Mode control method, autonomous mobile device and storage medium

Abstract

Provided in the present application are a mode control method, an autonomous mobile device and a storage medium. The method comprises: in response to a steering signal, determining operation information of an autonomous mobile device; when the operation information does not satisfy a preset operation condition, performing steering according to a first steering mode; and when the operation information satisfies the preset operation condition, performing steering according to a second steering mode. By means of the present application, the steering efficiency of the autonomous mobile device can be improved.

Description

Mode control method, self-moving device, and storage medium

[0001] The present application claims priority to the Chinese patent application No. 202411081364.7, filed on August 7, 2024, and entitled "Mode control method, self-moving device, and storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] With the continuous progress of technology and the rapid development of artificial intelligence, using self-moving devices (e.g., lawn mowers, cleaning machines, cruise machines, etc.) for work can greatly improve work efficiency.

[0004] During the work of a self-moving device, it is easy to occur in situ turning. However, in the related art, when controlling the turning of a self-moving device, the turning mode configured when the self-moving device is shipped is mostly relied on, which leads to poor efficiency of turning control. SUMMARY

[0005] In view of the above, it is necessary to provide a mode control method, a self-moving device, and a storage medium, which can solve the technical problem of poor efficiency of turning control of a self-moving device.

[0006] In a first aspect, an embodiment of the present application provides a mode control method applied to a self-moving device, the mode control method comprising: determining work information of the self-moving device in response to a turning signal; performing turning according to a first turning mode when the work information does not satisfy a preset work condition; and performing turning according to a second turning mode when the work information satisfies the preset work condition.

[0007] In some embodiments, in the above mode control method provided by an embodiment of the present application, the self-moving device comprises a first wheel set, and the determining the work information of the self-moving device comprises: determining a turning length of a work area in which the self-moving device is located in a preset direction; determining a stall probability of the first wheel set corresponding to the turning in the work area; and determining the work information based on the turning length and the stall probability.

[0008] In some embodiments, in the above mode control method provided by an embodiment of the present application, the determining the stall probability of the first wheel set corresponding to the turning in the work area comprises: determining a target attribute of a to-be-worked object in the work area; and determining the stall probability of the first wheel set corresponding to the target attribute.

[0009] In some embodiments, in the mode control method provided in the embodiments of the present application, the target attribute includes density information and height information, and the determination of the stall probability corresponding to the first wheel set based on the target attribute comprises: determining the stall probability corresponding to the target attribute according to a preset correspondence relationship between the density information, the height information and the stall probability; or calling a preset stall probability determination model to process the density information and the height information to obtain the stall probability corresponding to the target attribute.

[0010] In some embodiments, in the mode control method provided in the embodiments of the present application, the method further comprises: determining that the work information does not satisfy the preset work condition when the turning length is greater than a preset length threshold and the stall probability is less than a preset probability threshold; and determining that the work information satisfies the preset work condition when the turning length is less than or equal to the preset length threshold or the stall probability is greater than or equal to the preset probability threshold.

[0011] In some embodiments, in the mode control method provided in the embodiments of the present application, the self-moving device includes a first wheel set, and after the turning according to the first turning mode, the method further comprises: determining preset information of the first wheel set in the turning process; if it is determined that the stall occurs based on the preset information, switching from the first turning mode to the second turning mode and turning according to the second turning mode; and if it is determined that the stall does not occur based on the preset information, continuing to turn according to the first turning mode.

[0012] In some embodiments, in the mode control method provided in the embodiments of the present application, the self-moving device further includes a first driving module configured to drive the first wheel set to move, and the determination of the preset information of the first wheel set in the turning process comprises: determining a driving current and a driving rotation speed corresponding to the first driving module; determining that the self-moving device stalls when the driving current is greater than a preset current threshold and / or the driving rotation speed is less than a preset rotation speed threshold; or determining a plurality of resistance values generated by the contact between the first wheel set and the ground in the turning process; determining a resistance change value according to the plurality of resistance values; and determining that the self-moving device stalls when the resistance change value is greater than a preset change threshold.

[0013] In some embodiments, in the mode control method provided in the embodiments of the present application, the self-moving device comprises a body, a first wheel set and a second wheel set, the first wheel set and the second wheel set are respectively arranged at opposite front and rear ends of the body; if the first steering mode is adopted, the rotation center of the self-moving device is determined according to the axis line of the second wheel set; if the second steering mode is adopted, the rotation center of the self-moving device is determined according to the intersection line of the first wheel set and the second wheel set.

[0014] In a second aspect, the embodiments of the present application provide a self-moving device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the mode control method according to any one of the above embodiments when executing the computer program.

[0015] In a third aspect, the embodiments of the present application provide a mode control apparatus applied to a self-moving device, wherein the self-moving device comprises a body, a first wheel set and a second wheel set, the first wheel set and the second wheel set are respectively arranged at opposite front and rear ends of the body, the mode control apparatus comprises: a work information determination module configured to determine work information of the self-moving device in response to a steering signal; a first mode determination module configured to steer according to a first steering mode when the work information does not satisfy a preset work condition; and a second mode determination module configured to steer according to a second steering mode when the work information satisfies the preset work condition.

[0016] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program implements the mode control method according to any one of the above embodiments when executed by a processor in a self-moving device.

[0017] In the mode control method of the embodiments, in response to a steering signal, work information of the self-moving device is determined; when the work information does not satisfy a preset work condition, steering is performed according to a first steering mode; and when the work information satisfies the preset work condition, steering is performed according to a second steering mode. The above method provides multiple steering modes, the multiple steering modes can be switched, and the flexibility of steering of the self-moving device can be improved. Moreover, the above method switches the steering mode according to the work information of the self-moving device, so that the steering mode matches the work information of the self-moving device, and the steering efficiency of the self-moving device can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] FIG. 1 is a structural schematic diagram of a self-moving device provided in a first embodiment of the present application.

[0019] FIG. 2 is a flowchart of a mode control method provided in an embodiment of the present application.

[0020] FIG. 3 is a flowchart of a method for determining job information according to an embodiment of the present application.

[0021] FIG. 4A is a schematic diagram of determining a turning length according to a first embodiment of the present application.

[0022] FIG. 4B is a schematic diagram of determining a turning length according to a second embodiment of the present application.

[0023] FIG. 4C is a schematic diagram of determining a turning length according to a third embodiment of the present application.

[0024] FIG. 5 is a flowchart of a method for determining a stall probability according to an embodiment of the present application.

[0025] FIG. 6 is a flowchart of a method for determining preset information according to an embodiment of the present application.

[0026] FIG. 7 is a schematic diagram of a mode control device according to an embodiment of the present application.

[0027] FIG. 8 is a schematic diagram of a self-moving device according to a second embodiment of the present application.

[0028] Element Symbol Self-moving device 1 body 11 first wheel group 12 first left wheel 121 first right wheel 122 second wheel group 13 second left wheel 131 second right wheel 132 first driving module 14 second driving module 15 processor 16 memory 17 power supply 18 sensor 19 operation mechanism 20 communication module 21 positioning module 22 bus 23 DETAILED DESCRIPTION

[0029] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be described in detail below with reference to the drawings and specific embodiments.

[0030] It should be noted that "at least one" in the present application means one or more, and "multiple" means two or more than two. "And / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0031] In the embodiments of the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any embodiment or design described in the embodiments of the present application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the word "exemplary" or "for example" is used in the sense of "as an example". The embodiments of the present application will be described in a manner that is primarily intended for the purpose of presenting the relevant concepts and / or the relative concepts.

[0032] The mode control method provided by the embodiments of the present application can be applied to one or more self-moving devices, which can be lawn mowers, cleaning machines, cruise machines, etc. The embodiments of the present application take the self-moving device as a lawn mower as an example, and the structure schematic diagram of the self-moving device provided by the embodiments of the present application is described in combination with FIG. 1. As shown in FIG. 1, the self-moving device 1 includes a body 11, a first wheel set 12 and a second wheel set 13, and the first wheel set 12 and the second wheel set 13 are respectively arranged at the opposite front and rear ends of the body 11. In some embodiments, the body 11 can be generally wide in the middle and narrow at the front and rear ends, the first wheel set 12 can be an omnidirectional wheel, and the second wheel set 13 can be a drive wheel. The omnidirectional wheel is a tire with at least two degrees of freedom. Compared with a conventional tire with only one degree of freedom, the increased degree of freedom of the omnidirectional wheel is located on the tire tread, that is, the omnidirectional wheel can rotate by contacting the ground, and the rotation plane of the omnidirectional wheel is at a certain angle with the rotation plane of the conventional tire with only one degree of freedom. The omnidirectional wheel can include but is not limited to a continuously variable wheel or a Mecanum wheel. The embodiments of the present application take the omnidirectional wheel as a continuously variable wheel as an example, and the omnidirectional wheel includes a hub and a plurality of auxiliary wheels, and the plurality of auxiliary wheels are spaced apart and arranged on the hub. When the omnidirectional wheel moves forward, the hub rotates around the central axis of the omnidirectional wheel, and the hub drives the auxiliary wheels to rotate around the central axis of the omnidirectional wheel as a whole. When the omnidirectional wheel turns, the auxiliary wheels can rotate relative to the hub with the hub as the rotation axis. Based on this, the omnidirectional wheel increases the degree of freedom relative to the drive wheel. The drive wheel is a conventional tire with only one degree of freedom, which rotates along the central axis of the wheel.

[0033] In some embodiments, in combination with the structure schematic diagram of the self-moving device shown in FIG. 8, the self-moving device 1 includes a first drive module 14 and a second drive module 15, and a processor 16, and the processor 16 can be connected with the first drive module 14 and the second drive module 15. The processor 16 is configured to control the first drive module 14 to drive the first wheel set 12 to move, and the processor 16 is further configured to control the second drive module 15 to drive the second wheel set 13 to move. In some embodiments, the first drive module 14 and the second drive module 15 can include but are not limited to a hub motor, a general motor cooperating with a transmission system, etc., which are not limited here.

[0034] In some embodiments, the first wheel set 12 includes a first left wheel 121 and a first right wheel 122, and the first drive module 14 includes a first left motor and a first right motor. The first left motor is configured to drive the first left wheel 121, and the first right motor is configured to drive the first right wheel 122. Similarly, the second wheel set 13 includes a second left wheel 131 and a second right wheel 132, and the second drive module 15 includes a second left motor and a second right motor. The second left motor is configured to drive the second left wheel 131, and the second right motor is configured to drive the second right wheel 132. The first left wheel 121, the second left wheel 131, the first right wheel 122, and the second right wheel 132 can be independently controlled, and the gear ratio of each of them is controlled by the processor 16. When the self-moving device 1 is moving straight, the gear ratios of the first left wheel 121, the second left wheel 131, the first right wheel 122, and the second right wheel 132 are consistent.

[0035] In some embodiments, the self-moving device 1 can be configured with a first steering mode and a second steering mode. In the first steering mode, the rotation center of the self-moving device 1 is on the axis connecting line of the second wheel set 13 and close to the center position of the axis connecting line. For example, there is an axis connecting line between the second left wheel 131 and the second right wheel 132, and the center position can be determined according to the axis connecting line. The rotation center is within a preset range around the center position. In the second steering mode, the rotation center of the self-moving device 1 is on the intersection line of the first wheel set 12 and the second wheel set 13, and close to the intersection position of the intersection line. For example, there is an axis connecting line between the first left wheel 121 and the second right wheel 132, and there is an axis connecting line between the first right wheel 122 and the second left wheel 131, and the intersection position can be determined according to the two axis connecting lines. The rotation center is within a preset range around the intersection position, wherein the preset range can be set according to actual requirements, which is not limited herein.

[0036] In the self-moving device of the present embodiment, multiple steering modes are configured in the self-moving device, and the multiple steering modes can be switched, which can improve the flexibility of steering of the self-moving device.

[0037] In order to more clearly illustrate the mode control method provided by the embodiments of the present application, the technical solutions of the present application will be described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in detail in some embodiments.

[0038] As shown in FIG. 2, it is a flow chart of the mode control method provided by the embodiments of the present application. The order of the steps in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a self-moving device (such as a mower, a cleaning machine, and a cruise machine, etc.).

[0039] S11, in response to the turning signal, determining the working information of the self-moving device.

[0040] In at least one embodiment of the present application, the turning signal can be used to indicate that the self-moving device is changing the traveling direction, and the turning signal can be sent by a related device in the self-moving device. For example, an angle sensor is arranged in the self-moving device and connected to a processor. The angle sensor is used to sense the traveling direction of the self-moving device, and when the traveling direction changes, the angle sensor sends a turning signal to the processor. The processor determines the working information of the self-moving device in response to the turning signal. In another embodiment, the turning signal can also be a signal sent by an electronic device to control the self-moving device to change the traveling direction, and the working information is determined after the self-moving device receives the turning signal. The electronic device is connected to the self-moving device, and the electronic device can be used to control the movement of the self-moving device. The electronic device can be a computer, a tablet, a mobile phone, a server, a cloud server, a personal digital assistant (PDA), a game console, an interactive Internet Protocol Television (IPTV), a smart wearable device, etc., which is not limited herein.

[0041] In some embodiments, the working information can include the area information of the working area where the self-moving device is located and the stall information of the self-moving device on the working area. The area information can include the turning length of the working area in a preset direction and other information, and the preset direction can be perpendicular to the traveling direction of the self-moving device. The stall information can include the stall probability of the first wheel set when the self-moving device turns on the working area (for convenience of description, hereinafter referred to as "stall probability") and other information.

[0042] In some embodiments, based on the area information of the working area where the self-moving device is located, it can be determined whether the current turning mode (for example, the first turning mode or the second turning mode) of the self-moving device can normally turn in the working area, and the current turning mode is switched in time when the current turning mode of the self-moving device cannot normally turn in the working area.

[0043] In some embodiments, based on the stall information of the self-moving device on the working area, it can be determined whether the current turning mode of the self-moving device can normally turn in the working area, and the current turning mode is switched in time when the current turning mode of the self-moving device cannot normally turn in the working area.

[0044] S12, when the working information does not satisfy the preset working condition, turning according to the first turning mode.

[0045] In at least one embodiment of the present application, the self-moving device can configure a first steering mode and a second steering mode. In the first steering mode, the rotation center of the self-moving device is on the axis line of the second wheel set and close to the central position of the axis line. In the second steering mode, the rotation center of the self-moving device is on the intersection line of the first wheel set and the second wheel set and close to the intersection position of the intersection line.

[0046] In some embodiments, the default steering mode of the self-moving device can be the first steering mode, and the preset working condition can be a preset working condition for evaluating whether the first steering mode needs to be switched to the second steering mode. When the working information does not satisfy the preset working condition, it is determined that the first steering mode does not need to be switched to the second steering mode, and steering is performed according to the first steering mode. When the working information satisfies the preset working condition, it is determined that the first steering mode needs to be switched to the second steering mode, and steering is performed according to the second steering mode.

[0047] In some embodiments, when the working information includes area information of a working area where the self-moving device is located and stall information of the self-moving device on the working area, the preset working condition can be set according to the area information and the stall information. For example, the preset working condition can be that the steering length is less than or equal to a preset length threshold, or the stall probability is greater than or equal to a preset probability threshold. The preset length threshold and the preset probability threshold can be set according to actual needs, for example, the preset length threshold can be determined according to the steering radius corresponding to the first steering mode of the self-moving device, and the preset probability threshold can be 80%, 85%, 90%, etc.

[0048] In some embodiments, when the working information does not satisfy the preset working condition, steering is performed according to the first steering mode. When the self-moving device performs steering according to the first steering mode, the rotation center of the self-moving device is on the axis line of the second wheel set and close to the central position of the axis line. The first driving module can drive the first wheel set to rotate relative to the ground to provide auxiliary power to overcome the resistance between the first wheel set and the ground when the first wheel set rotates relative to the ground. The second driving module can provide main power for the self-moving device and can drive the self-moving device to move forward, turn, or move backward, etc. In some embodiments, the driving torque provided by the first driving module can be less than or equal to the driving torque provided by the second driving module.

[0049] The self-moving device provided in the embodiments of the present application drives the first wheel set to rotate relative to the ground by using the first driving module when in the first turning mode, so that the friction between the auxiliary wheels on the first wheel set and the ground can be greatly reduced when the auxiliary wheels change from lateral sliding to lateral rolling during turning. In addition, the second driving module does not need to increase the torque on the first wheel set due to turning or turning in place, and only needs to drive the first wheel set to move according to the torque during normal travel. Since the second driving module does not increase the torque during turning or turning in place, the damage to the lawn caused by the increase in torque can be reduced, and the wear of the lawn can be greatly reduced.

[0050] S13, when the work information meets the preset work condition, turning is performed according to a second turning mode.

[0051] In at least one embodiment of the present application, when the work information meets the preset work condition, the self-moving device may not be able to normally turn if it turns according to the first turning mode. For example, the self-moving device may not be able to normally turn due to the narrow work area and the large turning radius corresponding to the first turning mode. For another example, the self-moving device may not be able to normally turn due to stall when it turns according to the first turning mode. Based on this, when the work information meets the preset work condition, the self-moving device turns according to the second turning mode.

[0052] In some embodiments, when the self-moving device turns according to the second turning mode, the center of rotation of the self-moving device is on the intersection line of the first wheel set and the second wheel set, and is close to the intersection point of the intersection line. The first driving module can drive the first wheel set to rotate relative to the ground, the second driving module can drive the second wheel set to rotate relative to the ground, and the driving torques provided by the first driving module and the second driving module can be set according to actual needs, which are not limited herein. For example, the driving torque provided by the first driving module can be greater than the driving torque provided by the second driving module, or the driving torque provided by the first driving module can be equal to the driving torque provided by the second driving module, or the driving torque provided by the first driving module can be less than the driving torque provided by the second driving module.

[0053] In the mode control method of the present embodiment, multiple turning modes can be switched, which can improve the flexibility of the self-moving device turning. In addition, the turning mode is switched according to the work information of the self-moving device, so that the turning mode matches the work information of the self-moving device, which can improve the turning efficiency of the self-moving device.

[0054] In at least one embodiment of the present application, the work information can include area information of a work area where the self-moving device is located and stall information of the self-moving device on the work area, and whether the self-moving device can normally steer in the work area in a default first steering mode can be determined based on the area information of the work area where the self-moving device is located and the stall information of the self-moving device on the work area. FIG. 3 is a flowchart of a method for determining work information provided by an embodiment of the present application, and the method for determining work information is applied to a self-moving device. As shown in FIG. 3, the method includes the following steps:

[0055] S21, determining a steering length of a work area where the self-moving device is located in a preset direction.

[0056] In at least one embodiment of the present application, the preset direction can be perpendicular to the travel direction of the self-moving device, and the steering length can include a length of the work area that can provide steering for the self-moving device. The determination of the steering length of the work area where the self-moving device is located in the preset direction can include: determining position information and a travel direction of the self-moving device; determining a work area of the self-moving device based on the position information and the travel direction; detecting whether there is an obstacle in the work area; if the detection result is that there is an obstacle in the work area, determining obstacle information corresponding to the obstacle, and determining a steering length of the work area in a direction perpendicular to the travel direction based on the travel direction and the obstacle information; and if the detection result is that there is no obstacle in the work area, determining a steering length of the work area in a direction perpendicular to the travel direction based on the travel direction. The position information can be obtained by GPS positioning, Beidou system positioning, real-time kinematic (RTK) positioning, or multi-sensor fusion positioning, which is not limited in the present application.

[0057] In some embodiments, the position information can include a first position corresponding to a first wheel group and a second position corresponding to a second wheel group in the self-moving device, and the determination of the position information of the self-moving device can include: determining the first position corresponding to the first wheel group and the second position corresponding to the second wheel group in the self-moving device.

[0058] In some embodiments, the obstacle can include, but is not limited to, objects such as stones, rocks, trees, and vehicles that cause the self-moving device to be unable to normally steer. The obstacle information can include information such as the position of the obstacle. In some embodiments, a preset sensor can be used to collect detection data in the work area, and by analyzing the detection data, it can be determined whether there is an obstacle in the work area and the position of the obstacle. The preset sensor can include a depth sensor, an ultrasonic sensor, an infrared sensor, and the like, which is not limited herein.

[0059] In some embodiments, the self-moving device determines the region to be worked on (referred to as a "region to be worked on" in embodiments of the present application) in advance before working. The determining the working region of the self-moving device based on the position information and the direction of travel can include: obtaining the region to be worked on; determining the region boundary corresponding to the region to be worked on based on the direction of travel; and determining the working region of the self-moving device according to a first straight line passing through the first position perpendicular to the direction of travel, a second straight line passing through the second position perpendicular to the direction of travel, and the region boundary. Embodiments of the present application divide the region to be worked on to obtain a working region related to the turning process of the self-moving device, thereby avoiding the influence of irrelevant regions on the determination of the turning mode and improving the accuracy of the determination of the turning mode.

[0060] In some embodiments, if the detection result is that the working region has an obstacle, the method can further include: determining obstacle information corresponding to the obstacle; and determining the turning length of the working region in the direction perpendicular to the direction of travel based on the direction of travel and the obstacle information. The determining the turning length of the working region in the direction perpendicular to the direction of travel based on the direction of travel and the obstacle information can include: determining a region length of the working region in the direction perpendicular to the direction of travel; determining an obstacle length of the obstacle in the direction perpendicular to the direction of travel based on the obstacle information; and determining the turning length based on the region length and the obstacle length. The number of region lengths can be one or more, and the number of obstacle lengths can be one or more. When the number of region lengths and the number of obstacle lengths are both more than one, the number of turning lengths is also more than one, and the shortest length can be selected as the determined turning length.

[0061] In some embodiments, before the determining the plurality of obstacle lengths of the obstacle in the direction perpendicular to the direction of travel based on the obstacle information, the method can further include: determining a regular-shaped obstacle based on the obstacle information. For example, based on the obstacle information, the abscissa of the obstacle is determined to obtain a plurality of abscissas, the maximum abscissa and the minimum abscissa are determined from the plurality of abscissas, and the difference between the maximum abscissa and the minimum abscissa is taken as the obstacle length. Based on the obstacle information, the ordinate of the obstacle is determined to obtain a plurality of ordinates, the maximum ordinate and the minimum ordinate are determined from the plurality of ordinates, and the difference between the maximum ordinate and the minimum ordinate is taken as the obstacle width. The obstacle length and the obstacle width can be used to construct a regular-shaped obstacle. Embodiments of the present application construct a regular-shaped obstacle to facilitate the determination of the obstacle length, thereby improving the speed of the determination of the turning length.

[0062] In some embodiments, the determining the obstacle length of the obstacle in the direction perpendicular to the traveling direction based on the obstacle information can include: determining a third position of the regular-shaped obstacle close to the self-moving device and a target region boundary of the work region; and determining the length from the third position to the target region boundary as the obstacle length in the direction perpendicular to the traveling direction. In the determining the third position of the regular-shaped obstacle close to the self-moving device, an edge of the regular-shaped obstacle close to the self-moving device can be determined, and an arbitrary position in the determined edge can be selected as the third position. The number of the selected third positions can be set according to actual needs, and can be one or more, which is not limited herein. The target region boundary can be determined according to the positional relationship between the obstacle and the self-moving device. For example, if the obstacle is on the left side of the self-moving device, the region boundary on the left side of the work region in the direction perpendicular to the traveling direction is determined as the target region boundary. For another example, if the obstacle is on the right side of the self-moving device, the region boundary on the right side of the work region in the direction perpendicular to the traveling direction is determined as the target region boundary.

[0063] In some embodiments, the determining the turning length based on the region length and the obstacle length can include: if the number of obstacles is one, calculating the difference between the region length and the obstacle length, and determining the difference as the turning length; and if the number of obstacles is more than one, determining the positional relationship between the obstacles, and processing the region length and the obstacle length according to the positional relationship to obtain the turning length.

[0064] In some embodiments, if the number of region lengths is more than one and the number of obstacle lengths is more than one when the number of obstacles is one, the number of differences is also more than one, and the turning length can be determined as the smaller difference.

[0065] In some embodiments, when the number of obstacles is multiple, it is determined whether the multiple obstacles are on the same side or on the different sides of the self-moving device. If the multiple obstacles are on the same side of the self-moving device, a first strategy is determined, and the multiple obstacle lengths are processed using the first strategy. If the multiple obstacles are on the different sides of the self-moving device, a second strategy is determined, and the multiple obstacle lengths are processed using the second strategy. The first strategy and the second strategy can be set according to actual needs, which are not limited herein. For example, if the multiple obstacles are on the same side of the self-moving device, for example, the number of obstacles is two, and both are on the left side of the self-moving device. Based on this, the first strategy can include determining the obstacle length corresponding to each obstacle, selecting the longer obstacle length, calculating the difference between the region length and the selected obstacle length, and taking the difference as the turning length. For another example, if the multiple obstacles are on the different sides of the self-moving device, for example, the number of obstacles is two, and they are respectively on the left and right sides of the self-moving device. Based on this, the second strategy can include determining the obstacle length corresponding to each obstacle, calculating the sum of the multiple obstacle lengths, and then calculating the difference between the region length and the sum of the obstacle lengths, and taking the difference as the turning length.

[0066] In some embodiments, if the detection result is that the work area does not exist obstacles, the turning length of the work area perpendicular to the direction of travel is determined based on the direction of travel. The determination of the turning length of the work area perpendicular to the direction of travel based on the direction of travel can include determining multiple region lengths of the work area perpendicular to the direction of travel, and selecting the shortest length from the multiple region lengths as the turning length.

[0067] To make the method of determining the turning length clearer, the application will be described in detail in combination with FIG. 4A, FIG. 4B and FIG. 4C. Taking a regular rectangular region as an example, FIG. 4A is a schematic diagram of determining the turning length provided by the first embodiment of the application. As shown in FIG. 4A, the region to be worked on is a rectangle, and the region to be worked on has a corresponding region boundary I1. It is assumed that the moving direction of the mobile device is the Y-axis direction, and two boundary lines of the region boundary I1 in the Y-axis direction are determined. Based on the first position corresponding to the first wheel group, a first straight line passing through the first position in the X-axis direction is determined, and based on the second position corresponding to the second wheel group, a second straight line passing through the second position in the X-axis direction is determined, wherein the X-axis is perpendicular to the Y-axis. Based on the two boundary lines of the region boundary I1 in the Y-axis direction, the first straight line and the second straight line, the working region is determined. In some embodiments, considering that there is no obstacle in the working region and the working region is a regular rectangular region, based on this, the length of the working region in the direction perpendicular to the moving direction (i.e., the X-axis) is determined based on the moving direction Y-axis of the mobile device. In this way, the length of the region can include the length of the first straight line and the length of the second straight line, and the length of the first straight line is equal to the length of the second straight line, and the length of any one of the first straight line and the second straight line is selected as the turning length.

[0068] Taking an irregular region as an example, FIG. 4B is a schematic diagram of determining the turning length provided by the second embodiment of the application. As shown in FIG. 4B, the region to be worked on includes two rectangular regions with different areas, which are the region to be worked on A and the region to be worked on B, and the mobile device is moving from the region to be worked on A to the region to be worked on B. The region to be worked on has a corresponding region boundary I2. It is assumed that the moving direction of the mobile device is the Y-axis direction, and two boundary lines of the region boundary I2 in the Y-axis direction are determined. Based on the first position corresponding to the first wheel group, a first straight line passing through the first position in the X-axis direction is determined, and based on the second position corresponding to the second wheel group, a second straight line passing through the second position in the X-axis direction is determined, wherein the X-axis is perpendicular to the Y-axis. Based on the two boundary lines of the region boundary I2 in the Y-axis direction, the first straight line and the second straight line, the working region is determined. In some embodiments, considering that the working region is an irregular region and there is no obstacle in the working region, based on this, the length of the working region in the direction perpendicular to the moving direction (i.e., the X-axis) is determined based on the moving direction Y-axis of the mobile device. In this way, a plurality of region lengths can be obtained, for example, the plurality of region lengths can include the length of the first straight line and the length of the second straight line, and the length of the first straight line is less than the length of the second straight line, and the length of the shorter one (i.e., the length of the first straight line) is selected from the first straight line and the second straight line as the turning length.

[0069] In the case that the to-be-operated region is a regular rectangular region and there are obstacles in the to-be-operated region, FIG. 4C is a schematic diagram of determining the turning length according to the third embodiment of the present application. As shown in FIG. 4C, the to-be-operated region is a rectangle, and the to-be-operated region has a corresponding region boundary I1. It is assumed that the advancing direction of the self-moving device is the Y-axis direction, and the two boundary lines of the region boundary I1 in the Y-axis direction are determined. Based on the first position corresponding to the first wheel set, a first straight line passing through the first position in the X-axis direction is determined, and based on the second position corresponding to the second wheel set, a second straight line passing through the second position in the X-axis direction is determined, wherein the X-axis is perpendicular to the Y-axis. Based on the two boundary lines of the region boundary I1 in the Y-axis direction, the first straight line and the second straight line, the operating region is determined. In the operating region, there are two obstacles, denoted as obstacle O1 and obstacle O2, which are respectively on the left and right sides of the self-moving device. In some embodiments, considering that there are obstacles in the operating region, after the two obstacles are subjected to shape regularization processing, the obstacle lengths of the two obstacles in the direction perpendicular to the advancing direction (i.e., the X-axis) are determined, denoted as obstacle length L1 and obstacle length L2. Then, based on the advancing direction Y-axis of the self-moving device, the region length of the operating region in the direction perpendicular to the advancing direction (i.e., the X-axis) is determined, for example, the length of the first straight line is taken as the region length. Then, the sum of the obstacle length L1 and the obstacle length L2 is calculated, and the difference between the region length and the sum is calculated, and the difference is taken as the turning length.

[0070] In S22, a corresponding stall probability of the first wheel set turning in the operating region is determined.

[0071] In at least one embodiment of the present application, when the self-moving device turns, the first wheel set has a risk of stalling. Taking the self-moving device as a mowing robot as an example, when the mowing robot operates on the grassland, grass clippings may be stuck between the auxiliary wheels of the first wheel set, resulting in a situation that a certain auxiliary wheel is dragged because it is stuck and cannot turn. In some embodiments, the stall probability is used to evaluate the possibility of the first wheel set being stalled when turning in the operating region. The higher the stall probability, the greater the possibility of the first wheel set being stalled when turning in the operating region. The lower the stall probability, the smaller the possibility of the first wheel set being stalled when turning in the operating region.

[0072] In some embodiments, the stall probability is related to a relevant attribute of the object to be worked on. Taking the self-moving device as a mowing robot and the object to be worked on as a lawn as an example, the growth of the grass on the lawn is different in different areas. In the area where the growth is lush, the stall probability corresponding to the mowing robot is relatively high. In the area where the growth is sparse and small, the stall probability corresponding to the mowing robot is relatively low. Taking the self-moving device as a cleaning robot and the object to be worked on as the ground as an example, the distribution of garbage on the ground is different. In the area where the number of garbage is relatively large and the garbage is relatively large (for example, facial paper, paper box, etc.), the stall probability corresponding to the cleaning robot is relatively high. In the area where the number of garbage is relatively small and the garbage is relatively small (for example, paper scraps, dust, etc.), the stall probability corresponding to the cleaning robot is relatively low.

[0073] S23, determining the work information based on the turning length and the stall probability.

[0074] In at least one embodiment of the present application, at least one or more of the turning length and the stall probability is taken as the work information.

[0075] In the mode control method provided in the embodiments of the present application, the turning length of the work area in which the self-moving device is located in a preset direction and the stall probability corresponding to the turning of the first wheel set in the work area are taken as the work information, and the turning mode of the self-moving device is determined based on the turning length and the stall probability, so that the passing rate of the self-moving device in the narrow area can be improved, and the probability of stall of the self-moving device in the turning can be reduced.

[0076] In at least one embodiment of the present application, the stall probability is related to a relevant attribute of the object to be worked on, and the stall probability of the self-moving device can be determined based on the relevant attribute of the object to be worked on. FIG. 5 is a flow chart of a method for determining the stall probability provided in the embodiments of the present application, and the method for determining the stall probability is applied in the self-moving device. As shown in FIG. 5, the method includes the following steps:

[0077] S31, determining a target attribute of the object to be worked on in the work area.

[0078] In at least one embodiment of the present application, different self-moving devices have corresponding objects to be worked on. For example, the object to be worked on corresponding to the mowing robot is the lawn, and the object to be worked on corresponding to the cleaning robot is the ground. In an embodiment, a mapping relationship between the self-moving device and the object to be worked on can be set in advance, and the object to be worked on corresponding to the self-moving device can be determined by querying the mapping relationship.

[0079] In some embodiments, a target attribute is pre-set for each object to be worked on, and the target attribute is related to the stall probability of the self-moving device when working. The target attribute can include density information and height information. The density information is used to represent the density of the object to be worked on, and the height information is used to represent the height of the object to be worked on. Taking a lawn mower as an example, the object to be worked on is grass. The density information can be the number of grass in the working area, and the height information can be the height of the grass in the working area.

[0080] In some embodiments, determining the density information of the object to be worked on in the working area can include: vertically photographing above the working area by using an image acquisition device to obtain a first area image; determining the number of objects to be worked on in the first area image; determining the working area of the working area; and determining the density information of the object to be worked on based on the number and the working area. In some embodiments, after obtaining the first area image, the first area image can be pre-processed. For example, the pre-processing can include color correction of the first area image, and enhancement of relevant color information to better identify the object to be worked on. For example, the green information of the first area image is enhanced to better identify the grass. In some embodiments, the ratio of the number to the working area can be calculated, and the ratio is taken as the density information of the object to be worked on.

[0081] In some embodiments, determining the height information of the object to be worked on in the working area can include: selecting a reference object with a known actual height in the working area; vertically photographing above the working area by using an image acquisition device to obtain a second area image; obtaining the reference object height of the reference object in the second area image and the object height of the object to be worked on in the second area image; and determining the height information of the object to be worked on based on the actual height of the reference object, the reference object height, and the object height.

[0082] S32, determining the stall probability corresponding to the first wheel group based on the target attribute.

[0083] In at least one embodiment of the present application, a corresponding relationship between the density information, the height information, and the stall probability can be pre-set. By querying the corresponding relationship, the stall probability corresponding to the target attribute can be determined.

[0084] In other embodiments, a preset stall probability determination model is called to process the density information and the height information to obtain the stall probability corresponding to the target attribute. The probability determination model can be a neural network model, for example, the probability determination model can be a convolutional neural network (CNN) model, a recurrent neural network (RNN) model, a generative adversarial network (GAN) model, etc., which is not limited herein. The training method of the probability determination model can include a supervised training method and an unsupervised training method. The embodiments of the present application take the supervised training method of the probability determination model as an example for illustration. In training the probability determination model, the density information and the height information of the object to be worked in the work area are taken as input data, and labels are added to the density information and the height information to identify the stall probability corresponding to the density information and the height information. The stall probability corresponding to the density information and the height information is taken as output data to train the stall probability determination model. In the training process, the stall probability determination model adjusts the weights and biases of the model based on the accuracy of the model output result, so as to obtain a detection model with an accuracy greater than a preset accuracy threshold. The preset accuracy threshold can be set according to actual needs, for example, the preset accuracy threshold can be 95%, 98%, etc. The training process of the model can refer to related technologies, which will not be described herein.

[0085] The embodiments of the present application combine the density information and the height information of the object to be worked in the work area to determine the stall probability corresponding to the first round group, which can improve the accuracy of stall probability determination and in turn improve the accuracy of steering mode determination.

[0086] In at least one embodiment of the present application, when determining whether the work information satisfies the preset work condition, the method can include: when the steering length is greater than a preset length threshold and the stall probability is less than a preset probability threshold, determining that the work information does not satisfy the preset work condition; when the steering length is less than or equal to the preset length threshold, or the stall probability is greater than or equal to the preset probability threshold, determining that the work information satisfies the preset work condition. The preset length threshold and the preset probability threshold can be set according to actual needs, for example, the preset length threshold can be determined according to the steering radius corresponding to the first steering mode of the self-moving device, and the preset probability threshold can be 80%, 85%, 90%, etc.

[0087] In some embodiments, each steering mode of the self-moving device corresponds to a steering radius, and different steering modes correspond to different steering radii. Taking the steering modes of the self-moving device as an example, the first steering mode corresponds to a first steering radius, and the second steering mode corresponds to a second steering radius, and the first steering radius is greater than the second steering radius. The preset length threshold is determined according to the steering radius corresponding to the first steering mode, and the steering length is compared with the preset length threshold. If the steering length is less than or equal to the preset length threshold, it indicates that the self-moving device cannot steer according to the first steering mode in the work area, and the first steering mode needs to be switched to the second steering mode to improve the passability of the self-moving device in different work areas. In addition, when the stall probability is greater than or equal to the preset probability threshold, the first steering mode is switched to the second steering mode in time, which can reduce the problem of the auxiliary wheels being blocked by grass clippings or mud and other impurities, avoid the situation that a certain auxiliary wheel is dragged because it is blocked by impurities and cannot be turned, and reduce the degree of grass grinding on the basis of ensuring normal steering.

[0088] In at least one embodiment of the present application, when the self-moving device is changing the direction of travel, the steering mode of the self-moving device can be determined based on the relationship between the work information of the self-moving device and the preset work condition. If the steering mode of the self-moving device is the first steering mode, it is still necessary to monitor whether the first wheel set stalls during steering during the steering process according to the first steering mode, and the first steering mode is switched to the second steering mode in time when the stall occurs. If the steering mode of the self-moving device is the second steering mode, the first wheel set is less likely to stall during the steering process according to the second steering mode, and it is not necessary to monitor whether the first wheel set stalls during the steering process. FIG. 6 is a flowchart of a method for determining preset information provided by an embodiment of the present application, and the method for determining preset information is applied to a self-moving device. As shown in FIG. 6, the method includes the following steps:

[0089] S41, determining preset information of the first wheel set during the steering process.

[0090] In at least one embodiment of the present application, the preset information can include the driving current and the driving speed corresponding to the first driving module, and the driving current and the driving speed can be used to evaluate whether the first wheel set stalls. The preset information can also include a plurality of resistance values generated by the first wheel set in contact with the ground during the steering process, and the plurality of resistance values can be used to evaluate whether the first wheel set stalls.

[0091] S42, if it is determined that the stall occurs based on the preset information, the first steering mode is switched to the second steering mode, and steering is performed according to the second steering mode.

[0092] In at least one embodiment of the present application, if the preset information comprises the driving current and the driving speed corresponding to the first driving module, the method further comprises: determining that the self-moving device is stalled when the driving current is greater than a preset current threshold and / or the driving speed is less than a preset speed threshold. The preset current threshold and the preset speed threshold can be set according to actual needs, which are not limited herein.

[0093] In some embodiments, if the preset information comprises a plurality of resistance values generated by the first wheel set in contact with the ground during the steering process, the method further comprises: determining a resistance change value according to the plurality of resistance values; and determining that the self-moving device is stalled when the resistance change value is greater than a preset change threshold. The resistance change value can comprise a difference between a resistance value generated by the first wheel set in contact with the ground at a current time and a resistance value generated by the first wheel set in contact with the ground at a previous time. If the difference is greater than the preset change threshold, it is determined that the self-moving device is stalled. The preset change threshold can be set according to actual needs, which is not limited herein.

[0094] S43, if it is determined based on the preset information that the stall does not occur, continue steering according to the first steering mode.

[0095] In at least one embodiment of the present application, if the preset information comprises the driving current and the driving speed corresponding to the first driving module, the method further comprises: determining that the self-moving device is not stalled when the driving current is less than or equal to a preset current threshold and / or the driving speed is greater than or equal to a preset speed threshold.

[0096] In some embodiments, if the preset information comprises a plurality of resistance values generated by the first wheel set in contact with the ground during the steering process, the method further comprises: determining that the self-moving device is not stalled when the resistance change value is less than or equal to a preset change threshold.

[0097] In the mode control method provided in the embodiments of the present application, during the steering of the self-moving device according to the first steering mode, it is determined whether the first wheel set is stalled by monitoring the preset information of the first wheel set during the steering process, and when the stall occurs, the first steering mode is switched to the second steering mode in time, which can avoid damage to the lawn when the self-moving device is stalled, can greatly reduce the wear of the lawn, and can ensure that the self-moving device can steer normally.

[0098] In at least one embodiment of the present application, before steering according to the first steering mode or the second steering mode, the method can further comprise: determining steering environment information of the self-moving device, and determining a steering position of the self-moving device based on the steering environment information. The steering environment information is used to represent the environment information of the self-moving device during steering, and can include, but is not limited to, the distance value of the self-moving device from two boundary lines in the working area in the direction perpendicular to the travel direction of the self-moving device (for ease of description, the two boundary lines are denoted as the first boundary line and the second boundary line, and the corresponding distance values are simply referred to as the "first distance value" and the "second distance value"), the distance value of the self-moving device from an obstacle in the working area in the direction perpendicular to the travel direction of the self-moving device (for ease of description, it is simply referred to as the "third distance value"), and the like.

[0099] In some embodiments, the number of the first distance value and the second distance value can be one or multiple according to the shape of the working area. If the number of the first distance value and the second distance value is multiple, the shorter distance value can be selected from the multiple first distance values as the determined first distance value, and the shorter distance value can be selected from the multiple second distance values as the determined second distance value.

[0100] In some embodiments, the number of the obstacle can be one or multiple. If the number of the obstacle in the working area is multiple, the obstacle closest to the self-moving device is determined, and the distance value of the self-moving device from the obstacle in the direction perpendicular to the travel direction of the self-moving device is determined as the third distance value.

[0101] In some embodiments, when the steering position of the self-moving device is determined based on the steering environment information, the shorter distance value can be selected from the first distance value and the second distance value. The embodiments of the present application take the shorter distance value of the first distance value as an example for description, and detect whether the first distance value is less than a first distance threshold. If the detection result is that the first distance value is less than the first distance threshold, the self-moving device moves a preset distance away from the first boundary line corresponding to the first distance value, and the position after moving is taken as the steering position of the self-moving device. The first distance threshold and the preset distance can be set according to actual needs, which is not limited herein.

[0102] In some embodiments, when determining the turning position of the self-moving device based on the turning environment information, it can also be detected whether the third distance value is less than a second distance threshold. If the detection result is that the third distance value is less than the second distance threshold, the self-moving device moves a preset distance away from the obstacle corresponding to the third distance value, and the position after moving is taken as the turning position of the self-moving device. The second distance threshold and the preset distance can be set according to actual needs, which are not limited herein. The embodiments of the present application can determine the turning environment information of the self-moving device before turning according to the first turning mode or the second turning mode, and determine the turning position of the self-moving device based on the turning environment information, so as to avoid that the self-moving device exceeds the boundary line of the working area or collides with the obstacle during turning, and improve the turning effect of the self-moving device.

[0103] Please refer to FIG. 7, which is a structural schematic diagram of the mode control device provided by the embodiments of the present application. In some embodiments, the mode control device 20 can include a plurality of functional modules composed of computer program segments. The computer programs of each program segment in the mode control device 20 can be stored in the memory of the self-moving device and executed by at least one processor to perform the functions of mode control (see FIG. 2 for details).

[0104] In the embodiments, the mode control device 20 can be divided into a plurality of functional modules according to the functions it performs. The functional modules can include: a working information determination module 201, a first mode determination module 202, and a second mode determination module 203. The module referred to by the present application refers to a series of computer program segments that can be executed by at least one processor and can complete a fixed function, which is stored in the memory. In the embodiments, the functions of each module will be described in detail in subsequent embodiments.

[0105] The working information determination module 201 can be used to determine the working information of the self-moving device in response to the turning signal.

[0106] The first mode determination module 202 can be used to turn according to the first turning mode when the working information does not meet the preset working condition.

[0107] The second mode determination module 203 can be used to turn according to the second turning mode when the working information meets the preset working condition.

[0108] It can be understood that the mode control device 20 and the mode control method of the above-mentioned embodiments belong to the same inventive concept, and the specific implementation mode of each module in the mode control device 20 corresponds to each step of the mode control method in the above-mentioned embodiments, which will not be described herein.

[0109] The module division described above is logical function division, and actual implementation can have another division manner. In addition, each function module in each embodiment of the present application can be integrated in the same processing unit, or each module can be physically present alone, or two or more modules can be integrated in the same unit. The integrated module can be realized in the form of hardware or in the form of hardware plus software function module.

[0110] FIG. 8 is a structural schematic diagram of the self-moving device according to the second embodiment of the present application. As shown in FIG. 8, the self-moving device 1 further includes a memory 17, a power supply 18, a sensor 19, a working mechanism 20, a communication module 21, a positioning module 22, and a bus 23 arranged on the body 11. The processor 16 is coupled to the first driving device 14, the second driving device 15, the memory 17, the power supply 18, the sensor 19, the working mechanism 20, the communication module 21, and the positioning module 22 through the bus 23.

[0111] The memory 17 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly read and written by the processor 16, and can be used to store executable programs (for example, machine instructions) of an operating system or other programs running in the background, and can also be used to store data of users and applications, etc. The random access memory can include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0112] The non-volatile memory can also store executable programs and store data of users and applications, etc., and can be loaded in advance into the random access memory for direct reading and writing by the processor 16. The non-volatile memory can include a disk storage device, a flash memory.

[0113] The memory 17 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 16. The one or more computer programs include a plurality of instructions which, when executed by the processor 16, implement the mode control method performed on the self-moving device 1.

[0114] In other embodiments, the self-moving device 1 further includes an external memory interface configured to connect an external memory to extend the storage capacity of the self-moving device 1.

[0115] The processor 16 can include one or more processing units, for example: the processor 16 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a processor, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units can be independent devices or integrated into one or more processors.

[0116] The processor 16 provides computing and control capabilities, for example, the processor 16 is configured to execute the computer programs stored in the memory 17 to implement the mode control method described above.

[0117] The power supply 18 is configured to supply power to the self-moving device. In an embodiment of the present application, the power supply 18 can include any one or more of a battery, a fuel generator, a solar power module, a wind power module, etc.

[0118] The sensor 19 is configured to obtain information for the self-moving device 1, such as environmental information and movement information of the self-moving device 1. In an embodiment of the present application, the sensor 19 can include one or more of a laser radar, a camera, an infrared sensor, an encoder, etc.

[0119] The working mechanism 20 is configured to perform corresponding working tasks, for example, mowing, deicing, cruising, cleaning, and spraying pesticides, etc. In some embodiments of the present application, the working mechanism 20 can include a motor, a transmission mechanism, and a cutterhead, etc. When the self-moving device is a mower, the motor can drive the cutterhead to rotate through the transmission mechanism to realize the mowing function. The motor can also control the movement of the cutter to adjust the mowing height and mowing area.

[0120] The communication module 21 is configured to enable the self-moving device to communicate with other devices. In an embodiment of the present application, the communication module 21 can interact with other devices based on wired communication and / or wireless communication. The wireless communication can include one or more of the following: Bluetooth communication, Wi-Fi communication, Near Field Communication (NFC), etc.

[0121] The positioning module 22 is configured to determine the position of the self-moving device. In some embodiments of the present application, the positioning module 22 can include one or more of the following: Global Positioning System (GPS), inertial navigation system, Real-time kinematic (RTK) carrier phase differential system, etc.

[0122] The bus 23 is configured to provide a communication channel between the first driving device 14, the second driving device 15, the memory 17, the processor 16, the power supply 18, the sensor 19, the working mechanism 20, the communication module 21, and the positioning module 22 in the self-moving device 1.

[0123] In other embodiments of the present application, the self-moving device 1 can further include an anti-collision part and a steering assembly, etc. The anti-collision part can be configured to prevent the driving wheel from colliding with an obstacle in front of the self-moving device. The steering assembly can be configured to adjust the driving direction of the driving wheel.

[0124] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 can include more or fewer components than those illustrated, or combine certain components, or split certain components, or different arrangement of components. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0125] In the above embodiments, the description of each embodiment focuses on different aspects. The parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0126] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0127] The above examples are only used to illustrate the technical solutions of the present application, but not limit the same; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent ones; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A mode control method applied to a self-moving device, characterized in that, The mode control method comprises: in response to a steering signal, determining work information of the self-moving device; when the work information does not satisfy a preset work condition, steering according to a first steering mode; when the work information satisfies the preset work condition, steering according to a second steering mode.

2. The mode control method of claim 1, wherein The self-moving device comprises a first wheel set, and the determination of the work information of the self-moving device comprises: determining a steering length of a work area in which the self-moving device is located in a preset direction; determining a stall probability corresponding to steering of the first wheel set in the work area; based on the steering length and the stall probability, determining the work information.

3. The mode control method of claim 2, wherein The determination of the stall probability corresponding to steering of the first wheel set in the work area comprises: determining a target attribute of an object to be worked in the work area; based on the target attribute, determining the stall probability corresponding to the first wheel set.

4. The mode control method of claim 3, wherein The target attribute comprises density information and height information, and the determination of the stall probability corresponding to the first wheel set based on the target attribute comprises: determining a stall probability corresponding to the target attribute according to a preset correspondence relationship among the density information, the height information and the stall probability; or calling a preset stall probability determination model to process the density information and the height information to obtain the stall probability corresponding to the target attribute.

5. The mode control method of claim 2, wherein The method further comprises: when the steering length is greater than a preset length threshold and the stall probability is less than a preset probability threshold, determining that the work information does not satisfy the preset work condition; when the steering length is less than or equal to the preset length threshold or the stall probability is greater than or equal to the preset probability threshold, determining that the work information satisfies the preset work condition.

6. The mode control method of claim 1, wherein The self-moving device comprises a first wheel set, and after the steering according to the first steering mode, the method further comprises: determining preset information of the first wheel set in a steering process; if it is determined based on the preset information that stall occurs, switching from the first steering mode to the second steering mode and steering according to the second steering mode; if it is determined based on the preset information that stall does not occur, continuing to steer according to the first steering mode.

7. The mode control method of claim 6, wherein The self-moving device further comprises a first driving module for driving the first wheel set to move, and the determination of the preset information of the first wheel set in the steering process comprises: determining a driving current and a driving rotation speed corresponding to the first driving module; when the driving current is greater than a preset current threshold and / or the driving rotation speed is less than a preset rotation speed threshold, determining that the self-moving device stalls; or determining a plurality of resistance values generated by the first wheel set in contact with the ground in the steering process; determining a resistance change value based on the plurality of resistance values; when the resistance change value is greater than a preset change threshold, determining that the self-moving device stalls.

8. The mode control method of claim 1, wherein The self-moving device comprises a body, a first wheel set and a second wheel set, and the first wheel set and the second wheel set are respectively arranged at opposite front and rear ends of the body. If the first steering mode is adopted, a rotation center of the self-moving device is determined according to a shaft center line of the second wheel set; If the second steering mode is adopted, a rotation center of the self-moving device is determined according to an intersection line of the first wheel set and the second wheel set.

9. A self-moving device, characterized in that, The self-moving device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the mode control method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program implements the mode control method according to any one of claims 1 to 8 when executed by a processor in the self-moving device.

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