading angle at which the second collision signal is triggered. When the self-moving device rotates to the target heading angle, the backward direction of the self-moving device matches the central axis of the channel formed by the obstacle, and at this time, the self-moving device can move along the target moving direction corresponding to the target heading angle to move away from the obstacle. In particular, for a square self-moving device, the above method has excellent trapped-escape effect.

[0155] FIG. 3 shows a second moving schematic diagram of a self-moving device provided in some embodiments of the present application. As shown in FIG. 3, when the self-moving device 300 rotates to the target heading angle θ3, the self-moving device 300 is controlled to move along the target moving direction C to move away from the obstacle. For example, the first rotating direction is counterclockwise, the first collision sensor is arranged on the left side of the self-moving device, the second rotating direction is clockwise, and the second collision sensor is arranged on the right side of the self-moving device.

[0156] For example, the first rotating direction is clockwise, the first collision sensor is arranged on the right side of the self-moving device, the second rotating direction is counterclockwise, and the second collision sensor is arranged on the left side of the self-moving device.

[0157] In this embodiment, by arranging the first collision sensor and the second collision sensor on two sides of the self-moving device respectively, the self-moving device can accurately control the switching of the self-moving device to rotate in the second rotation direction based on the first collision signal triggered by the first collision sensor during the rotation in the first rotation direction, thereby avoiding the self-moving device from continuing to rotate after the collision and improving the timeliness of the self-moving device switching the rotation direction.

[0158] In the embodiments of the present application, when the self-moving device is trapped in a low and narrow environment, the self-moving device is controlled to rotate in the first rotation direction and the second rotation direction in turn, and the target heading angle in the process of the self-moving device escaping from the trap is determined during the rotation, so that the self-moving device can rotate to the target heading angle and move in the target moving direction at the target heading angle, thereby enabling the self-moving device to escape from the trap. The present application enables the self-moving device to quickly and safely escape from the low and narrow trapped area, reduces the situation of the self-moving device being trapped, and improves the cleaning ability of the self-moving device in the narrow area.

[0159] In some embodiments, for example, after the self-moving device is controlled to move in the target moving direction, the control method of the self-moving device further includes:

[0160] In the case where the self-moving device moves in the target moving direction by a preset distance, the step of controlling the self-moving device to rotate in the first rotation direction is returned to the step of controlling the self-moving device to move in the target moving direction.

[0161] It should be noted that in the case where the self-moving device moves in the target moving direction by a preset distance, the steps of returning to the steps of 102 to 108 shown in FIG. 1 are performed.

[0162] In this embodiment, since the path of the channel formed by the obstacle may not be a straight path, the self-moving device may collide again when moving in the target moving direction according to the target heading angle. In order to reduce the possibility of collision of the self-moving device during the escape process, after the target heading angle is determined, the self-moving device moves in the target moving direction by a preset distance at a time, and the process of rotating in the first rotation direction and the second rotation direction to determine the target heading angle is returned. After the target heading angle is updated, the self-moving device continues to move in the target moving direction by a preset distance, the above operation steps are repeated, and whether the self-moving device reaches the escape condition is continuously monitored. If the escape condition is reached, it is determined that the self-moving device escapes successfully.

[0163] For example, the preset distance is in the range of 100 mm to 200 mm.

[0164] Figure 4 shows a third driving schematic of the self-moving device provided in some embodiments of the present application. As shown in Figures 3 and 4, after the self-moving device 300 backs up by a preset distance L1, the self-moving device 300 returns to perform rotation in the first rotation direction A. The target heading angle θ3 is updated during rotation, and the self-moving device is driven again by a preset distance L1 according to the target heading angle until the escape is completed.

[0165] In the embodiments of the present application, after the self-moving device drives by a preset distance in the target driving direction at the target heading angle, the self-moving device returns to perform the step of controlling the self-moving device to rotate in the first rotation direction and the second rotation direction, so as to update the target heading angle, and continues to drive in the target driving direction based on the updated target heading angle until the escape is completed. This realizes continuous updating of the target heading angle, and improves the escape efficiency of the self-moving device.

[0166] In some embodiments, for example, the control method of the self-moving device further includes:

[0167] In the case where the rotation angle of the self-moving device rotating in the first rotation direction reaches the angle threshold and the first collision signal is not triggered, the self-moving device is controlled to drive according to the target driving path;

[0168] In the case where the rotation angle of the self-moving device rotating in the second rotation direction reaches the angle threshold and the second collision signal is not triggered, the self-moving device is controlled to drive according to the target driving path.

[0169] In this embodiment, in the case where the self-moving device performs rotation in the first rotation direction or in the second rotation direction, in the case where the rotation angle of the self-moving device rotating in the first rotation direction reaches the angle threshold and the first collision signal is not triggered, it is determined that the self-moving device has entered the escape state, or the self-moving device rotates in the first rotation direction until the first collision signal is triggered, and in the case where the rotation angle of the self-moving device rotating in the second rotation direction reaches the angle threshold and the second collision signal is not triggered, it is determined that the self-moving device has entered the escape state.

[0170] Specifically, the self-moving device finds the target heading angle, drives by a preset distance in the target driving direction after rotating to the target heading angle, and repeats the above steps. In the process of finding the target heading angle, the self-moving device rotates in the first rotation direction and the second rotation direction in turn, and in the case where the rotation angle of the self-moving device rotating in the first rotation direction or in the second rotation direction reaches the angle threshold, it is determined that the self-moving device has escaped the function, and at this time the self-moving device can continue to drive normally.

[0171] In the embodiments of the present application, when the rotation angle of the self-moving device rotating in the first rotation direction or the second rotation direction reaches the angle threshold value during the process of rotating to find the target heading angle in the first rotation direction and the second rotation direction, it is determined that the self-moving device successfully escapes from the predicament. By combining the process of finding the target heading angle with the process of determining whether the self-moving device successfully escapes from the predicament, the step of separately setting the escape success detection is realized, and the accuracy of the escape success detection is also ensured.

[0172] In some embodiments, after controlling the self-moving device to move along the target moving path, the method further includes:

[0173] acquiring and storing target trajectory information and / or target position information,

[0174] The target trajectory information includes at least one of the following: a rotation trajectory in the first rotation direction, a rotation trajectory in the second rotation direction, and a moving trajectory in the target moving direction.

[0175] The target position information includes at least one of the following: a rotation position in the first rotation direction, a rotation position in the second rotation direction, and a moving position in the target moving direction.

[0176] In this embodiment, after the self-moving device moves along the target moving path to escape from the predicament, the self-moving device acquires and stores target trajectory information and / or target position information, the target trajectory information includes the moving trajectory of the self-moving device during the escape moving process, and the target position information includes the moving position of the self-moving device during the escape moving process.

[0177] In the embodiments of the present application, by acquiring and storing at least one of the target trajectory information and the target position information, the self-moving device can record the trapped position and the escape trajectory, so as to avoid the self-moving device entering the trapped position again during the next moving process.

[0178] In some embodiments, the self-moving device includes an inertial sensing component, and the inertial sensing component is configured to collect the heading angle of the self-moving device.

[0179] Before controlling the self-moving device to rotate in the first rotation direction to the target heading angle, the control method of the self-moving device further includes:

[0180] acquiring a first heading angle of the self-moving device corresponding to the first collision signal, and acquiring a second heading angle of the self-moving device corresponding to the second collision signal;

[0181] determining the target heading angle according to the first heading angle and the second heading angle.

[0182] In this embodiment, the self-moving device is also equipped with an inertial sensing component for acquiring the attitude of the self-moving device. The inertial sensing component can continuously acquire the attitude of the self-moving device to determine its current heading angle. During travel, the self-moving device can determine whether it is in a trapped state based on the collision signal triggered by the collision sensing component and the heading angle acquired by the inertial sensing component.

[0183] For example, the inertial sensing component may be an IMU (Inertial Measurement Unit) sensor.

[0184] In this embodiment, when the self-moving device is detected to be trapped, the self-moving device is controlled to rotate in the first rotation direction and the second rotation direction in sequence. During the rotation of the self-moving device, the inertial sensing component continuously records the heading angle of the self-moving device.

[0185] In this embodiment, if the self-moving device collides with an obstacle while rotating along a first rotation direction, the collision sensing component can trigger a first collision signal. At this time, the self-moving device records a first heading angle when the first collision signal is triggered. If the self-moving device collides with an obstacle while rotating along a second rotation direction, the collision sensing component can trigger a second collision signal. At this time, the self-moving device records a second heading angle when the second collision signal is triggered.

[0186] In this embodiment, after the self-moving device obtains the first heading angle that triggers the first collision signal and the second heading angle that triggers the second collision signal, the target heading angle can be determined based on the first heading angle and the second heading angle.

[0187] In this embodiment of the application, when the self-moving device rotates along the first rotation direction and triggers the first collision signal, the first heading angle is obtained; when the self-moving device rotates along the second rotation direction and triggers the second collision signal, the second heading angle is obtained. The target heading angle can be determined by the first heading angle and the second heading angle, thereby improving the success rate of the self-moving device getting out of trouble along the target driving direction.

[0188] In some embodiments, exemplarily, obtaining the first heading angle of the self-moving device corresponding to the first collision signal and obtaining the second heading angle of the self-moving device corresponding to the second collision signal includes:

[0189] When the first collision sensor triggers the first collision signal, the self-moving device is controlled to stop rotating, and the first heading angle collected by the inertial sensing component is acquired.

[0190] When the second collision sensor triggers the second collision signal, the self-moving device is controlled to stop rotating, and the second heading angle collected by the inertial sensing component is acquired.

[0191] In this embodiment, when the self-moving device receives a first collision signal triggered by the first collision sensor while rotating along the first rotation direction, it is determined that a collision has occurred, meaning the self-moving device can no longer rotate along the first rotation direction. At this point, a first heading angle is recorded, representing the maximum angle the self-moving device can rotate along the first rotation direction. Similarly, when the self-moving device receives a second collision signal triggered by the second collision sensor while rotating along the second rotation direction, it is determined that a collision has occurred, meaning the self-moving device can no longer rotate along the second rotation direction. At this point, a second heading angle is recorded, representing the maximum angle the self-moving device can rotate along the second rotation direction.

[0192] Figure 5 illustrates a fourth of the driving schematic diagrams of the self-moving device provided in some embodiments of this application. As shown in Figures 2 and 5, the self-moving device 300 first rotates along a first rotation direction A until it collides with the obstacle 380. At this time, the collision sensing component triggers a first collision signal and records a first heading angle θ1. After the self-moving device 300 obtains the first collision signal, it then rotates along a second rotation direction B until it collides with the obstacle 380 again. At this time, the collision sensing component triggers a second collision signal and records a second heading angle θ2.

[0193] Specifically, the inertial sensing component continuously monitors the heading angle of the self-moving device. When the self-moving device acquires the first collision signal, it determines the heading angle monitored at this time as the first heading angle. When the self-moving device acquires the second collision signal, it determines the heading angle monitored at this time as the second heading angle.

[0194] In this embodiment, the self-moving device can acquire a first heading angle and a second heading angle through a collision sensing component and an inertial sensing component, thereby improving the accuracy of the acquired first heading angle and second heading angle. The first heading angle and the second heading angle represent the maximum angle that the self-moving device can rotate along the first direction and the second direction, respectively. Based on the first heading angle and the second heading angle, the target heading angle for the self-moving device to get out of trouble can be determined, thereby improving the accuracy of the subsequent self-moving device to get out of trouble.

[0195] In some embodiments, exemplarily, determining the target heading angle based on a first heading angle and a second heading angle includes:

[0196] The target heading angle is determined by averaging the first and second heading angles.

[0197] In this technical solution, since the first heading angle is the maximum heading angle that the self-moving device can rotate along the first rotation direction, and the second heading angle is the maximum heading angle that the self-moving device can rotate along the second rotation direction, the average value of the first heading angle and the second heading angle is taken as the target heading angle, and the self-moving device is controlled to rotate to the target heading angle and then travel along the target driving direction, so that the self-moving device can get out of trouble smoothly.

[0198] For example, the expression (1) for the target heading angle is as follows:

[0199] θ3=(θ1+θ2) / 2;(1)

[0200] Where θ3 is the target heading angle, θ1 is the first heading angle, and θ2 is the second heading angle.

[0201] In the technical solution of this application, by calculating the average of the first heading angle and the second heading angle collected by the inertial sensing component, the target heading angle of the self-moving device during the traction driving process can be determined, which improves the accuracy of the heading angle of the self-moving device in traction driving and improves the traction efficiency.

[0202] In some embodiments, exemplarily, before controlling the self-moving device to rotate along the first rotation direction, the control method for the self-moving device further includes:

[0203] When the collision sensing component triggers a third collision signal, the current angular velocity of the mobile device is obtained;

[0204] If the current angular velocity is less than the first angular velocity threshold and the preset angular velocity of the self-moving device is greater than the second angular velocity threshold, the self-moving device is determined to be in a trapped state.

[0205] Among them, the first angular velocity threshold is less than the second angular velocity threshold.

[0206] In this embodiment, when the self-moving device receives a third collision signal triggered by the collision sensing component, the inertial sensing component continuously collects sensing signals, thus directly acquiring the current angular velocity of the self-moving device. This current angular velocity is the angular velocity generated during the actual driving process of the self-moving device. At this time, the preset angular velocity of the self-moving device is read; this preset angular velocity is the angular velocity set by the self-moving device in the current driving program. If it is determined that the current angular velocity is less than a first angular velocity threshold and the preset angular velocity is greater than a second angular velocity threshold, then it is determined that the actual current angular velocity of the self-moving device is lower than the preset angular velocity in the driving program, and therefore the self-moving device is determined to be in a trapped state.

[0207] For example, the first angular velocity threshold ranges from 0.5 rad / s to 2 rad / s, and the second angular velocity threshold ranges from 3 rad / s to 5 rad / s. Specifically, for example, when the self-moving device receives a third collision signal, and the current angular velocity of the self-moving device is 0, and the preset angular velocity is 5 rad / s, then the self-moving device is determined to be in a trapped state.

[0208] It should be noted that the collision sensing component includes multiple collision sensors distributed on the side wall of the self-moving device. If any one of the multiple collision sensors triggers a collision signal, that collision signal is identified as the third collision signal.

[0209] In this embodiment, the self-moving device can determine whether it is in a trapped state based on the third collision signal triggered by the collision sensing component and the current angular velocity collected by the inertial sensing component, thereby improving the accuracy of determining whether the self-moving device is in a trapped state and enabling the self-moving device to perform subsequent extrication actions in a timely manner.

[0210] As shown in Figures 2, 3, 4 and 5, in some embodiments, for example, when the collision sensing component of the self-moving device 300 triggers a third collision signal, and the angular velocity of the self-moving device 300 determined by the inertial sensing component is almost 0 and lasts for N seconds, it is determined that the current machine is trapped in a low and narrow area, and a low and narrow area escape action is performed. When the self-moving device 300 is detected to be trapped, it first rotates the machine in the first rotation direction (counterclockwise) until the first collision signal is triggered, and records the first heading angle θ1 at the trigger time of the first collision signal. Then it rotates in the second rotation direction (clockwise) until the second collision signal is triggered, and records the second heading angle θ2 at the trigger time of the second collision signal. The target heading angle is calculated as θ3 = (θ1 + θ2) / 2. The machine rotates in the first rotation direction (counterclockwise) to the target heading angle θ3. At this time, the machine is in the central position of the low and narrow area. It moves back a preset distance (selected as 150mm) and repeats the above steps. If the machine rotates in the first rotation direction or the second rotation method to the angle threshold (selected as 90 degrees) and the collision sensing component of the self-moving device 300 still does not trigger, the machine is considered to have successfully escaped the trap and switches to normal cleaning.

[0211] Figure 7 shows a schematic diagram of the structure of the self-moving device provided in some embodiments of this application. As shown in Figure 7, in some embodiments, the self-moving device 300, by way of example, also includes a body 310; a collision sensing component 320 and an inertial sensing component 340 are disposed on the body 310.

[0212] In this embodiment of the application, a collision sensing component 320 is provided on the body 310 of the self-moving device 300. The collision signal triggered by the collision sensing component 320 can determine whether the self-moving device 300 has collided. Furthermore, an inertial sensing component 340 is also provided on the body 310 of the self-moving device 300. The inertial sensing component 340 can collect the heading angle and angular velocity of the self-moving device.

[0213] In some embodiments, the collision sensing component 320 includes, exemplarily, a first collision sensor 322 and a second collision sensor 324, respectively disposed on both sides of the body 310.

[0214] In this embodiment, the collision sensing component 320 includes a first collision sensor 322 and a second collision sensor 324 respectively disposed on both sides of the body 310. The first collision sensor 322 and the second collision sensor 324 can detect collisions that occur to the self-moving device 300 in different directions.

[0215] According to one embodiment of this application, Figure 8 shows a second schematic flowchart of a control method for a self-moving device provided in some embodiments of this application. As shown in Figure 8, a control method for a self-moving device is proposed, including:

[0216] Step 802: If there is a first obstacle on the first cleaning path, obtain the initial position of the first obstacle;

[0217] In this embodiment, the first cleaning path is a cleaning path planned by the self-moving device. During normal operation of the self-moving device, the self-moving device travels along the first cleaning path and controls the cleaning components of the self-moving device to clean the areas it passes through.

[0218] For example, the self-moving device is equipped with sensors such as LiDAR, image sensor, and infrared sensor. These sensors can create an environmental map and plan a first cleaning path based on the environmental map.

[0219] In this embodiment, when the self-moving device is traveling on the first cleaning path, it can identify objects present on the first cleaning path. When it is determined that a first obstacle is located on the first cleaning path during the travel along the first cleaning path, the initial position of the first obstacle is obtained, and the target position that the first obstacle can move to is planned.

[0220] For example, the self-moving device is equipped with an image sensor, which collects environmental images around the first cleaning path and identifies whether there is a first obstacle on the first cleaning path through image recognition.

[0221] In this embodiment, the first obstacle is a movable obstacle.

[0222] For example, the first obstacle can be an obstacle that can be pushed by the self-moving device, such as a trash can, shoes, a soccer ball, or a cardboard box.

[0223] Step 804: If the first obstacle is in a movable state, output the first prompt message;

[0224] In this embodiment, when the first obstacle is determined to be a movable obstacle, the self-moving device needs to determine whether the first obstacle can be pushed. If the first obstacle is in a movable state, a first prompt message is output. The first prompt message is used to prompt the user that the first obstacle on the first cleaning path is movable.

[0225] For example, the first prompt information includes prompt information transmitted from the mobile device to the user terminal, and the user can view the first prompt information through the user terminal and respond to the first prompt information through the user terminal.

[0226] In this embodiment, the first prompt information includes graphic and textual information, wherein the first prompt information includes textual prompt information and obstacle image information of the first obstacle, and the user can determine whether to push the first obstacle through the first prompt information.

[0227] It should be noted that since the first obstacle may be a fragile item or other special item, when the first obstacle is detected to be a pushable obstacle and is in a movable state, a first prompt message is output to ask the user whether to move the first obstacle.

[0228] Step 806: Upon receiving the first response information, control the self-moving device to push the first obstacle to the target position according to the first pushing path, and control the self-moving device to perform cleaning according to the second cleaning path, the second cleaning path passing through the initial position;

[0229] In this embodiment, the first response information is the response information transmitted by the user to the self-moving device based on the first prompt information, and the self-moving device is controlled to push the first obstacle through the first response information.

[0230] Specifically, when the self-moving device receives the first response information, it determines that the user needs to move the first obstacle and controls the self-moving device to travel along the first pushing path. Since the first pushing path passes through the initial position and the target position of the first obstacle, the self-moving device can push the first obstacle from the initial position to the target position.

[0231] It should be noted that while the algorithm identifies the first obstacle as a shovelable obstacle, discrepancies may arise between the actual situation of the obstacle and the algorithm's calculations. That is, although the first obstacle may be shovelable, the mobile device may be unable to move it due to environmental factors. Upon determining that the first obstacle is shovelable and receiving the first response information from the user based on the first prompt, the corresponding pushing operation is performed. This avoids the mobile device from ineffectively pushing the first obstacle for an extended period, thus improving the safety and stability of the mobile device's operation.

[0232] In this embodiment, the self-moving device can replan the cleaning path based on the initial position of the first obstacle before it moves and the target position of the first obstacle after it moves, thus obtaining a corresponding second cleaning path. After the self-moving device pushes the first obstacle to the target position, it is controlled to clean according to the replanned second cleaning path. Since the second cleaning path passes through the initial position of the first obstacle before it moves, the self-moving device can clean the initial position of the first obstacle before it moves.

[0233] For example, when the mobile device moves to the vicinity of the initial position, it gently pushes the first obstacle. If the first obstacle is displaced by the push, it is determined that the first obstacle is in a movable state, and the process of pushing the first obstacle to the target position continues. If the first obstacle is not displaced by the push, it is determined that the first obstacle is in a non-movable state, and the process of pushing the first obstacle stops.

[0234] Step 808: Upon receiving the second response information, control the self-moving device to clean according to the third cleaning path, the third cleaning path not passing through the initial position of the first obstacle;

[0235] In this embodiment, the first response information and the second response information are response information to the first prompt information. The second response information is used to indicate that the self-moving device does not need to move the first obstacle. When the self-moving device receives the second response information, it determines that it does not need to move the first obstacle on the first cleaning path. Based on the initial position of the first obstacle, the self-moving device replans and obtains a third cleaning path. This third cleaning path is a detour path for the self-moving device to avoid the first obstacle. That is, when the self-moving device cleans according to the third cleaning path, it will not pass through the initial position of the first obstacle.

[0236] For example, the second response information may include response information directly transmitted by the user to the self-moving device via an external control device such as a terminal, or response information generated by the self-moving device if it does not receive the first response information sent by the external control device within a preset time period. Specifically, for example, if the user sends a control command to push the first obstacle via a mobile application, this control command serves as the first response information. If the user does not send a control command to push the first obstacle within 10 minutes, the self-moving device automatically generates a detour control command, which serves as the second response information.

[0237] It should be noted that when the first obstacle is in a movable state, but the user does not need to control the self-moving device to move the first obstacle, the user transmits a second response information to the self-moving device. When the self-moving device receives the second response information, it determines that the user does not need the self-moving device to move the first obstacle. At this time, the self-moving device replans a third cleaning path based on the initial position of the first obstacle. The replanned third cleaning path will not pass through the initial position of the first obstacle, thus realizing the self-moving device's bypass cleaning of the initial position of the first obstacle.

[0238] In this embodiment, when the mobile device detects a first obstacle that can be pushed by the mobile device on a pre-planned first cleaning path, the mobile device can extract the initial position of the first obstacle and plan the target position that the first obstacle can move to. When the mobile device determines that the first obstacle is movable, it outputs a first prompt message to the user, indicating that the first obstacle can be moved by the mobile device, allowing the user to choose whether to move the first obstacle according to actual needs. When the user needs to move the first obstacle, it transmits a first response message to the mobile device, enabling the mobile device to push the first obstacle to the target position according to the first pushing path based on the first response message, and clean the initial position based on the replanned second cleaning path. When the user does not need to move the first obstacle, it transmits a second response message to the mobile device, enabling the mobile device to replan a third cleaning path based on the second response message, and bypass the initial position of the first obstacle through the third cleaning path. This application enables users to choose whether to remove a movable first obstacle from the first cleaning path according to their actual needs when such an obstacle exists. After removing the first obstacle, the self-moving device can clean areas that were previously inaccessible due to the presence of the first obstacle, thereby improving the cleaning coverage and cleaning efficiency, as well as enhancing the flexibility of the self-moving device.

[0239] In some embodiments, exemplarily, before controlling the self-moving device to clean according to the third cleaning path after receiving the second response information, the method further includes:

[0240] Based on the fact that the self-moving device did not receive the first response information within a preset time period, it is determined that the self-moving device has received the second response information.

[0241] In this embodiment, the first response information is used to instruct the self-moving device to move the first obstacle, and the second response information is used to instruct the self-moving device not to move the first obstacle. If the user does not send the first response information to the self-moving device within a preset time period, it is determined that the self-moving device has received the second response information.

[0242] Specifically, when the self-moving device determines that a first obstacle exists on the first cleaning path and that the first obstacle is movable, it outputs a first prompt message and starts timing. If the self-moving device receives a first response message within a preset time, it determines that the user needs the self-moving device to move the obstacle. If the self-moving device does not receive the first response message within the preset time, it determines that a second response message has been obtained, meaning that the user does not need the self-moving device to move the first obstacle.

[0243] For example, the preset duration ranges from 2 minutes to 10 minutes.

[0244] In this embodiment of the application, the self-moving device can start timing after outputting the first prompt information. If the first response information is not obtained within a preset time, it is determined that the user does not need to push the first obstacle at this time, so that the user can choose whether to move the first obstacle according to actual needs. When the user does not need to move the first obstacle, the self-moving device can control the self-moving device to perform subsequent cleaning steps without performing any operation.

[0245] In some embodiments, for example, the first push path passes through the initial position and the target position.

[0246] In this embodiment, the first pushing path is the path traveled by the self-moving device when moving the first obstacle. Setting the first pushing path as the initial position and target position of the first obstacle enables the self-moving device to move the first obstacle from the initial position to the target position during travel. In some embodiments, exemplarily, the self-moving device includes an image acquisition device, which, before acquiring the initial position of the first obstacle when there is a first obstacle on the first cleaning path, further includes:

[0247] While the self-moving device is traveling along the first cleaning path, environmental images corresponding to the first cleaning path are captured by the image acquisition device.

[0248] If the environmental image is found to include a first image feature, it is determined that a first obstacle exists on the first cleaning path, and the first image feature corresponds to the first obstacle.

[0249] In this embodiment, the self-moving device is equipped with an image acquisition device, which enables the self-moving device to acquire environmental images along its travel path. Specifically, during the self-moving device's cleaning journey along a pre-planned first cleaning path, the self-moving device controls the image acquisition device to acquire images of the area around the self-moving device, thereby obtaining environmental images of the area surrounding the first cleaning path.

[0250] For example, the image acquisition device may be a camera, which is mounted on a mobile device and captures images of the surrounding environment in real time along the first cleaning path.

[0251] In this embodiment, the self-moving device can perform image processing on the environmental image and extract the first image feature in the environmental image through an image recognition algorithm. When the first image feature is extracted, it is determined that there is a first obstacle on the first cleaning path that can be pushed by the self-moving device.

[0252] For example, the self-moving device is equipped with a pre-trained image recognition model, which is a trained deep learning network, enabling the self-moving device to classify obstacles appearing in environmental images. The image recognition model can extract obstacle features on the first cleaning path and classify the obstacle features, thereby distinguishing and determining whether there are first obstacles on the first cleaning path that can be pushed by the robot.

[0253] Figure 9 shows a schematic diagram of the structure of a self-moving device provided in some embodiments of this application. As shown in Figure 9, the self-moving device 300 includes a body 310 and an image acquisition device 350 disposed on the body 310.

[0254] In this embodiment, an image acquisition device is set on the self-moving device, and when the robot is moving on the first cleaning path, the image acquisition device on the self-moving device is controlled to acquire images of the surrounding environment. An image recognition algorithm is used to identify whether there is a first image feature in the environmental image. If the first image feature exists, the obstacle on the first cleaning path is determined to be a first obstacle that the self-moving device can push.

[0255] In some embodiments, exemplarily, after acquiring the environmental image corresponding to the first cleaning path while the self-moving device is traveling along the first cleaning path, the method further includes:

[0256] If the environmental image includes the second image feature, it is determined that there is a second obstacle on the first cleaning path. The second obstacle is an obstacle that the self-moving device cannot push, and the second obstacle corresponds to the second image feature.

[0257] The location of the second obstacle is determined based on the features of the second image;

[0258] The second cleaning path does not include the location of the second obstacle.

[0259] In this embodiment, after the self-moving device acquires an environmental image through an image acquisition device, it can perform image processing on the environmental image. An image recognition algorithm is used to identify and extract second image features from the environmental image. When the second image features are identified and extracted, it is determined that there is a second obstacle on the second cleaning path that cannot be pushed by the self-moving device. At this time, the self-moving device determines the location of the obstacle based on the second image features, and when planning the second cleaning path, it ensures that the replanned second cleaning path bypasses the obstacle location, thus avoiding a collision between the self-moving device and the second obstacle while cleaning according to the replanned second cleaning path.

[0260] For example, the second obstacle is an obstacle that the self-moving device cannot push, such as furniture like sofas, beds, and dining tables, as well as building structures like walls and pillars.

[0261] In this embodiment, after acquiring environmental images, the self-moving device can construct a corresponding environmental map based on the environmental images and plan a second cleaning path based on the environmental map, so that the second cleaning path can not only pass through the initial position and target position of the first obstacle, but also bypass the obstacle position of the second obstacle.

[0262] For example, the self-moving device is also equipped with a LiDAR. The self-moving device reads the LiDAR signal and, together with the environmental image, constructs an environmental map using SLAM (Simultaneous Localization and Mapping) technology. It then plans a second cleaning path based on the A* search algorithm (a heuristic search algorithm).

[0263] In this embodiment, the self-moving device can not only identify a first obstacle that can be pushed by the self-moving device on the first cleaning path, but also identify a second obstacle that cannot be pushed by the self-moving device on the first cleaning path, and plan a second cleaning path based on the obstacle position of the second obstacle to avoid the replanned second cleaning path passing through the second obstacle.

[0264] In some embodiments, exemplarily, obtaining the initial position of the first obstacle includes:

[0265] Determine the physical parameters of the first obstacle based on the environmental image;

[0266] An environmental map is constructed based on the environmental image, and the environmental map includes the first obstacle;

[0267] Determine the initial position based on the location information of the first obstacle in the environment map;

[0268] Based on the initial location and physical parameter information, determine the target location in the environmental map;

[0269] The physical parameter information includes at least one of the following: weight parameter information, volume parameter information, and shape parameter information.

[0270] In this embodiment, the self-moving device can also extract the physical parameter information of the first obstacle through an image recognition algorithm, that is, extract at least one of the volume and weight of the first obstacle. After the self-moving device constructs an environmental map based on the environmental image, it can determine the initial position of the first obstacle based on the constructed environmental map, and plan and determine the target position of the first obstacle according to the physical parameter information of the first obstacle and the constructed environmental map.

[0271] Specifically, the self-moving device reads LiDAR signals and, in conjunction with environmental images, constructs an environmental map using SLAM (Simultaneous Localization and Mapping) technology. The self-moving device can also analyze the environmental map to determine if there is sufficient space to move the object. Considering the robot's size and pushing ability, it assesses whether the object can be safely pushed to an open target location and whether the robot can return to its initial position from the moved object's location. The self-moving device also considers the physical parameters of the first obstacle, such as its weight, shape, and volume, as well as its ability and stability in pushing the first obstacle.

[0272] In this embodiment, the self-moving device constructs a corresponding environmental map through environmental images, thereby determining the initial position of the first obstacle that can be pushed by the self-moving device, and plans the target position to which the first obstacle needs to be pushed. In the planning process, the physical parameter information of the first obstacle is referenced to further ensure the stability and safety of the process of pushing the first obstacle.

[0273] In some embodiments, for example, determining the target location in the environmental map based on initial location and physical parameter information includes:

[0274] Based on the initial location and physical parameter information, a first propulsion path is planned in the environmental map. The endpoint of the first propulsion path is the target location, and the starting point of the first propulsion path is adjacent to the initial location.

[0275] In this embodiment, when the self-moving device is traveling along the first pushing path, the self-moving device can push the first obstacle from the initial position to the target position. Therefore, the starting point of the first pushing path is adjacent to the initial position of the first obstacle, and the ending point of the first pushing path is set at the target position.

[0276] In this embodiment, after constructing an environmental map based on environmental images, the self-moving device can plan a first pushing path in the newly constructed environmental map based on the initial position of the first obstacle and the physical parameter information of the first obstacle. By reconstructing the environmental map and planning the first pushing path to push the first obstacle in the newly constructed environmental map, this application can further ensure the stability and safety of the self-moving device pushing the first obstacle according to the first pushing path, ensuring that while moving the first obstacle, cleaning efficiency can be maximized and damage to objects or the self-moving device itself can be avoided.

[0277] In some embodiments, exemplarily, the process of controlling the self-moving device to perform cleaning according to the second cleaning path further includes:

[0278] The self-moving device is controlled to push the first obstacle to the initial position according to the second pushing path, wherein the second pushing path is a path planned based on the target position and the initial position.

[0279] In this embodiment, while planning the second cleaning path, the self-moving device also plans a second pushing path. The second pushing path instructs the robot to push the first obstacle back from the target position to the initial position. During the cleaning process along the second cleaning path, and after the self-moving device has completed cleaning the initial position of the first obstacle, it is controlled to follow the second pushing path to push the first obstacle back from the target position to the initial position, thus preventing the first obstacle from affecting the cleaning of the target position.

[0280] For example, after the self-moving device completes cleaning of the initial position, it is controlled to travel along the second pushing path to ensure that after the self-moving device completes cleaning of the initial position covered by the first obstacle, the first obstacle is pushed back to its original position in a timely manner to avoid the first obstacle affecting the subsequent cleaning process at the target position.

[0281] In this embodiment of the application, by planning a corresponding second pushing path in the second cleaning path, the self-moving device can promptly reset the first obstacle after it has been moved, further reducing the impact of the first obstacle on the overall cleaning process and improving cleaning efficiency.

[0282] In some embodiments, exemplarily, before controlling the self-moving device to push the first obstacle to the target position according to the first pushing path after obtaining the first response information, the control method of the self-moving device further includes:

[0283] Control the mobile device to move to the target pushing position, which is the starting position of the first pushing path;

[0284] Control the self-moving device to push the first obstacle at the target pushing position according to the preset thrust;

[0285] Based on the displacement of the first obstacle, it is determined that the first obstacle is in a movable state.

[0286] In this embodiment, before the self-moving device pushes the first obstacle, it is necessary to detect whether the first obstacle is in a movable state. During the detection process, the self-moving device is first controlled to move to a target pushing position adjacent to the initial position of the first obstacle. This target pushing position is the starting point of the first pushing path. Then, the self-moving device is controlled to apply a preset thrust to the first obstacle at the target pushing position, and it is detected whether the first obstacle has displaced. If the first obstacle has displaced, it is determined that the first obstacle is in a movable state.

[0287] For example, the self-moving device acquires an image of the first obstacle through an image acquisition device, and performs image recognition based on the first obstacle image to determine whether the first obstacle has been displaced.

[0288] For example, the self-moving device is equipped with a pushing mechanism, and a pressure sensor is provided on the pushing mechanism. The self-moving device pushes the first obstacle with a preset thrust through the pushing mechanism, and determines whether the first obstacle has been displaced based on the pressure signal collected by the pressure sensor.

[0289] In this embodiment, before the self-moving device starts pushing the first obstacle, it first tests whether the first obstacle is movable at the starting position of the first pushing path with a preset pushing force. If the first obstacle is movable, the subsequent pushing process is then executed, so as to avoid the cleaning robot being damaged due to the self-moving device forcibly pushing the first obstacle because the first obstacle cannot be moved.

[0290] In some embodiments, exemplarily, after controlling the self-moving device to push the first obstacle at the target pushing position with a preset thrust, the control method for the self-moving device further includes:

[0291] Since the first obstacle has not been displaced, stop pushing the first obstacle;

[0292] Plan the fourth cleaning path based on the initial position;

[0293] The self-moving device is controlled to clean according to the fourth cleaning path, which does not pass through the initial position.

[0294] In this embodiment, if the self-moving device pushes the first obstacle with a preset thrust and the first obstacle does not move, it is determined that the first obstacle is in an immovable state. At this time, the process of pushing the first obstacle according to the first pushing path is stopped, and a fourth cleaning path is replanned based on the initial position of the first obstacle. The fourth cleaning path detours around the first obstacle to avoid collision between the self-moving device and the immovable first obstacle.

[0295] In some embodiments, exemplarily, the self-moving device includes: a pressure sensor; and in the process of controlling the self-moving device to push the first obstacle to the target position along a first pushing path, the control method of the self-moving device further includes:

[0296] Acquire the pressure sensing signal collected by the pressure sensor;

[0297] Based on the pressure sensor signal, adjust the pushing force of the self-moving device on the first obstacle.

[0298] In this embodiment, the self-moving device is equipped with a pressure sensor. During the process of pushing the first obstacle, the self-moving device can continuously collect the resistance brought about by pushing the first obstacle through the pressure sensor. That is, the resistance to pushing the first obstacle can be determined based on the pressure sensing signal, and the pushing force of the self-moving device can be adjusted when the resistance is large.

[0299] For example, when the pressure value corresponding to the pressure sensing signal is greater than a first threshold, the pushing force of the self-moving device on the first obstacle is increased; when the pressure value corresponding to the pressure sensing signal is greater than a second threshold, the pushing force of the self-moving device on the first obstacle is stopped, wherein the first threshold is less than the second threshold. During the pushing process, if a pressure value greater than the first threshold is detected, it is determined that the resistance is high, but the self-moving device can still push the first obstacle; in this case, the pushing force is increased to push the first obstacle to the target position. During the pushing process, if a pressure value greater than the second threshold is detected, it is determined that the resistance is too high, and the self-moving device can no longer push the first obstacle; in this case, to ensure the safety of the self-moving device, the pushing force on the first obstacle is stopped.

[0300] As shown in Figure 9, the self-moving device 300 also includes a pressure sensor 360 and a lidar 370. The pressure sensor 360 is disposed on the body 310, and the lidar 370 is disposed on the top of the body 310. For example, the pressure sensor 360 is disposed in the front impact plate area of ​​the self-moving device 300.

[0301] In this embodiment, by setting a pressure sensor in the self-moving device and adjusting the pushing force applied by the self-moving device to the first obstacle using the pressure sensor signal collected by the pressure sensor, the pushing efficiency of the self-moving device to the first obstacle can be improved, while also ensuring the safety of the self-moving device during the pushing process.

[0302] In some embodiments, exemplarily, the self-moving device acquires environmental images via an image acquisition device, and based on the environmental images, identifies a shoe blocking the first cleaning path in the living room. Analyzing the spatial layout of the living room, an open area is found behind the sofa, and this open area is designated as the target location. The self-moving device gently pushes the shoe to the target location behind the sofa, ensuring that the shoe does not collide with other furniture during the movement. After cleaning, the robot at the target location pushes the shoe back to its original position, ensuring that the aesthetics of the living room are not affected.

[0303] In some embodiments, exemplarily, the self-moving device acquires environmental images via an image acquisition device, and based on the environmental images, identifies a trash can in the bedroom blocking the first cleaning path. Analyzing the bedroom's spatial layout, it finds an open area next to the trash can and identifies this open area as the target location. The self-moving device gently pushes the trash can to the target location, ensuring it doesn't bump into the bedside table during the movement. After cleaning, the robot pushes the trash can back to its original position, ensuring it doesn't affect the tidiness of the bedroom.

[0304] According to one embodiment of this application, Figure 12 shows a third schematic flowchart of a control method for a self-moving device provided in some embodiments of this application. As shown in Figure 12, the control method for the self-moving device includes:

[0305] Step 1202: Capture images of obstacles along the cleaning path in real time using a camera. Use a pre-trained deep learning network to categorize obstacles into moving and immovable objects.

[0306] Movable objects include shoes, trash cans, etc. Immovable objects include furniture, walls, etc.

[0307] Step 1204: Assess the necessity and feasibility of moving the object, and decide whether it is necessary to move the movable object. If it is necessary to move it, determine the push point, target location, and movement path of the movable object;

[0308] Step 1206: After controlling the self-moving device to move to the push point, apply a slight pushing force and detect the object's displacement change to further confirm whether it is movable. If the object moves under the slight push, it is determined to be a movable object, and the object is gently pushed to the target position according to the movement path;

[0309] Step 1208: If the object is gently pushed to the target position, the mobile device cleans the original position area of ​​the object.

[0310] Step 1210: After cleaning, determine the restoration path from the pushing point of the movable object to its original position;

[0311] Step 1212: Control the mobile device to move to the push point and gently push the object back to its original position along the recovery path.

[0312] According to one embodiment of this application, Figure 13 shows a fourth schematic flowchart of a control method for a self-moving device provided in some embodiments of this application. As shown in Figure 13, the control method for the self-moving device includes:

[0313] Step 1302: Obtain local map data of the obstacle area;

[0314] Step 1304: Based on the local map data, control the moving mechanism to sequentially perform arc-shaped movement in the first direction, turning in the second direction, and moving straight.

[0315] The execution subject of the control method for the self-moving device provided in this application can be the self-moving device itself, the processor within the self-moving device, or the control device of the self-moving device. It can also be determined according to actual usage requirements, and no specific limitation is made here. To more clearly describe the control method for the self-moving device provided in this application, the following description will use the control device of the self-moving device as the execution subject of the control method.

[0316] The control method for self-moving devices provided in this application is used to improve the robustness and success rate of obstacle avoidance for self-moving devices.

[0317] The aforementioned self-moving device is equipped with a moving mechanism, which can drive the self-moving device to rotate or move.

[0318] Furthermore, the aforementioned self-moving device may also be equipped with different sensors such as laser sensors and radar sensors. The control device of the self-moving device can detect whether there are obstacles in the forward direction of the self-moving device based on the sensing data detected by different sensors.

[0319] In practical applications, the aforementioned self-moving devices include, but are not limited to, sweeping machines, floor scrubbers, vacuum cleaners, and service robots, etc., without specific restrictions.

[0320] Specifically, in the control method for the self-moving device provided in this application, during the cleaning process of the self-moving device, when the control device detects an obstacle in the forward direction, the control device acquires local map data of the obstacle area in real time. Based on the acquired local map data, it controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in a first direction, turn in a second direction, and move straight, until the self-moving device leaves the obstacle area, triggers a new collision, or the movement trajectory of the self-moving device forms a closed loop. Thus, when the self-moving device encounters an obstacle during the cleaning process, it controls the self-moving device to perform obstacle avoidance actions based on the local map data of the obstacle area. This method is simple to calculate, reduces collisions with obstacles, improves the accuracy and comprehensiveness of obstacle avoidance, and enhances the robustness and success rate of obstacle avoidance for the self-moving device.

[0321] During the operation of the self-moving device, its control device maintains a fixed-size local map corresponding to the self-moving device in real time. For example, it maintains a fixed-size local map based on sensor data from the right side and the forward direction of the self-moving device. As shown in Figure 18, this local map 390 is represented by a two-dimensional grid. During operation, the control device stores the sensor data detected by each sensor on the self-moving device and the dynamic coordinate information of the self-moving device into the local map in real time. When the self-moving device encounters an obstacle during the cleaning task, its control device queries the local map at the current location of the self-moving device and, based on the acquired local map, controls the self-moving device to perform corresponding obstacle avoidance actions, enabling the self-moving device to successfully bypass the obstacle.

[0322] In other words, the control method for the self-moving device provided in this application utilizes the sensor data from the sensors mounted on the self-moving device. Through multi-frame accumulation, historical data observed by each sensor on the self-moving device is recorded, and the local map is updated in real time. This allows for real-time querying of the local map data of the self-moving device to assist in obstacle avoidance. This approach is compatible with different types of sensors, eliminates the need for complex calculations to achieve obstacle avoidance for the self-moving device, and improves its robustness and success rate in obstacle avoidance.

[0323] Furthermore, the first direction corresponds to the edge-following mode of the self-moving device. When the self-moving device is on the right edge, the first direction is right; when the self-moving device is on the left edge, the first direction is left. In practical applications, when the moving mechanism performs arc-shaped movement along the first direction, the first direction can be a variable direction, such as the direction of the tangent of the arc. No specific restrictions are imposed here.

[0324] Furthermore, the second direction described above is opposite to the first direction. The second direction corresponds to the edge-following mode of the self-device. When the self-device is on the right edge, the second direction is left, and when the self-device is on the left edge, the second direction is right. No specific restrictions are imposed here.

[0325] According to one embodiment of this application, Figure 14 shows a fifth schematic flowchart of a control method for a self-moving device provided in some embodiments of this application. As shown in Figure 14, the control method for the self-moving device includes:

[0326] Step 1402: Obtain local map data of the obstacle area.

[0327] Step 1404: Detect the angle range of obstacles blocking the self-moving device.

[0328] Step 1406: Using the center of the self-moving device as the rotation center, control the moving mechanism to drive the self-moving device to rotate in the second direction by a first angle.

[0329] Step 1408: Control the moving mechanism to drive the self-moving device straight until the distance between the center of the self-moving device and the obstacle is greater than the first threshold range.

[0330] Step 1410: Based on the local map data, control the moving mechanism to sequentially perform arc-shaped movement in the first direction, turning in the second direction, and moving straight.

[0331] The first angle is related to the angle range.

[0332] In this embodiment, before the control device of the self-moving device controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in the first direction, turn in the second direction, and straight movement, the control device of the self-moving device also detects the angle range within which obstacles can block the forward movement of the self-moving device based on a virtual collision algorithm. Then, with the center of the self-moving device as the rotation center, the control device controls the moving mechanism on the self-moving device to rotate, causing the self-moving device to rotate a first angle towards the second direction. The specific value of the first angle is related to the detected angle range. After the self-moving device rotates a first angle towards the second direction, its forward direction and the obstacle can be parallel. In this way, controlling the self-moving device to perform a preparatory action before controlling it to perform obstacle avoidance maneuvers facilitates the subsequent smooth execution of obstacle avoidance maneuvers, improving the accuracy and success rate of obstacle avoidance.

[0333] In this embodiment, as shown in Figure 21, after the control device of the self-moving device controls the rotating mechanism on the self-moving device 300 to rotate the self-moving device 300 in the second direction by a first angle, the control device also controls the rotating mechanism to move forward, so that the self-moving device 300 moves straight. During the forward movement of the rotating mechanism, the control device acquires local map data of the obstacle area in real time and calculates the distance between the obstacle 384 and the center of the self-moving device based on the acquired local map data. If the distance between the obstacle 384 and the center of the self-moving device exceeds a first threshold range, the control device stops the rotating mechanism from moving forward and starts the rotating mechanism to drive the self-moving device 300 to perform an obstacle avoidance maneuver. Thus, by controlling the self-moving device to move a certain distance away from the obstacle before performing the obstacle avoidance maneuver, the operating space of the self-moving device is increased, facilitating the subsequent smooth execution of the obstacle avoidance maneuver and improving the accuracy and success rate of obstacle avoidance.

[0334] The specific range of values ​​for the first threshold mentioned above can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0335] According to one embodiment of this application, Figure 15 shows a flowchart of a control method for a self-moving device provided in some embodiments of this application. The aforementioned moving mechanism may specifically include a first moving component and a second moving component. Based on this, step 1304 may specifically include:

[0336] Step 1502: Obtain local map data of the obstacle area

[0337] Step 1504: Based on local map data, determine the distance information between the self-moving device and the obstacle, and control the moving mechanism to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement based on the distance information.

[0338] Among them, advancing in an arc along the first direction includes using the first moving part as the rotation center and controlling the second moving part to drive the self-moving device to rotate toward the first direction until the distance information meets the first condition;

[0339] The second direction steering includes using the center of the self-moving device as the rotation center, and controlling the moving mechanism to drive the self-moving device to rotate in the second direction by a second angle;

[0340] Straight travel includes controlling the moving mechanism to drive the self-moving device to travel the first straight distance.

[0341] In this embodiment, the control device of the self-moving device dynamically determines the distance information between the obstacle and the self-moving device based on the acquired local map data. Further, the control device of the self-moving device then controls the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in a first direction, turning in a second direction, and straight-line movement based on the determined distance information, i.e., the dynamic distance between the obstacle and the self-moving device.

[0342] Specifically, the aforementioned moving mechanism may include a second moving component and a first moving component. The first moving component may specifically be the right wheel of the self-moving device, and the second moving component may specifically be the left wheel of the self-moving device.

[0343] Based on this, as shown in Figure 19, during the process of the self-moving device's control device controlling the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement along the first direction, the control device uses the first moving part of the self-moving device 300 as the rotation center and controls the second moving part of the self-moving device 300 to rotate, so that it drives the self-moving device 300 to rotate in the first direction. During the rotation of the self-moving device 300 in the first direction, the control device dynamically determines the distance information between the obstacle 384 and the self-moving device 300 based on real-time local map data of the obstacle area. When the distance information and its changes meet the set first condition, the control device controls the moving mechanism on the self-moving device 300 to pause the arc-shaped forward movement along the first direction and controls the moving mechanism to begin performing a turning movement in the second direction.

[0344] Specifically, as shown in Figure 20, during the process of the control device of the self-moving device controlling the moving mechanism on the self-moving device 300 to perform the second direction turning action, the control device of the self-moving device takes the center of the self-moving device as the rotation center and controls the moving mechanism on the self-moving device 300 to rotate, so that it drives the self-moving device 300 to rotate a second angle in the direction away from the obstacle 384, i.e., the second direction.

[0345] Furthermore, during the process of the control device of the self-moving device controlling the moving mechanism on the self-moving device to perform a straight movement, the control device of the self-moving device directly controls the moving mechanism to move forward so that it drives the self-moving device to travel a first distance in a straight line.

[0346] Thus, as shown in Figure 22, based on the dynamic distance between the obstacle 384 and the self-moving device 300, the moving mechanism on the self-moving device 300 is controlled to sequentially perform the actions of moving forward in an arc along the first direction, turning in the second direction, and moving straight, so that the self-moving device 300 can move forward around the obstacle 384 along a certain arc path, thereby successfully achieving obstacle avoidance.

[0347] The specific values ​​of the second angle and the first distance can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0348] In some embodiments of this application, the first condition is specifically defined as follows: during the process of the second moving component driving the self-moving device to rotate, the distance information shows a trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the distance information change curve is greater than the second threshold.

[0349] In this embodiment, the first condition can specifically be: during the process where the control device of the self-moving device takes the first moving part of the self-moving device as the rotation center and controls the second moving part of the self-moving device to rotate so that it drives the self-moving device to rotate in the first direction, the distance information between the obstacle and the self-moving device dynamically determined by the control device of the self-moving device shows a trend of first decreasing and then increasing, and the difference between the current distance information between the obstacle and the self-moving device and the minimum value of the distance information change curve (as shown in Figure 23) is greater than the set second threshold.

[0350] In other words, in the control method for the self-moving device provided in this application, during the rotation of the self-moving device towards the first direction, the control device of the self-moving device dynamically determines the distance information between the obstacle and the self-moving device based on real-time local map data of the obstacle area, and generates a distance information change curve. Based on this, if the distance information change curve shows a trend of first decreasing and then increasing with the rotation angle of the self-moving device, and if the difference between the current distance information between the obstacle and the self-moving device and the minimum value in the generated distance information change curve is greater than a set second threshold, the control device of the self-moving device determines that the moving mechanism has completed the arc-shaped forward movement along the first direction in this round, and controls the moving mechanism to begin executing the second-direction turning movement. Thus, by using the distance information between the obstacle and the self-moving device and its changes as the basis for switching between the arc-shaped forward movement along the first direction and the second-direction turning movement, the accuracy of the movement switching is ensured, thereby ensuring the accuracy of the obstacle avoidance movement and improving the robustness and success rate of obstacle avoidance by the self-moving device.

[0351] The specific value of the first threshold can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0352] According to one embodiment of this application, FIG16 shows a flowchart of a control method for a self-moving device provided in some embodiments of this application. As shown in FIG16, the control method for the self-moving device includes:

[0353] Step 1602: Acquire local map data of the obstacle area in real time;

[0354] Step 1604: Based on the local map data, control the moving mechanism to sequentially perform arc-shaped movement in the first direction, turning in the second direction, and moving straight;

[0355] Step 1606: Record the location of the self-moving device;

[0356] Step 1608: If the distance between the current position and the initial position of the self-moving device is greater than the third threshold, control the moving mechanism to sequentially perform a first directional turn and then move forward in an arc along the second direction;

[0357] Step 1610: Update the initial location of the self-moving device to the current location.

[0358] In this embodiment, after the control device of the self-moving device begins to control the moving mechanism on the self-moving device to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement, the control device of the self-moving device also records the position of the self-moving device in real time and calculates the distance between the real-time recorded current position of the self-moving device and the originally recorded initial position of the self-moving device. If the calculated distance value is greater than a set third threshold, the control device of the self-moving device then controls the moving mechanism on the self-moving device to sequentially perform the turning in the first direction and arc-shaped forward movement in the second direction. Furthermore, after the control device of the self-moving device controls the moving mechanism on the self-moving device to sequentially perform the turning in the first direction and arc-shaped forward movement in the second direction, the control device of the self-moving device stores the real-time position of the self-moving device at this time as the initial position of the self-moving device, so as to use the current position of the self-moving device as the starting point for the next distance calculation.

[0359] The aforementioned first-direction turning and second-direction arc-shaped forward movement can be referred to as a "look-back" action. Controlling the moving mechanism to sequentially execute the first-direction turning and the second-direction arc-shaped forward movement can shorten the distance between the self-moving device and the obstacle, causing the self-moving device to retreat towards the obstacle. Thus, after the self-moving device has moved a certain distance, controlling it to retreat allows it to move precisely around the obstacle along a specific arc path, reducing blind spots, improving the comprehensiveness of the cleaning task, and increasing the robustness of obstacle avoidance.

[0360] Furthermore, the aforementioned third threshold is related to the body radius of the self-moving device and the farthest observation distance of the sensors on the self-moving device. Specifically, the aforementioned third threshold can be the sum of the body radius of the self-moving device and the farthest observation distance of the sensors on the self-moving device.

[0361] In practical applications, those skilled in the art can set the specific value of the third threshold according to the actual situation, and no specific restrictions are imposed here.

[0362] Furthermore, in practical applications, when the moving mechanism moves in an arc along the second direction, the second direction can be a changing direction, such as the direction of the tangent of the arc, without any specific restrictions.

[0363] In some embodiments of this application, for example, the first directional steering includes controlling the moving mechanism to rotate the self-moving device toward the first direction with the center of rotation of the self-moving device as the rotation center until local map data of the obstacle area is successfully acquired; the arc-shaped movement along the second direction includes controlling the first moving component to rotate the self-moving device toward the second direction with the second moving component as the rotation center until the distance information meets the first condition.

[0364] In this embodiment, during the process of the self-moving device's control device controlling the moving mechanism on the self-moving device to perform a first-direction turn, the control device uses the center of the self-moving device as the rotation center and controls the moving mechanism on the self-moving device to rotate, causing it to rotate towards the direction closer to the obstacle, i.e., the first direction. During this rotation, the control device acquires local map data of the obstacle area in real time. After successfully acquiring the local map data, the control device pauses the first-direction turn and begins to move in an arc along a second direction.

[0365] During the process of the self-moving device's control unit controlling the moving mechanism to perform an arc-shaped forward movement along the second direction, the control unit uses the second moving component of the self-moving device as a rotation center and controls the first moving component to rotate, causing the self-moving device to rotate in the second direction. While the self-moving device is rotating in the second direction, the control unit dynamically determines the distance information between the obstacle and the self-moving device based on real-time local map data of the obstacle area. If the distance information and its changes meet the aforementioned first condition, the control unit controls the moving mechanism to pause the arc-shaped forward movement along the second direction and then controls the moving mechanism to continue sequentially performing the aforementioned arc-shaped forward movement along the first direction, turning in the second direction, and straight-line movement.

[0366] Thus, after the self-moving device has moved forward a certain distance, based on the dynamic distance between the obstacle and the self-moving device, it is controlled to retreat a certain distance towards the obstacle. This interspersed back-looking motion during the self-moving device's obstacle-avoidance movement compensates for the blind spots of the sensors on the self-moving device, allowing it to move precisely around the obstacle along a defined arc path. This reduces blind spots, improves the comprehensiveness of the cleaning task, and increases the robustness of obstacle avoidance.

[0367] In summary, according to one embodiment of this application, Figure 17 shows a flowchart of an obstacle avoidance process for a self-moving device according to an embodiment of this application. As shown in Figure 17, the control method for the self-moving device includes:

[0368] Step 1702: Turn left to be parallel to the obstacle and begin going around it;

[0369] Step 1704: Determine whether a virtual collision or obstacle avoidance has been completed. If yes, end the process; otherwise, proceed to step 1706.

[0370] Step 1706, draw an arc to the right front;

[0371] Step 1708, turn left;

[0372] Step 1710, proceed straight;

[0373] Step 1712, Determine: Does it need to be reviewed? If yes, proceed to step 1714; otherwise, proceed to step 1704.

[0374] Step 1714, turn right;

[0375] Step 1716, draw an arc to the left front.

[0376] After step 1716 is completed, step 1704 is executed.

[0377] Furthermore, step 1706 is equivalent to performing the aforementioned action of moving forward in an arc along the first direction, step 1708 is equivalent to performing the aforementioned action of turning in the second direction, step 1710 is equivalent to performing the aforementioned action of moving straight, step 1714 is equivalent to performing the aforementioned action of turning in the first direction, and step 1716 is equivalent to performing the aforementioned action of moving forward in an arc along the second direction.

[0378] According to a second aspect of this application, a control device for a self-moving device is provided, which is applied to a self-moving device. The self-moving device includes a collision sensing component for generating obstacle signals. The control device includes: an acquisition device for acquiring obstacle signals during the self-moving device's performance of a task; and a control device for controlling the self-moving device's driving mode based on the obstacle signals.

[0379] In this technical solution, a control method for a self-moving device is applied to the self-moving device, which includes a collision sensing component. The collision sensing component is used to generate obstacle signals. During the execution of a task, the self-moving device acquires obstacle signals and controls its driving mode based on the obstacle signals, thereby reducing the impact of obstacles on the self-moving device.

[0380] According to one embodiment of this application, FIG6 shows a schematic block diagram of one of the embodiments of this application of a control device for a self-moving device. As shown in FIG6, a control device 600 for a self-moving device is proposed, which is applied to a self-moving device. The self-moving device includes a collision sensing component for triggering a collision signal. The control device 600 for the self-moving device includes:

[0381] The first control module 602 is used to control the self-moving device to rotate along the first rotation direction;

[0382] The first control module 602 is used to control the self-moving device to rotate along the second rotation direction when a first collision signal is obtained during the rotation of the self-moving device along the first rotation direction.

[0383] The first control module 602 is used to control the self-moving device to rotate to the target heading angle along the first rotation direction when a second collision signal is obtained during the rotation of the self-moving device along the second rotation direction.

[0384] The first control module 602 is used to control the self-moving device to travel along the target driving direction.

[0385] In this embodiment, when a self-moving device becomes stuck in a low-ceilinged and narrow environment, it is controlled to rotate sequentially in opposite first and second rotation directions. During the rotation, a target heading angle is determined for the self-moving device to escape the obstacle. The device then rotates to the target heading angle and travels along the target direction at that angle, thus freeing itself from the obstacle. This invention enables self-moving devices to quickly and safely escape from low-ceilinged and narrow areas, reducing the occurrence of such situations and improving their cleaning capabilities in such environments.

[0386] Specifically, the control device may include a first control module.

[0387] In some embodiments, exemplarily, the control device 600 for the self-moving device further includes:

[0388] The execution module is used to return to the step of controlling the self-moving device to rotate along the first rotation direction and then to the step of controlling the self-moving device to travel along the target driving direction, after the self-moving device has traveled a preset distance along the target driving direction.

[0389] In this embodiment, after the self-moving device travels a preset distance along the target driving direction at the target heading angle, it returns to execute the step of controlling the self-moving device to rotate along the first rotation direction and the second rotation direction to update and record the target heading angle, and continues to travel along the target driving direction to get out of trouble based on the updated target heading angle, thereby realizing continuous updating of the target heading angle and improving the self-moving device's efficiency in getting out of trouble.

[0390] In some embodiments, exemplarily, the control device for the self-moving device further includes:

[0391] The first control module 602 is used to control the self-moving device to drive according to the target driving path when the rotation angle of the self-moving device along the first rotation direction reaches the angle threshold and no first collision signal is triggered.

[0392] The first control module 602 is used to control the self-moving device to drive according to the target driving path when the rotation angle of the self-moving device along the second rotation direction reaches the angle threshold and no second collision signal is triggered.

[0393] In this embodiment, during the process of the self-moving device rotating sequentially in the first and second rotation directions to find the target heading angle, the device is determined to have successfully escaped the obstacle when the rotation angle along either the first or second rotation direction reaches an angle threshold. By combining the process of finding the target heading angle with the process of determining whether the self-moving device has successfully escaped the obstacle, a separate step for detecting successful escape is eliminated, while also ensuring the accuracy of the successful escape detection.

[0394] In some embodiments, exemplarily, the control device 600 for the self-moving device further includes:

[0395] The first acquisition module is used to acquire target trajectory information and / or target location information;

[0396] Storage module, used to store target trajectory information and / or target location information;

[0397] The target trajectory information includes at least one of the following: a rotation trajectory along a first rotation direction, a rotation trajectory along a second rotation direction, and a travel trajectory along the target travel direction;

[0398] The target position information includes at least one of the following: the rotational position along the first rotational direction, the rotational position along the second rotational direction, and the driving position along the target driving direction.

[0399] In this embodiment of the application, by acquiring and storing at least one of target trajectory information and target location information, the self-moving device can record the trapped location and the escape trajectory, thereby preventing the self-moving device from re-entering the trapped location when it travels again.

[0400] In some embodiments, exemplarily, the self-moving device includes an inertial sensing component for acquiring the heading angle of the self-moving device;

[0401] The first acquisition module is used to acquire the first heading angle of the self-moving device corresponding to the first collision signal, and to acquire the second heading angle of the self-moving device corresponding to the second collision signal;

[0402] The control device 600 for the self-moving device also includes:

[0403] The first determining module is used to determine the target heading angle based on the first heading angle and the second heading angle.

[0404] In this embodiment of the application, when the self-moving device rotates along the first rotation direction and triggers the first collision signal, the first heading angle is obtained; when the self-moving device rotates along the second rotation direction and triggers the second collision signal, the second heading angle is obtained. The target heading angle can be determined by the first heading angle and the second heading angle, thereby improving the success rate of the self-moving device getting out of trouble along the target driving direction.

[0405] In some embodiments, exemplarily, the first control module 602 is configured to control the self-moving device to stop rotating and acquire the first heading angle collected by the inertial sensing component when the first collision sensor triggers the first collision signal.

[0406] The first control module 602 is used to control the self-moving device to stop rotating and to acquire the second heading angle collected by the inertial sensing component when the second collision sensor triggers the second collision signal.

[0407] In this embodiment, the self-moving device can acquire a first heading angle and a second heading angle through a collision sensing component and an inertial sensing component, thereby improving the accuracy of the acquired first heading angle and second heading angle. The first heading angle and the second heading angle represent the maximum angle that the self-moving device can rotate along the first direction and the second direction, respectively. Based on the first heading angle and the second heading angle, the target heading angle for the self-moving device to get out of trouble can be determined, thereby improving the accuracy of the subsequent self-moving device to get out of trouble.

[0408] In some embodiments, exemplarily, the control device 600 for the self-moving device further includes:

[0409] The second determining module is used to calculate the average of the first heading angle and the second heading angle to determine the target heading angle.

[0410] In the technical solution of this application, by calculating the average of the first heading angle and the second heading angle collected by the inertial sensing component, the target heading angle of the self-moving device during the traction driving process can be determined, which improves the accuracy of the heading angle of the self-moving device in traction driving and improves the traction efficiency.

[0411] In some embodiments, exemplarily, the second acquisition module is configured to acquire the current angular velocity of the mobile device when the collision sensing component triggers a third collision signal;

[0412] The third determining module is used to determine that the self-moving device is in a trapped state when the current angular velocity is less than the first angular velocity threshold and the preset angular velocity of the self-moving device is greater than the second angular velocity threshold.

[0413] Among them, the first angular velocity threshold is less than the second angular velocity threshold.

[0414] In this embodiment, the self-moving device can determine whether it is in a trapped state based on the third collision signal triggered by the collision sensing component and the current angular velocity collected by the inertial sensing component, thereby improving the accuracy of determining whether the self-moving device is in a trapped state and enabling the self-moving device to perform subsequent extrication actions in a timely manner.

[0415] According to one embodiment of this application, FIG10 shows a second schematic block diagram of a control device for a self-moving device provided in some embodiments of this application. As shown in FIG10, a control device 1000 for a self-moving device is proposed, comprising:

[0416] The fourth determining module 1002 is used to obtain the initial position of the first obstacle when there is a first obstacle on the first cleaning path;

[0417] Output module 1004 is used to output a first prompt message when the first obstacle is in a movable state;

[0418] The second control module 1006 is used to control the self-moving device to push the first obstacle to the target position according to the first pushing path when the first response information is obtained, and to control the self-moving device to perform cleaning according to the second cleaning path, wherein the second cleaning path passes through the initial position.

[0419] The second control module 1006 is used to control the self-moving device to clean according to the third cleaning path when the second response information is obtained, wherein the third cleaning path does not pass through the initial position of the first obstacle.

[0420] Among them, the first response information and the second response information are response information to the first prompt information.

[0421] In this embodiment, when the self-moving device detects a first obstacle that can be pushed on a pre-planned first cleaning path, the self-moving device can extract the initial position of the first obstacle and plan a target position that the first obstacle can move to. When the self-moving device determines that the first obstacle is movable, it controls the self-moving device to move the first obstacle from its initial position to the target position, and cleans the initial position based on the re-planned second cleaning path. By removing the first obstacle from the first cleaning path, this application enables the self-moving device to clean areas previously inaccessible due to the presence of the first obstacle, thereby improving cleaning coverage and efficiency.

[0422] Specifically, the control device may include a fourth determining module, an output module, and a second control module.

[0423] In some embodiments, the fourth determining module 1002 is used to determine that the self-moving device has obtained the second response information based on the fact that the self-moving device has not obtained the first response information within a preset time period.

[0424] In this embodiment of the application, the self-moving device can start timing after outputting the first prompt information. If the first response information is not obtained within a preset time, it is determined that the user does not need to push the first obstacle at this time, so that the user can choose whether to move the first obstacle according to actual needs. When the user does not need to move the first obstacle, the self-moving device can control the self-moving device to perform subsequent cleaning steps without performing any operation.

[0425] In some embodiments, for example, the first push path passes through the initial position and the target position.

[0426] In this embodiment of the application, the first pushing path is the path traveled by the self-moving device when moving the first obstacle. Setting the first pushing path as the initial position and target position of passing the first obstacle enables the self-moving device to move the first obstacle from the initial position to the target position during the driving process.

[0427] In some embodiments, the self-moving device includes, for example, an image acquisition device;

[0428] The control device 1000 for the self-moving device also includes:

[0429] The acquisition module is used to acquire environmental images corresponding to the first cleaning path through an image acquisition device when the self-moving device is traveling along the first cleaning path.

[0430] The fourth determining module 1002 is used to determine, when the environmental image includes the first image feature, that there is a first obstacle on the first cleaning path, wherein the first image feature corresponds to the first obstacle.

[0431] In this embodiment, an image acquisition device is set on the self-moving device, and when the robot is moving on the first cleaning path, the image acquisition device on the self-moving device is controlled to acquire images of the surrounding environment. An image recognition algorithm is used to identify whether there is a first image feature in the environmental image. If the first image feature exists, the obstacle on the first cleaning path is determined to be a first obstacle that the self-moving device can push.

[0432] In some embodiments, exemplarily, the fourth determining module 1002 is configured to determine, when the environmental image includes a second image feature, that there is a second obstacle on the first cleaning path, the second obstacle being an obstacle that the self-moving device cannot push, and the second obstacle corresponding to the second image feature;

[0433] The fourth determining module 1002 is used to determine the obstacle position of the second obstacle based on the features of the second image;

[0434] The second cleaning path does not include the location of the second obstacle.

[0435] In this embodiment, the self-moving device can not only identify a first obstacle that can be pushed by the self-moving device on the first cleaning path, but also identify a second obstacle that cannot be pushed by the self-moving device on the first cleaning path, and plan a second cleaning path based on the obstacle position of the second obstacle to avoid the replanned second cleaning path passing through the second obstacle.

[0436] In some embodiments, exemplarily, the fourth determining module 1002 is configured to determine the physical parameter information of the first obstacle based on the environmental image;

[0437] The control device 1000 for the self-moving device also includes:

[0438] A building module is used to construct an environment map based on an environment image, the environment map including the first obstacle;

[0439] The fourth determining module 1002 is used to determine the initial position based on the position information of the first obstacle in the environmental map;

[0440] The fourth determining module 1002 is used to determine the target location in the environmental map based on the initial location and physical parameter information;

[0441] The physical parameter information includes at least one of the following: weight parameter information, volume parameter information, and shape parameter information.

[0442] In this embodiment, the self-moving device constructs a corresponding environmental map through environmental images, thereby determining the initial position of the first obstacle that can be pushed by the self-moving device, and plans the target position to which the first obstacle needs to be pushed. In the planning process, the physical parameter information of the first obstacle is referenced to further ensure the stability and safety of the process of pushing the first obstacle.

[0443] In some embodiments, exemplarily, the control device 1000 of the self-moving device further includes:

[0444] The planning module is used to plan the first push path in the environment map based on the initial position and physical parameter information. The end point of the first push path is the target position, and the starting point of the first push path is adjacent to the initial position.

[0445] In this embodiment, after constructing an environmental map based on environmental images, the self-moving device can plan a first pushing path in the newly constructed environmental map based on the initial position of the first obstacle and the physical parameter information of the first obstacle. By reconstructing the environmental map and planning the first pushing path to push the first obstacle in the newly constructed environmental map, this application can further ensure the stability and safety of the self-moving device pushing the first obstacle according to the first pushing path, ensuring that while moving the first obstacle, cleaning efficiency can be maximized and damage to objects or the self-moving device itself can be avoided.

[0446] In some embodiments, for example, the second control module 1006 is configured to control the self-moving device to push the first obstacle to the initial position according to the second pushing path, wherein the second pushing path is a path planned based on the target position and the initial position.

[0447] In this embodiment of the application, by planning a corresponding second pushing path in the second cleaning path, the self-moving device can promptly reset the first obstacle after it has been moved, further reducing the impact of the first obstacle on the overall cleaning process and improving cleaning efficiency.

[0448] In some embodiments, for example, the second control module 1006 is configured to control the self-moving device to move to the target pushing position, the target pushing position being the starting position of the first pushing path;

[0449] The second control module 1006 is used to control the self-moving device to push the first obstacle at the target pushing position according to the preset thrust.

[0450] The fourth determining module 1002 is used to determine that the first obstacle is in a movable state based on the displacement of the first obstacle.

[0451] In this embodiment, before the self-moving device starts pushing the first obstacle, it first tests whether the first obstacle is movable at the starting position of the first pushing path with a preset pushing force. If the first obstacle is movable, the subsequent pushing process is then executed, so as to avoid the cleaning robot being damaged due to the self-moving device forcibly pushing the first obstacle because the first obstacle cannot be moved.

[0452] In some embodiments, exemplarily, the second control module 1006 is configured to stop pushing the first obstacle based on the fact that the first obstacle has not been displaced;

[0453] The planning module is used to plan the fourth cleaning path based on the initial position;

[0454] The second control module 1006 is used to control the self-moving device to perform cleaning according to the fourth cleaning path, which does not pass through the initial position.

[0455] In this embodiment, if the self-moving device pushes the first obstacle with a preset thrust and the first obstacle does not move, it is determined that the first obstacle is in an immovable state. At this time, the process of pushing the first obstacle according to the first pushing path is stopped, and a fourth cleaning path is replanned based on the initial position of the first obstacle. The fourth cleaning path detours around the first obstacle to avoid collision between the self-moving device and the immovable first obstacle.

[0456] In some embodiments, exemplarily, the self-moving device includes: a pressure sensor;

[0457] The fourth acquisition module is used to acquire the pressure sensing signal collected by the pressure sensor;

[0458] The control device 1000 for the self-moving device also includes:

[0459] An adjustment module is used to adjust the pushing force of the self-moving device on the first obstacle based on the pressure sensor signal.

[0460] In this embodiment, by setting a pressure sensor in the self-moving device and adjusting the pushing force applied by the self-moving device to the first obstacle using the pressure sensor signal collected by the pressure sensor, the pushing efficiency of the self-moving device to the first obstacle can be improved, while also ensuring the safety of the self-moving device during the pushing process.

[0461] According to one embodiment of this application, FIG11 shows a third schematic block diagram of a control device for a self-moving device provided in some embodiments of this application. As shown in FIG11, a control device 1100 for a self-moving device is proposed and applied to a self-moving device. The control device 1100 for the self-moving device includes:

[0462] The image recognition module 1102 is used to acquire environmental images and identify a first obstacle in the environmental image that can be pushed by the self-moving device, and a second obstacle that cannot be pushed by the self-moving device.

[0463] The self-moving device, equipped with an image acquisition unit, captures real-time images of the surrounding environment along the cleaning path. Image processing and machine learning algorithms then process the collected images to identify and classify obstacles. For example, through a trained deep learning network, the robot can distinguish between different types of obstacles such as shoes, trash cans, and furniture. It also categorizes obstacles, distinguishing between primary obstacles (such as shoes and trash cans) that can be pushed by the self-moving device and secondary obstacles (such as furniture and walls) that cannot be pushed by the self-moving device.

[0464] User interaction module 1104 is used to provide an interface for users to interact with the robot, allowing users to set the robot's behavior;

[0465] The user interaction module 1104 allows users to specify whether certain obstacles are movable or to set the pushing force level of the self-moving device. A user interface is provided, allowing users to input preferences and commands. The self-moving device can adjust its behavior according to user preferences; for example, if the user does not want the self-moving device to move certain items, the robot will avoid pushing those items.

[0466] The decision-making module 1106 is used to decide whether to proceed with pushing the first obstacle along the first pushing path;

[0467] The self-moving device identifies the first obstacle. Its control system then determines whether to move the object based on the cleaning task requirements and the obstacle's characteristics. The robot plans an initial pushing path to move the object, ensuring maximum cleaning efficiency while avoiding damage to items or the robot itself.

[0468] Specifically, the cleaning environment around the movable object is analyzed. The self-moving device is assessed to determine if it can push the first obstacle to the target location in an open area. After moving the first obstacle, it is determined whether the self-moving device has sufficient space and path to return to its original position. Environmental perception is performed using the self-moving device's sensors (such as LiDAR and cameras) to create a map of the surrounding environment. Through SLAM (Simultaneous Localization and Mapping) technology, the robot can build and update the environmental map in real time. Spatial analysis is performed, analyzing the environmental map to determine if there is sufficient space to move the first obstacle. Considering the size and pushing capability of the self-moving device, it is assessed whether the object can be safely pushed to the target location in an open area, and whether the self-moving device can return to its original position from the moved object's location. The decision logic considers the physical parameters of the first obstacle, such as its weight and shape, as well as the self-moving device's pushing capability and stability. If the self-moving device cannot ensure that the object can be safely returned to its original position, or if other obstacles may be encountered during the pushing process, the decision module may choose not to perform the object-moving operation. Once the decision-making module determines that the operation of moving the object is feasible, it sends instructions to the path planning module to begin planning the path and push point of the mobile robot.

[0469] The path planning module 1108 is used to plan the cleaning path and the pushing path;

[0470] The process involves planning the self-moving device's propulsion path and starting point to avoid collisions and optimize cleaning efficiency. Path planning algorithms, such as the A* search method, are used to calculate the optimal path from the initial position of the first obstacle to the target position. Simultaneously, the size and propulsion capability of the self-moving device are considered to select a suitable starting point. After successfully propelling the device to the target position and cleaning the original area, the propulsion path from the target position back to the initial position, along with the corresponding starting point, is planned.

[0471] The push control module 1110 is used to detect whether the first obstacle is in a movable state;

[0472] For the first obstacle based on image recognition, the self-moving device can determine whether it is movable by applying a slight pushing force and detecting whether the pushed self-moving device is displaced.

[0473] If the first obstacle pushed moves with a slight push, it can be determined that the obstacle is movable. This mechanism helps ensure that the self-moving device only attempts to move the first obstacle when it is safe and reasonable, thereby improving the safety and efficiency of the cleaning process. During the movement of the object, the self-moving device continuously monitors environmental feedback, such as pushing resistance and the distance the object travels, to ensure proper control.

[0474] Safety monitoring module 1112 is used to perform safety monitoring during the pushing of the first obstacle.

[0475] Throughout the entire pushing and restoring process, the self-moving device is equipped with safety protection mechanisms, such as pressure sensors and collision detection devices. When a potential danger is detected, such as excessive resistance or instability in the self-moving device, a safety stop mechanism is triggered, and the self-moving device can stop its actions in time to prevent damage or safety accidents and ensure operational safety.

[0476] In one embodiment of this application, a control device for a self-moving device is also proposed. As shown in FIG24, FIG24 illustrates a structural block diagram of a control device 2400 for a self-moving device according to an embodiment of this application. The self-moving device includes a moving mechanism, and the control device 2400 specifically includes the third acquisition module 2402 and the third control module 2404 described below.

[0477] The third acquisition module 2402 is used to acquire local map data of the obstacle area when an obstacle is detected.

[0478] The third control module 2404 is used to control the mobile mechanism to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement according to local map data, so that the mobile device leaves the obstacle area or the movement trajectory of the mobile device is in a closed loop state.

[0479] The control device 2400 for the self-moving device provided in this application embodiment is used to improve the robustness and success rate of obstacle avoidance of the self-moving device.

[0480] The aforementioned self-moving device is equipped with a moving mechanism, which can drive the self-moving device to rotate or move.

[0481] Furthermore, the aforementioned self-moving device can also be equipped with different sensors such as laser sensors and radar sensors. The sensing data detected by different sensors can be used to detect whether there are obstacles in the forward direction of the self-moving device.

[0482] Specifically, as shown in Figure 24, the control device 2400 for the self-moving device provided in this application includes a third acquisition module 2402, a processing module 2406, and a third control module 2404. During the self-moving device's cleaning task, when the processing module 2406 detects an obstacle in the forward direction, the third acquisition module 2402 acquires local map data of the obstacle area in real time. The third control module 2404 then controls the moving mechanism on the self-moving device to sequentially perform arc-shaped movement along a first direction, turning in a second direction, and moving straight, based on the acquired local map data, until the self-moving device leaves the obstacle area, triggers a new collision, or its movement trajectory forms a closed loop. Thus, when the self-moving device encounters an obstacle during the cleaning task, it is controlled to perform obstacle avoidance actions based on the local map data of the obstacle area. This calculation is simple, reduces collisions with obstacles, improves the accuracy and comprehensiveness of obstacle avoidance, and enhances the robustness and success rate of obstacle avoidance for the self-moving device.

[0483] During the operation of the self-moving device, the processing module 2406 maintains a fixed-size local map corresponding to the self-moving device in real time. For example, it maintains a fixed-size local map based on sensor data from the right side and the forward direction of the self-moving device. This local map is represented using a two-dimensional grid. During the operation of the self-moving device, the processing module 2406 stores the sensor data detected by each sensor on the self-moving device and the dynamic coordinate information of the self-moving device into the local map in real time. When the self-moving device encounters an obstacle during the cleaning task, the third acquisition module 2402 queries the local map of the self-moving device at its current position. Based on the acquired local map, it controls the self-moving device to perform corresponding obstacle avoidance actions, enabling the self-moving device to successfully bypass the obstacle.

[0484] In other words, the control device 2400 for the self-moving device provided in this application utilizes the sensing data from the sensors mounted on the self-moving device to record historical data observed by each sensor through multi-frame accumulation, and updates the local map in real time. This allows the device to assist in obstacle avoidance by querying the local map data of the self-moving device in real time. This approach is compatible with different types of sensors, eliminates the need for complex calculations to achieve obstacle avoidance for the self-moving device, and improves the robustness and success rate of obstacle avoidance.

[0485] Specifically, the control device may include a third acquisition module and a third control module.

[0486] In some embodiments of this application, for example, before controlling the mobile mechanism to sequentially perform arc-shaped forward movement in the first direction, turning in the second direction, and straight movement according to local map data, the processing module 2406 is further configured to: detect the angle range of obstacles blocking the self-moving device; the third control module 2404 is further configured to: control the mobile mechanism to rotate the self-moving device toward the second direction by a first angle with the center of the self-moving device as the rotation center, wherein the first angle is related to the angle range.

[0487] In some embodiments of this application, by way of example, after the control mechanism drives the self-moving device to rotate a first angle in the second direction, the third control module 2404 is further configured to: control the control mechanism to drive the self-moving device to move straight until the distance between the center of the self-moving device and the obstacle is greater than a first threshold range.

[0488] In some embodiments of this application, the mobile mechanism includes, exemplarily, a first moving member and a second moving member. The processing module 2406 is further configured to: determine the distance information between the self-moving device and the obstacle based on local map data; the third control module 2404 is specifically configured to: control the mobile mechanism to sequentially perform arc-shaped forward movement along a first direction, turning in a second direction, and straight movement based on the distance information; wherein, arc-shaped forward movement along the first direction includes controlling the second moving member to rotate the self-moving device toward the first direction with the first moving member as the rotation center until the distance information meets the first condition; turning in the second direction includes controlling the mobile mechanism to rotate the self-moving device toward the second direction by a second angle with the center of the self-moving device as the rotation center; and straight movement includes controlling the mobile mechanism to drive the self-moving device to move straight for a first distance.

[0489] In some embodiments of this application, for example, the first condition is that during the process of the second moving member driving the self-moving device to rotate, the distance information shows a trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the distance information change curve is greater than the second threshold.

[0490] In some embodiments of this application, for example, after controlling the mobile mechanism to sequentially perform arc-shaped movement in a first direction, turning in a second direction, and moving straight according to local map data, the processing module 2406 is further configured to: record the position of the self-moving device; the third control module 2404 is further configured to: control the mobile mechanism to sequentially perform turning in the first direction and arc-shaped movement in the second direction when the distance between the current position and the initial position of the self-moving device is greater than a third threshold; the processing module 2406 is further configured to: update the initial position of the self-moving device to the current position.

[0491] In some embodiments of this application, for example, the first directional steering includes controlling the moving mechanism to rotate the self-moving device toward the first direction with the center of rotation of the self-moving device as the rotation center until local map data of the obstacle area is successfully acquired; the arc-shaped movement along the second direction includes controlling the first moving component to rotate the self-moving device toward the second direction with the second moving component as the rotation center until the distance information meets the first condition.

[0492] In one embodiment of this application, a self-moving device is also proposed. As shown in FIG25, FIG25 illustrates a structural block diagram of the self-moving device 2500 provided in an embodiment of this application. The self-moving device 2500 includes:

[0493] Memory 2502, on which programs or instructions are stored;

[0494] The processor 2504 executes the above-described program or instructions to implement the steps of the control method for the self-moving device as described in any of the above embodiments.

[0495] The self-moving device 2500 provided in this embodiment includes a memory 2502 and a processor 2504. When the program or instructions in the memory 2502 are executed by the processor 2504, they implement the steps of the self-moving device control method as described in any of the above embodiments. Therefore, the self-moving device 2500 has all the beneficial effects of the self-moving device control method described in any of the above embodiments, which will not be repeated here.

[0496] Specifically, the memory 2502 and the processor 2504 can be connected via a bus or other means. The processor 2504 may include one or more processing units, and the processor 2504 may be a chip such as a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0497] Furthermore, as shown in Figure 25, the self-moving device 2500 also includes a moving mechanism 2506, which can drive the self-moving device 2500 to rotate or move.

[0498] As shown in Figure 25, the aforementioned moving mechanism 2506 may specifically include a first moving component 2508 and a second moving component 2510. Specifically, the first moving component 2508 may be the right wheel of the self-moving device 2500, and the second moving component 2510 may be the left wheel of the self-moving device 2500.

[0499] In practical applications, the aforementioned self-moving devices 2500 include, but are not limited to, sweeping machines, floor scrubbers, vacuum cleaners, and service robots, etc., without specific restrictions.

[0500] According to one embodiment of this application, FIG26 shows a fifth schematic block diagram of a control device for a self-moving device provided in some embodiments of this application. As shown in FIG26, the control device 2600 for the self-moving device includes a processor 2602 and a memory 2604. The memory 2604 stores a program or instructions, which, when executed by the processor 2602, implement the steps of the control method for the self-moving device as described in any of the above embodiments. Therefore, the control device 2600 for the self-moving device possesses all the beneficial effects of the control method for the self-moving device in any of the above embodiments, which will not be elaborated further here.

[0501] According to one embodiment of this application, an exemplary readable storage medium is provided, on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the control method of the self-moving device as described in any of the above embodiments, and thus have all the beneficial technical effects of the control method of the self-moving device in any of the above embodiments.

[0502] Among them, readable storage media include read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0503] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EROM, EPROM, or flash memory), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital video disc (DVD), memory cards, floppy disks, encoding mechanisms (e.g., punched cards or grooves with raised structures for recording instructions), and any suitable combination of the foregoing. The computer storage medium used here should not be understood as the transmission signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires.

[0504] According to one embodiment of this application, an exemplary self-moving device is provided, including: a control device for the self-moving device and / or a readable storage medium; the control device for the self-moving device includes: an acquisition device for acquiring obstacle signals during the self-moving device's performance of a task; a control device for controlling the self-moving device's driving mode based on the obstacle signals; and a program or instructions stored on the readable storage medium, wherein when the program or instructions are executed by a processor, the program or instructions implement the steps of the self-moving device control method provided in any of the above embodiments.

[0505] Figure 7 shows a schematic diagram of the structure of the self-moving device provided in some embodiments of this application. As shown in Figure 7, in some embodiments, the self-moving device 300, by way of example, also includes a body 310; a collision sensing component 320 and an inertial sensing component 340 are disposed on the body 310.

[0506] In this embodiment of the application, a collision sensing component 320 is provided on the body 310 of the self-moving device 300. The collision signal triggered by the collision sensing component 320 can determine whether the self-moving device 300 has collided. Furthermore, an inertial sensing component 340 is also provided on the body 310 of the self-moving device 300. The inertial sensing component 340 can collect the heading angle and angular velocity of the self-moving device.

[0507] In some embodiments, the collision sensing component 320 includes, exemplarily, a first collision sensor 322 and a second collision sensor 324, respectively disposed on both sides of the body 310.

[0508] In this embodiment, the collision sensing component 320 includes a first collision sensor 322 and a second collision sensor 324 respectively disposed on both sides of the body 310. The first collision sensor 322 and the second collision sensor 324 can detect collisions that occur to the self-moving device 300 in different directions.

[0509] It should be clarified that in the claims, description, and accompanying drawings of this application, the term "multiple" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood based on the specific circumstances of the above data.

[0510] In the claims, description, and accompanying drawings of this application, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In the claims, description, and accompanying drawings of this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0511] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

A control method of a self-moving device, applied to a self-moving device, the self-moving device comprising a collision sensing component, the collision sensing component being configured to generate an obstacle signal, wherein, The control method comprises: acquiring the obstacle signal during the self-moving device performing the task; and controlling a travel mode of the self-moving device based on the obstacle signal. The control method of the self-moving device according to claim 1, wherein Controlling the travel mode of the self-moving device based on the obstacle signal comprises: controlling the self-moving device to rotate in a first rotation direction in the case that the self-moving device is trapped; controlling the self-moving device to rotate in a second rotation direction in the case that the self-moving device rotates in the first rotation direction and a first collision signal is acquired; controlling the self-moving device to rotate in the first rotation direction to a target heading angle in the case that the self-moving device rotates in the second rotation direction and a second collision signal is acquired; controlling the self-moving device to travel in a target travel direction. The control method of the self-moving device according to claim 2, wherein The control method of the self-moving device further comprises: returning to the step of controlling the self-moving device to rotate in the first rotation direction to the step of controlling the self-moving device to travel in the target travel direction in the case that the self-moving device travels in the target travel direction by a preset distance. The control method of the self-moving device according to claim 2, wherein The control method of the self-moving device further comprises: controlling the self-moving device to travel along a target travel path in the case that the self-moving device rotates in the first rotation direction by an angle threshold and the first collision signal is not triggered; controlling the self-moving device to travel along the target travel path in the case that the self-moving device rotates in the second rotation direction by the angle threshold and the second collision signal is not triggered. The control method of the self-moving device according to claim 4, wherein The control method of the self-moving device further comprises: acquiring and storing target trajectory information and / or target position information, The target trajectory information comprises at least one of the following: a rotation trajectory in the first rotation direction, a rotation trajectory in the second rotation direction, and a travel trajectory in the target travel direction. The target position information comprises at least one of the following: a rotation position in the first rotation direction, a rotation position in the second rotation direction, and a travel position in the target travel direction. The control method of the self-moving device according to any one of claims 2 to 5, wherein The self-moving device comprises an inertial sensing assembly for collecting a heading angle of the self-moving device. The control method of the self-moving device further comprises: acquiring a first heading angle of the self-moving device corresponding to the first collision signal and a second heading angle of the self-moving device corresponding to the second collision signal before the self-moving device is controlled to rotate in the first rotation direction to the target heading angle; determining the target heading angle according to the first heading angle and the second heading angle. The control method of the self-moving device according to claim 6, wherein The collision sensing assembly comprises a first collision sensor and a second collision sensor, and the acquiring of the first heading angle of the self-moving device corresponding to the first collision signal and the second heading angle of the self-moving device corresponding to the second collision signal comprises: In a case where the first collision sensor triggers the first collision signal, the self-moving device is controlled to stop rotating, and the first heading angle collected by the inertial sensing assembly is acquired. In a case where the second collision sensor triggers the second collision signal, the self-moving device is controlled to stop rotating, and the second heading angle collected by the inertial sensing assembly is acquired. The control method of the self-moving device according to claim 6, wherein The target heading angle is determined according to the first heading angle and the second heading angle, including: The target heading angle is determined by averaging the first heading angle and the second heading angle. The control method of the self-moving device according to any one of claims 2 to 5, wherein Before the self-moving device is controlled to rotate in the first rotation direction, the control method of the self-moving device further includes: In a case where the collision sensing assembly triggers a third collision signal, the current angular velocity of the self-moving device is acquired; In a case where the current angular velocity is less than a first angular velocity threshold and a preset angular velocity of the self-moving device is greater than a second angular velocity threshold, it is determined that the self-moving device is in a trapped state; The first angular velocity threshold is less than the second angular velocity threshold. The control method of a self-moving device according to claim 1, wherein Based on the obstacle signal, the control method of the self-moving device includes: In a case where a first obstacle exists on a first cleaning path, the initial position of the first obstacle is acquired, the first obstacle being an obstacle that can be pushed by the self-moving device; In a case where the first obstacle is in a movable state, first prompt information is outputted; In a case where first response information is acquired, the self-moving device is controlled to push the first obstacle to a target position according to a first pushing path, and the self-moving device is controlled to clean according to a second cleaning path, the second cleaning path passing through the initial position; In a case where second response information is acquired, the self-moving device is controlled to clean according to a third cleaning path, the third cleaning path not passing through the initial position of the first obstacle. The control method of the self-moving device according to claim 10, wherein Before the self-moving device is controlled to clean according to the third cleaning path in a case where second response information is acquired, the control method of the self-moving device further includes: Based on the self-moving device not acquiring the first response information within a preset time period, it is determined that the self-moving device acquires the second response information. The control method of the self-moving device according to claim 10, wherein The first pushing path passes through the initial position and the target position. The control method of the self-moving device according to any one of claims 10 to 12, wherein The self-moving device includes an image acquisition device, and before the self-moving device acquires the initial position of the first obstacle in a case where a first obstacle exists on a first cleaning path, the control method of the self-moving device further includes: In a case where the self-moving device travels on the first cleaning path, an environment image corresponding to the first cleaning path is acquired by the image acquisition device; In a case where a first image feature is identified in the environment image, it is determined that the first obstacle exists on the first cleaning path, the first image feature corresponding to the first obstacle. The control method of the self-moving device according to claim 13, wherein After the self-moving device acquires the environment image corresponding to the first cleaning path in a case where the self-moving device travels on the first cleaning path, the control method of the self-moving device further includes: In a case where it is identified that the second image feature is included in the environment image, it is determined that a second obstacle exists on the first cleaning path, the second obstacle being an obstacle that is not pushable by the self-moving device, and the second obstacle corresponding to the second image feature; An obstacle position of the second obstacle is determined according to the second image feature; The second cleaning path does not pass through the obstacle position of the second obstacle. The control method of the self-moving device according to claim 14, wherein The obtaining of the initial position of the first obstacle includes: Physical parameter information of the first obstacle is determined according to the environment image; An environment map is constructed according to the environment image, and the environment map includes the first obstacle; The initial position is determined according to position information of the first obstacle in the environment map; The target position in the environment map is determined according to the initial position and the physical parameter information. The physical parameter information includes at least one of weight parameter information, volume parameter information, and shape parameter information. The control method of the self-moving device according to claim 15, wherein The determination of the target position in the environment map according to the initial position and the physical parameter information includes: The first pushing path is planned in the environment map according to the initial position and the physical parameter information, a path endpoint of the first pushing path being the target position, and a path starting point of the first pushing path being adjacent to the initial position. The control method of the self-moving device according to any one of claims 10 to 12, wherein In the process of controlling the self-moving device to clean according to the second cleaning path, the self-moving device control method further includes: The self-moving device is controlled to push the first obstacle to the initial position according to a second pushing path, the second pushing path being a path planned according to the target position and the initial position. The control method of the self-moving device according to any one of claims 10 to 12, wherein Before the self-moving device is controlled to push the first obstacle to the target position according to the first pushing path in a case where the first response information is obtained, the self-moving device control method further includes: The self-moving device is controlled to move to a target pushing position, the target pushing position being a starting point position of the first pushing path; The self-moving device is controlled to push the first obstacle according to a preset pushing force at the target pushing position; Based on the first obstacle being displaced, it is determined that the first obstacle is in a movable state. The control method of the self-moving device according to claim 18, wherein After the self-moving device is controlled to push the first obstacle according to the preset pushing force at the target pushing position, the self-moving device control method further includes: Based on the first obstacle not being displaced, the pushing of the first obstacle is stopped; A fourth cleaning path is planned according to the initial position; The self-moving device is controlled to clean according to the fourth cleaning path, the fourth cleaning path not passing through the initial position. The control method of the self-moving device according to any one of claims 10 to 12, wherein The self-moving device includes a pressure sensor, and in the process of controlling the self-moving device to push the first obstacle to the target position according to the first pushing path, the self-moving device control method further includes: A pressure sensing signal collected by the pressure sensor is obtained; The pushing force of the self-moving device on the first obstacle is adjusted according to the pressure sensing signal. The control method of a self-moving device according to claim 1, wherein The self-moving device comprises a moving mechanism, and the control method comprises the following steps: In the case of detecting an obstacle, local map data of the obstacle region is acquired; According to the local map data, the moving mechanism is controlled to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving, so that the self-moving device leaves the obstacle region or the motion trajectory of the self-moving device is in a closed loop state. The control method of the self-moving device according to claim 21, wherein Before the control of the moving mechanism to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the local map data, the control method further comprises the following steps: Detecting an angle range blocked by the obstacle to the self-moving device; Taking the center of the self-moving device as a rotation center, the moving mechanism is controlled to drive the self-moving device to rotate in the second direction by a first angle, and the first angle is related to the angle range. The control method of the self-moving device according to claim 21, wherein After the control of the moving mechanism to drive the self-moving device to rotate in the second direction by the first angle, the control method further comprises the following steps: The moving mechanism is controlled to drive the self-moving device to straight drive until the distance between the center of the self-moving device and the obstacle is greater than a first threshold range. The control method of the self-moving device according to claim 22, wherein The moving mechanism comprises a first moving part and a second moving part, and the control of the moving mechanism to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the local map data comprises the following steps: According to the local map data, distance information between the self-moving device and the obstacle is determined, and the moving mechanism is controlled to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the distance information; The arc-shaped advancing in the first direction comprises taking the first moving part as a rotation center, controlling the second moving part to drive the self-moving device to rotate in the first direction until the distance information meets a first condition; The turning in the second direction comprises taking the center of the self-moving device as a rotation center, controlling the moving mechanism to drive the self-moving device to rotate in the second direction by a second angle; The straight driving comprises controlling the moving mechanism to drive the self-moving device to straight drive by a first distance. The control method of the self-moving device according to claim 24, wherein The first condition is that, in the process of driving the self-moving device to rotate by the second moving part, the distance information presents a change trend of first decreasing and then increasing, and the difference between the current distance information and the minimum value of the change curve of the distance information is greater than a second threshold. The control method of the self-moving device according to claim 24 or 25, wherein After the control of the moving mechanism to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the local map data, the control method further comprises the following steps: The position of the self-moving device is recorded; In the case that the distance between the current position and the initial position of the self-moving device is greater than a third threshold, the moving mechanism is controlled to sequentially perform turning in a first direction and arc-shaped advancing in a second direction; The initial position of the self-moving device is updated as the current position. The control method of the self-moving device according to claim 26, wherein The turning in the first direction comprises taking the center of the self-moving device as a rotation center, controlling the moving mechanism to drive the self-moving device to rotate in the first direction until the local map data of the obstacle region is successfully acquired; The arc-shaped advancing in the second direction comprises: taking the second moving element as a rotation center, controlling the first moving element to drive the self-moving device to rotate towards the second direction until the distance information meets the first condition. A control device of a self-moving device, applied to a self-moving device, the self-moving device comprising a collision sensing component, the collision sensing component being configured to generate an obstacle signal, wherein, The control device comprises: An acquisition device configured to acquire the obstacle signal during the self-moving device performing the task; A control device configured to control a driving mode of the self-moving device based on the obstacle signal. The control device of a self-moving device according to claim 28, wherein The control device comprises: A first control module configured to control the self-moving device to rotate in a first rotation direction; The first control module is configured to, in a case where a first collision signal is acquired during the self-moving device rotating in the first rotation direction, control the self-moving device to rotate in a second rotation direction; The first control module is configured to, in a case where a second collision signal is acquired during the self-moving device rotating in the second rotation direction, control the self-moving device to rotate in the first rotation direction to a target heading angle; The first control module is configured to control the self-moving device to drive in a target driving direction. The control device of a self-moving device according to claim 28, wherein The control device comprises: A fourth determination module configured to, in a case where a first obstacle exists on a first cleaning path, acquire an initial position of the first obstacle; An output module configured to, in a case where the first obstacle is in a movable state, output first prompt information; A second control module configured to, in a case where first response information is acquired, control the self-moving device to push the first obstacle to a target position according to a first pushing path, and control the self-moving device to clean according to a second cleaning path, the second cleaning path passing through the initial position; The second control module is configured to, in a case where second response information is acquired, control the self-moving device to clean according to a third cleaning path, the third cleaning path not passing through the initial position of the first obstacle. The control device of a self-moving device according to claim 28, wherein The self-moving device comprises a moving mechanism, and the control device comprises: A third acquisition module configured to, in a case where an obstacle is detected, acquire local map data of an obstacle region; A third control module configured to control the moving mechanism to sequentially perform arc-shaped advancing in a first direction, turning in a second direction, and straight driving according to the local map data, so that the self-moving device leaves the obstacle region or a motion track of the self-moving device is in a closed loop state. A control device of a self-moving device, wherein Comprise: A processor and a memory, the memory storing programs or instructions, and the processor implementing the steps of the control method of the self-moving device according to any one of claims 1 to 27 when executing the programs or instructions in the memory. A readable storage medium, wherein, 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 self-moving device according to any one of claims 1 to 27. A self-moving device, wherein, Comprise: A control device and / or a readable storage medium of a self-moving device; The control device of the self-moving device comprises: an acquisition device, configured to acquire the obstacle signal during the self-moving device performing a task; and a control device, configured to control a driving mode of the self-moving device based on the obstacle signal. A program or instruction is stored on a readable storage medium, and the program or instruction is executed by a processor to implement the steps of the control method of the self-moving device according to any one of claims 1 to 27. The self-moving device of claim 34, wherein, Comprise: A body; A collision sensing assembly and an inertial sensing assembly are arranged on the body. The self-moving device of claim 35, wherein, The collision sensing assembly comprises: a first collision sensor and a second collision sensor, which are arranged on two sides of the body, respectively.

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