Blowing control method and system for autonomous mobile device, autonomous mobile device, and medium

Abstract

Disclosed are a blowing control method and system for an autonomous mobile device, an autonomous mobile device, and a medium. The method comprises: acquiring an expected airflow performance value issued by a host computer; acquiring in real time a current battery output voltage value and a current real-time current value of a blower; determining a current expected current value of the blower by means of the expected airflow performance value and the current battery output voltage value; and adjusting a current airflow performance value of the blower by means of the current expected current value of the blower and the current real-time current value of the blower, and using the current airflow performance value of the blower to control the blower of an autonomous mobile device to perform an air-blowing operation.

Description

Blowing control method and system of self-moving device, self-moving device and medium TECHNICAL FIELD

[0001] The present application relates to the technical field of blowing control of self-moving device, and particularly relates to a blowing control method and system of self-moving device, a self-moving device and a medium. BACKGROUND

[0002] In outdoor scenes, various fine objects such as leaves and grass clippings in the yard area are common. If the accumulation of the above fine objects is not cleaned in time, it will affect the aesthetics of the area and travel. The commonly used cleaning device is a blowing device that relies on manual control of blowing intensity. The blowing intensity is controlled by buttons or other key positions installed on the device. However, the problem is that the degree of automation is not high, and since manual control of blowing intensity requires rich experience, it is easy to cause inaccurate control of blowing intensity and result in poor blowing effect or waste of power.

[0003] Therefore, the inventor realizes the need to find a new technical solution to solve the above technical problems. TECHNICAL PROBLEM

[0004] Therefore, it is necessary to provide a blowing control method and system of self-moving device, a self-moving device and a medium to solve the technical problems of low degree of automation, poor blowing effect and power waste of the blowing device in the prior art. TECHNICAL SOLUTION

[0005] To achieve the above purpose, a blowing control method of self-moving device is provided, which comprises:

[0006] real-time acquisition of current battery output voltage value and current fan real-time current value;

[0007] determination of current fan expected current value by the wind power expected value and the current battery output voltage value;

[0008] adjustment of current fan wind power value by the current fan expected current value and the current fan real-time current value, and control of the fan of the self-moving device to perform blowing processing by the adjusted target fan wind power value.

[0009] To achieve the above purpose, a fan control system of self-moving device is also provided, which comprises a motor modulator and a fan. The motor modulator controls the motor to realize the following steps:

[0010] real-time acquisition of current battery output voltage value and current fan real-time current value;

[0011] determine a current fan expected current value through the wind power expected value and the current battery output voltage value;

[0012] adjust a current fan wind power value through the current fan expected current value and the current fan real-time current value, and control the fan of the self-moving device to perform the blowing process at the adjusted target fan wind power value.

[0013] To achieve the above object, the application further provides a self-moving device comprising a fan control system of the self-moving device and a controller, the motor modulator in the motor control system and the controller being in communication connection, and the controller controls the motor in the motor control system to realize the following steps:

[0014] real-time acquisition of a current battery output voltage value and a current fan real-time current value;

[0015] determination of a current fan expected current value through the wind power expected value and the current battery output voltage value;

[0016] adjustment of a current fan wind power value through the current fan expected current value and the current fan real-time current value, and control of the fan of the self-moving device to perform the blowing process at the adjusted target fan wind power value.

[0017] To achieve the above object, the application further provides a computer readable storage medium storing a computer program, the computer program being executed by a processor to realize the steps of the blowing control method of the self-moving device. Advantages

[0018] The blowing control method of the self-moving device provided by the application comprises the following steps: obtaining a wind power expected value issued by an upper computer; real-time acquisition of a current battery output voltage value and a current fan real-time current value; determination of a current fan expected current value through the wind power expected value and the current battery output voltage value; adjustment of a current fan wind power value through the current fan expected current value and the current fan real-time current value, and control of the fan of the self-moving device to perform the blowing process at the adjusted target fan wind power value. Through automatic control of the blowing process of the fan in the self-moving device, the blowing process can automatically correspond to the blowing intensity under different conditions in the working area of the self-moving device. In this way, the automatic degree of the self-moving device in the blowing process work can be improved, the blowing intensity can be automatically controlled, stable blowing intensity can be ensured under different conditions, and the problems of poor blowing effect or power waste can be avoided.

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

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Fig. 1 is a flowchart of an embodiment of the blowing control method of the self-moving device of the present application.

[0022] Fig. 2 is a schematic block diagram of an embodiment of the fan control system of the self-moving device of the present application.

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

[0024] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Best Mode for Carrying Out the Invention

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

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

[0027] S10, obtaining the wind force expected value issued by the upper computer.

[0028] Understandably, the upper computer refers to a computer or control terminal in the self-moving device control system for monitoring, controlling and managing the whole system, and the controller in the self-moving device can receive the instructions from the upper computer through the communication interface to perform the corresponding processing tasks, such as obtaining the start blowing instruction issued by the upper computer to control the self-moving device to perform the blowing processing on the specific area.

[0029] S20, obtaining the current battery output voltage value and the current fan real-time current value in real time.

[0030] Understandably, the battery is a device for powering the self-moving device, including a function for powering the self-moving device fan, in the case of battery power, the current battery output voltage value can be obtained by a special sampling method or real-time communication (measured by a special measuring instrument and fed back to the controller); the fan is a device for providing blowing processing, and the current fan real-time current value can be obtained by a current sensor or a current sampling resistor, wherein the current sensor can be a Hall current sensor.

[0031] S30, determining a current fan expected current value by the wind power expected value and the current battery output voltage value.

[0032] Understandably, the current fan expected current value is the current value that the current fan needs to actually reflect, and the specific determination method can first determine the efficiency constant of the current fan, then determine the fan expected power value by the wind power expected value and the efficiency constant of the fan, and finally determine the current fan expected current value by the operating relationship between the fan expected power value and the current battery output voltage value.

[0033] S40, adjusting the current fan wind power value by the current fan expected current value and the current fan real-time current value, and controlling the fan of the self-moving device to perform blowing processing with the adjusted target fan wind power value.

[0034] Understandably, the current fan wind power value is the wind power value that the current fan needs to truly reflect, and the current fan wind power value can be controlled by the current motor modulator of the fan to obtain the corresponding speed value (throttle value) of the target fan wind power value, after determining the speed value of the fan, the corresponding fan is adjusted under the corresponding motor modulator to complete the actual blowing processing, and the specific determination method can first determine the current error by the difference between the current fan expected current value and the current fan real-time current value, then adjust the speed value of the fan up or down by the current error, finally determine the corresponding target fan wind power value by the adjusted speed value, and control the fan to perform blowing processing by the target fan wind power value, wherein each speed of the fan corresponds to a current fan wind power value; the self-moving device is an intelligent blowing processing robot applied in a courtyard, which can automatically complete blowing processing work in the corresponding working area.

[0035] In the embodiments of steps S10 to S40, the blowing process of the fan in the self-moving device is automatically controlled, and the blowing process can automatically correspond to the blowing strength in the working area of the self-moving device. In this way, the automation degree of the self-moving device in the blowing process can be improved, the blowing strength can be automatically controlled (by adjusting the current fan wind value), stable blowing strength can be ensured under different power or different working conditions, and the problems of poor blowing effect or power waste can be avoided. The current fan real-time current value and the current battery output voltage value (proportional to the power) are obtained in real time through a communication method or a sampling method, so that the voltage value obtained is used to control the electric throttle of the fan in real time, and the fan can stably output the set wind value.

[0036] Further, the real-time acquisition of the current battery output voltage value and the current fan real-time current value comprises:

[0037] The high-voltage signal measured by the battery measurement point in the self-moving device is converted into a low-voltage signal through a voltage dividing circuit or a sampling resistor.

[0038] The low-voltage signal is converted into a digital signal through a preset converter, and the current voltage output voltage value is obtained after the digital signal is analyzed.

[0039] The current fan real-time current value of the fan in the self-moving device is collected through a preset current sensor or a sampling resistor.

[0040] The voltage dividing circuit is obtained by dividing the voltage through the series connection of at least two resistors, and appropriate resistance values are selected so that the sampling point voltage is a certain proportion of the target voltage. Specifically, the voltage dividing circuit is formed by two resistors, and the high voltage is divided through the series connection of the two resistors. The sampling resistor is also connected in series to form the same function as the voltage dividing circuit. The battery measurement point in the mobile device is the middle node of the voltage dividing resistor, and a low voltage signal that can be input to the analog-to-digital converter can be obtained through the battery measurement point. The process of converting the high voltage signal into a low voltage signal is to reduce the corresponding high voltage signal by a certain proportion through the resistance value after determining the appropriate resistance value, and then obtain the low voltage signal. The preset converter can be an analog-to-digital converter. The converter can convert the analog voltage signal obtained by sampling into a digital signal and send it to the motor modulator for analysis and processing. The motor modulator can obtain the running state information of the current fan by analyzing the digital signal, wherein the running state information includes the current voltage output voltage value. The preset current sensor can be a Hall current sensor, which can measure the current by detecting the magnetic field generated by the current. The current sampling resistor calculates the current through the voltage drop across the resistor. When the current flows through a resistor with a known resistance value, the current can be indirectly measured by measuring the voltage across the resistor. According to Ohm's law, the current value through the resistor can be obtained. During the process of collecting the real-time current value of the current fan through the fan in the mobile device, the voltage signal generated by the current sampling resistor is usually small and needs to be amplified by an operational amplifier to ensure that the signal is suitable for the input range of the ADC. The amplified voltage signal is converted into a digital signal by the ADC. In addition, signal filtering can also be performed during the amplification process.

[0041] In this embodiment, the high voltage signal is converted into a low voltage signal by the voltage dividing circuit, which ensures that the signal processor can safely receive and process the high voltage data of the battery and avoid damage to the device caused by high voltage. Through digital signal analysis, the current voltage output value can be accurately measured, which improves the reliability of the entire system and the accuracy of the data. Through accurate monitoring and analysis of voltage and current, the actual running state of the current fan can be determined in a timely manner, which is conducive to the precise control of the current fan by the mobile device.

[0042] Further, the current fan expected current value is determined by the wind power expected value and the current battery output voltage value, including:

[0043] The wind fan expected power value is determined by the wind power expected value and the efficiency constant of the fan.

[0044] The current fan expected current value is determined by the current battery output voltage value and the fan expected power value.

[0045] Understandably, the fan can correspond to a power model, that is, the fan's wind power output and its motor power correlation model, and the fan power P can be calculated by the product of voltage V and current I. If the expected wind power value that the fan needs to output (proportional to the fan's speed or power) has been determined, the expected power can be determined through the fan's power model, so that the current fan expected current value can be calculated according to the current battery voltage;

[0046] The specific determination process is: the proportional relationship between the wind power expected value and the fan power is determined, such as F=KP. Wherein, k is the efficiency constant of the fan, F is the fan expected power value, and P is the fan power; the wind power expected value and the efficiency constant of the fan are operated through the above formula to obtain the fan expected power value; the current fan expected current value is determined through the operation relationship that the fan power is equal to the current battery output voltage value and the current;

[0047] According to the wind power expected value and the efficiency constant of the fan, the fan's expected power value can be accurately calculated in the embodiment, which ensures that the fan can accurately adjust the power value suitable for the current scene according to different use cases; through the current battery output voltage value and the expected power value, the expected current value required by the fan can be accurately calculated, which can optimize the distribution of battery current output and enable the fan to operate efficiently.

[0048] Further, the current fan wind power value is adjusted by the current fan expected current value and the current fan real-time current value, comprising:

[0049] The current fan expected current value and the current fan real-time current value are used to determine a current error;

[0050] The fan throttle value corresponding to the current fan wind power value is adjusted by the current error to adjust the fan throttle value to a target fan wind power value corresponding to the current fan expected current value.

[0051] Understandably, the current error is the difference between two current values, one of which is the current fan real-time current value and the other of which is the current fan expected current value (the current value obtained after the voltage loop processes the reference voltage value); the current value and the fan throttle value have a corresponding relationship, and the throttle value and the fan wind power value have a corresponding relationship. In this way, the target fan wind power value corresponding to the current fan expected current value can be obtained by adjusting the current error;

[0052] The embodiment dynamically adjusts the throttle value of the fan by monitoring the current error in real time, so as to ensure that the wind power output by the fan can accurately match the expected value and improve the control accuracy; the embodiment can quickly respond to changes in different working conditions to ensure that the fan has stable blowing intensity.

[0053] Further, the method further comprises:

[0054] acquire the current battery output voltage value and deliver the current battery output voltage value to a voltage loop;

[0055] determine a voltage error between the current battery output voltage value and a reference voltage value through the voltage loop;

[0056] determine an adjustment signal through the voltage error and compensate the input of a current loop through the adjustment signal to obtain a target fan wind value of the fan output.

[0057] It can be understood that the voltage loop is an electronic circuit for monitoring and controlling voltage level, and the main function is to keep the output voltage within the set range, which is usually used in power management system. The voltage loop detects the output voltage through feedback mechanism, compares with the reference voltage, and then adjusts the input or output to ensure the voltage stability (the main task of the voltage loop is to compensate the wind fluctuation caused by voltage fluctuation). The current loop is an electronic control system mainly used for monitoring and controlling current level, which is similar to the voltage loop. The current loop works through feedback mechanism to ensure that the current remains within the set range;

[0058] Specifically, first, a reference voltage value is set (this value is usually the rated voltage of the battery, that is, the voltage that the battery should output in normal state); then the voltage error is calculated according to the difference between the current battery output voltage value and the set reference voltage value; then an adjustment signal is obtained through the voltage loop controller processing the voltage error, wherein the adjustment signal is used to compensate the input in the current loop, so that the fluctuation of the battery voltage is suppressed, and the stability of the fan output is ensured; finally, the adjustment signal output by the voltage loop (i.e. the expected current value after voltage compensation) is used to compensate the input of the current loop. More specifically, the actual current of the fan is monitored by the current loop controller, and the current error is calculated according to the output current of the voltage loop. The driving signal (such as PWM duty cycle or voltage) of the fan is adjusted by the current loop controller to adjust the speed and wind output of the fan, and the current fan wind value is obtained.

[0059] In this embodiment, by acquiring the current battery output voltage value, the state of the battery can be monitored in real time to ensure that the self-moving device operates in a safe and efficient voltage range. The error between the current battery output voltage value and the reference voltage value is calculated by the voltage loop, which can identify and correct the voltage deviation in time to ensure the stability of the fan during operation. The adjustment signal generated according to the voltage error can dynamically adjust the input of the current loop to ensure that the output performance of the fan can respond to changes in time, optimize the working efficiency of the fan, and avoid poor blowing effect of the fan or waste of electric quantity. By effectively compensating the input of the current loop, the output wind value of the fan can be improved to ensure that the fan can reach the expected output level under different working conditions.

[0060] Further, after the fan of the self-moving device is controlled to perform the blowing process at the adjusted target fan wind power value, the method further comprises:

[0061] After the self-moving device identifies the object type and the object density of the object to be cleaned in the current working area, the fan is controlled to adjust the current fan wind power value according to the object type and the object density, and the fan is controlled to continue to perform the blowing process at the adjusted target fan wind power value.

[0062] Understandably, the current working area is a working area where the self-moving device is located, and the self-moving device can complete the blowing work in the working area; the object to be cleaned is an object located in the current working area, including but not limited to leaves, grass, fallen flowers and various fine objects; the object type is the type of the object to be cleaned which is set in advance for the self-moving device, such as the target object type of the object identified in the current working area is leaves, wherein there can be various objects to be cleaned with identified object types in the current working area; the density is the number of the object to be cleaned in a cleaning area;

[0063] Specifically, after the self-moving device identifies the object type of the object to be cleaned in the current working area through the identification sensor (such as one or more of an image sensor, a laser radar and an infrared sensor), the density of the object to be cleaned in the current working area is determined, and the current fan wind power value of the fan is adjusted according to the object type and the object density, such as when the object type is leaves and the object density is A, the current fan wind power value is B, when the object type is grass and the object density is C, the current fan wind power value is D, and when the target object type is leaves or grass and the object density is F, the current fan wind power value is G.

[0064] In this embodiment, by identifying the object type and the object density of the object to be cleaned, the object to be cleaned can be accurately determined, thereby improving the cleaning efficiency; the fan wind power value is automatically adjusted according to the characteristics of the target object, so as to ensure the best cleaning effect and avoid unnecessary influence on the surrounding environment; adjusting the fan wind power value can reduce energy consumption and improve overall working efficiency.

[0065] Further, after the fan of the self-moving device is controlled to perform the blowing process at the adjusted target fan wind power value, the method further comprises:

[0066] [Corrected according to Rule 91 on 13.11.2025] determining the distance between the object to be cleaned determined by the self-moving device and the object accumulation area;

[0067] Determining the longest distance of the blowing process of the fan of the self-moving device to the object to be cleaned;

[0068] determine the number of blowing processes of the self-moving device according to the distance and the longest distance;

[0069] control the blower to continuously perform the blowing process according to the number of blowing processes.

[0070] It can be understood that the object accumulation area is an area where the objects to be cleaned are stacked (which can generally be located at the boundary area of the current working area), and there is a distance between the object accumulation area and the area where the self-moving device is currently located. The blower in the self-moving device has a rated blowing power, so the blower has a longest distance for processing the objects to be cleaned. The number of blowing processes of the self-moving device in the current working area can be changed, including how many times of blowing processes are needed to blow the objects to be cleaned to the object accumulation area. For example, if the self-moving device determines that the distance between the objects to be cleaned and the object accumulation area is 10 m, and the longest distance of the blower for blowing the objects to be cleaned is 5 m, then the determined number of blowing processes is 2. In addition, the self-moving device can complete the corresponding number of blowing processes at the same time, or perform one blowing process after moving to the corresponding area until the number of blowing processes is completed. For example, the objects to be cleaned in area A are blown to area B, and then the self-moving device moves to area B to complete the blowing process in area B. This process is repeated until the blowing process in all areas is completed.

[0071] Specifically, the position of the self-moving device is determined by the positioning sensor in the self-moving device, and the objects to be cleaned are determined by the recognition sensor in the self-moving device. Then, the distance between the position of the self-moving device and the object accumulation area (a position that is pre-set or pre-determined) is determined. Finally, the number of blowing processes is determined according to the multiple relationship between the longest distance and the distance, so as to control the blower in the self-moving device to complete the corresponding blowing process in the corresponding area.

[0072] The embodiment can evaluate the complexity of the cleaning task by determining the distance between the objects to be cleaned and the accumulation area, so as to make corresponding adjustments. The required number of blowing processes is automatically calculated, which reduces the dependence on manual intervention and improves work efficiency and safety. The blower is ensured to perform the blowing process within an appropriate distance, which improves the blowing effect of the objects to be cleaned.

[0073] The application provides a blowing control method of a self-moving device, and belongs to the technical field of blowing control of a self-moving device.

[0074] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0075] As shown in FIG. 2, a fan control system of a self-moving device is also provided, which comprises a motor modulator and a fan, and the motor modulator realizes the steps of the blowing control method of the self-moving device in the above embodiment.

[0076] As shown in FIG. 3, a self-moving device is also provided, which comprises a fan control system of a self-moving device and a controller, the motor modulator in the motor control system and the controller are in communication connection, the controller controls the motor in the motor control system to realize the steps of the motor control method of the self-moving device in the above embodiment. Wherein, the self-moving device is provided with a working motor for working and a walking motor for walking. The controller and the motor modulator are in an electrically connected relationship, and the motor modulator and the fan are also in an electrically connected relationship, after the controller controls the motor modulator, the rotating speed and start-stop of the fan are also controlled by the motor modulator.

[0077] The execution functions of the controller correspond one-to-one to the blowing control method of the self-moving device in the above-described embodiments. The specific definition of the controller can be referred to the definition of the blowing control method of the self-moving device in the above description, which will not be repeated here. The processes performed by each sub-module in the above-described controller can be referred to the definition of the blowing control method of the self-moving device in the above description, which will not be repeated here, and can be implemented by software, hardware and combinations thereof in whole or in part. Each sub-module can be embedded in the controller in hardware form or independent of the controller, or can be stored in the memory in the controller in software form, so as to be called and executed by the controller to perform the operations corresponding to each sub-module.

[0078] In an embodiment, the present application also provides one or more readable storage media storing computer readable instructions, the readable storage media provided by the embodiment include non-volatile readable storage media and volatile readable storage media; the readable storage media store computer readable instructions, which, when executed by one or more processors, cause the one or more processors to implement the steps of the blowing control method of the self-moving device described in the above-described embodiments.

[0079] It can be understood by those skilled in the art that all or part of the processes in the above-described embodiments can be completed by computer readable instructions instructing related hardware, and the computer readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium, and when executed, can include the processes of the above-described embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct RAM bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM).

[0080] Those skilled in the art can clearly understand that, in actual application, the above-mentioned function distribution can be completed by different functional units or modules according to needs, that is, the internal structure of the self-moving device is divided into different functional units or modules to complete all or part of the above-described functions.

[0081] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; 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 blow control method of a self-moving device, wherein, The method comprises: acquiring a wind force expectation value issued by a host computer; acquiring a current battery output voltage value and a current fan real-time current value in real time; determining a current fan expected current value based on the wind force expectation value and the current battery output voltage value; adjusting a current fan wind force value based on the current fan expected current value and the current fan real-time current value, and controlling the fan of the self-moving device to perform a blowing process according to the adjusted target fan wind force value.

2. The blow control method of a self-moving device according to claim 1, wherein, The real-time acquisition of the current battery output voltage value and the current fan real-time current value comprises: converting a high-voltage signal measured by a battery measurement point in the self-moving device into a low-voltage signal through a voltage dividing circuit or a sampling resistor; converting the low-voltage signal into a digital signal through a preset converter, and obtaining the current voltage output voltage value after analyzing the digital signal; collecting the current fan real-time current value of the fan in the self-moving device through a preset current sensor or a sampling resistor. 3.The blow control method of the self-moving device according to claim 1, wherein, The determination of the current fan expected current value based on the wind force expectation value and the current battery output voltage value comprises: determining a fan expected power value based on the wind force expectation value and an efficiency constant of the fan; determining the current fan expected current value based on the current battery output voltage value and the fan expected power value.

4. The blow control method of a self-moving device according to claim 1, wherein, The adjustment of the current fan wind force value based on the current fan expected current value and the current fan real-time current value comprises: determining a current error based on the current fan expected current value and the current fan real-time current value; adjusting a fan throttle value corresponding to the current fan wind force value based on the current error, so as to adjust the fan throttle value into a target fan wind force value corresponding to the current fan expected current value.

5. The blow control method of a self-moving device according to claim 1, wherein, The method further comprises: acquiring the current battery output voltage value and transmitting the current battery output voltage value to a voltage loop; determining a voltage error between the current battery output voltage value and a reference voltage value through the voltage loop; determining an adjustment signal based on the voltage error, and compensating an input of a current loop through the adjustment signal to obtain a target fan wind force value output by the fan. 6.The blow control method of the self-moving device according to claim 1, wherein, After the control of the fan of the self-moving device to perform the blowing process according to the adjusted target fan wind force value, the method further comprises: controlling the fan to adjust the current fan wind force value according to an object type and an object density of the object to be cleaned in the current working area, and continuing to perform the blowing process according to the adjusted target fan wind force value.

7. The blow control method of a self-moving device according to claim 1, wherein, After the control of the fan of the self-moving device to perform the blowing process according to the adjusted target fan wind force value, the method further comprises: determining a distance between the object to be cleaned and an object accumulation area in the self-moving device; determining a longest distance of the object to be cleaned by the blowing process of the fan of the self-moving device; determining a blowing process frequency of the self-moving device based on the distance and the longest distance; controlling the fan to continuously perform the blowing process according to the blowing process frequency.

8. A fan control system of a self-moving device, wherein, The method comprises: acquiring a wind force expectation value issued by a host computer; Real-time acquisition of current battery output voltage value and current fan real-time current value; Determination of current fan expected current value through the wind power expected value and the current battery output voltage value; Adjustment of current fan wind power value through the current fan expected current value and the current fan real-time current value, and control of the fan of the self-moving device to perform blowing processing at the adjusted target fan wind power value.

9. The fan control system of the self-moving device according to claim 8, wherein the motor modulator controls the fan to implement the following steps in the real-time acquisition of the current battery output voltage value and the current fan real-time current value: Conversion of a high-voltage signal measured by a battery measurement point in the self-moving device into a low-voltage signal through a voltage dividing circuit or a sampling resistor; Conversion of the low-voltage signal into a digital signal through a preset converter, and analysis of the digital signal to obtain the current voltage output voltage value; Collection of the current fan real-time current value of the fan in the self-moving device through a preset current sensor or a sampling resistor.

10. The fan control system of the self-moving device according to claim 8, wherein the motor modulator controls the fan to implement the following steps in the determination of the current fan expected current value through the wind power expected value and the current battery output voltage value: Determination of a fan expected power value through the wind power expected value and an efficiency constant of the fan; Determination of the current fan expected current value through the current battery output voltage value and the fan expected power value.

11. The fan control system of the self-moving device according to claim 8, wherein the motor modulator controls the fan to implement the following steps in the adjustment of the current fan wind power value through the current fan expected current value and the current fan real-time current value: Determination of a current error through the current fan expected current value and the current fan real-time current value; Adjustment of a fan throttle value corresponding to the current fan wind power value through the current error to adjust the fan throttle value into a target fan wind power value corresponding to the current fan expected current value.

12. The fan control system of the self-moving device according to claim 8, wherein the motor modulator controls the fan to further implement the following steps: Acquisition of the current battery output voltage value and transmission of the current battery output voltage value to a voltage loop; Determination of a voltage error between the current battery output voltage value and a reference voltage value through the voltage loop; Determination of an adjustment signal through the voltage error, and compensation of an input of a current loop through the adjustment signal to obtain a target fan wind power value output by the fan.

13. A self-moving device, wherein, The fan control system of the self-moving device and a controller, the motor modulator in the motor control system and the controller are in communication connection, and the controller controls the motor in the motor control system to implement the following steps: Acquisition of a wind power expected value issued by an upper computer; Real-time acquisition of a current battery output voltage value and a current fan real-time current value; Determination of a current fan expected current value through the wind power expected value and the current battery output voltage value; Adjust the current fan wind power value through the current fan expected current value and the current fan real-time current value, and control the fan of the self-moving device to perform the blowing process with the adjusted target fan wind power value.

14. The self-moving device according to claim 13, wherein the current battery output voltage value and the current fan real-time current value are acquired in real time, and the motor in the motor control system is controlled by the controller to implement the following steps: The high-voltage signal measured at the battery measurement point in the self-moving device is converted into a low-voltage signal through a voltage dividing circuit or a sampling resistor; The low-voltage signal is converted into a digital signal through a preset converter, and the current voltage output voltage value is obtained after the digital signal is analyzed; The current fan real-time current value of the fan in the self-moving device is collected through a preset current sensor or a sampling resistor.

15. The self-moving device according to claim 13, wherein the current fan expected current value is determined through the wind power expected value and the current battery output voltage value, and the motor in the motor control system is controlled by the controller to implement the following steps: The fan expected power value is determined through the wind power expected value and the efficiency constant of the fan; The current fan expected current value is determined through the current battery output voltage value and the fan expected power value.

16. The self-moving device according to claim 13, wherein the current fan wind power value is adjusted through the current fan expected current value and the current fan real-time current value, and the motor in the motor control system is controlled by the controller to implement the following steps: The current error is determined through the current fan expected current value and the current fan real-time current value; The fan throttle value corresponding to the current fan wind power value is adjusted to the target fan wind power value corresponding to the current fan expected current value through the current error.

17. A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by the processor, the following steps are implemented: The wind power expected value issued by the upper computer is acquired; The current battery output voltage value and the current fan real-time current value are acquired in real time; The current fan expected current value is determined through the wind power expected value and the current battery output voltage value; The current fan wind power value is adjusted through the current fan expected current value and the current fan real-time current value, and the fan of the self-moving device is controlled to perform the blowing process with the adjusted target fan wind power value.

18. The computer readable storage medium according to claim 17, wherein the current battery output voltage value and the current fan real-time current value are acquired in real time, and when the computer program is executed by the processor, the following steps are implemented: The high-voltage signal measured at the battery measurement point in the self-moving device is converted into a low-voltage signal through a voltage dividing circuit or a sampling resistor; The low-voltage signal is converted into a digital signal through a preset converter, and the current voltage output voltage value is obtained after the digital signal is analyzed; The current fan real-time current value of the fan in the self-moving device is collected through a preset current sensor or a sampling resistor.

19. The computer readable storage medium of claim 17, wherein the computer program, when executed by the processor, implements the following steps for determining a current fan desired current value from the wind force desired value and the current battery output voltage value: determining a fan desired power value from the wind force desired value and an efficiency constant of the fan; and determining the current fan desired current value from the current battery output voltage value and the fan desired power value.

20. The computer readable storage medium of claim 17, wherein the computer program, when executed by the processor, implements the following steps for adjusting a current fan wind force value from the current fan desired current value and the current fan real-time current value: determining a current error from the current fan desired current value and the current fan real-time current value; and adjusting a fan throttle value corresponding to the current fan wind force value to a target fan wind force value corresponding to the current fan desired current value from the current error.

21. The computer readable storage medium of claim 17, wherein the computer program, when executed by the processor, implements the following steps for adjusting a current fan wind force value from the current fan desired current value and the current fan real-time current value: determining a current error from the current fan desired current value and the current fan real-time current value; and adjusting a fan throttle value corresponding to the current fan wind force value to a target fan wind force value corresponding to the current fan desired current value from the current error.

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