CN120386357A - Control method, self-equipping device and storage medium - Google Patents

Abstract

This application provides a control method, a self-moving device, and a storage medium. The control method includes: detecting devices within a protection range during the execution of an operation task; and stopping the operation task if a first terminal device is detected while the self-moving device is in a first protection mode. The above method can improve the safety protection efficiency of the self-moving device during operation and avoid causing harm.

Description

Control method, self-mobile device, and storage medium

Technical Field

The present application relates to the field of self-mobile devices, and in particular, to a control method, a self-mobile device, and a storage medium.

Background

A self-moving device is a device that autonomously controls walking and work by the device itself, such as a mowing robot. The mowing robot can automatically weed according to a preset weeding plan, however, in the operation process, a blade rotating at a high speed in the mowing robot has serious potential safety hazards, and especially when a child enters a weeding area, the damage of limb contact can be caused by obstacle avoidance failure and the like. Related safety protection schemes rely on visual recognition systems via networks to trigger shutdown protection by detecting personnel in real time. However, the visual recognition system may fail in obstacle avoidance due to environmental interference or insufficient generalization capability of an algorithm, so that the contact risk of limbs is increased, the real-time obstacle avoidance requirement cannot be met, and the safety protection efficiency is low.

Disclosure of Invention

The embodiment of the application discloses a control method, self-mobile equipment and a storage medium, which solve the technical problem of low safety protection efficiency caused by the existing self-mobile equipment.

The application provides a control method which is applied to self-mobile equipment and comprises the steps of detecting equipment within a protection range in the process of executing a job task, and stopping executing the job task if the self-mobile equipment is detected to be in a first protection mode.

In some embodiments of the present application, the method further includes stopping executing the job task if the first terminal device is detected and a second terminal device is not detected, where the first terminal device is associated with a preset protection object, and the second terminal device is a preset control device, where the self-mobile device is in a second protection mode.

In some embodiments of the present application, the method further includes broadcasting a bluetooth signal based on a preset transmission frequency, receiving a response signal to the bluetooth signal, the response signal including a bluetooth address of a device that transmits the response signal, and stopping executing the job task if the bluetooth address matches a first preset address and it is determined that the device that transmits the response signal is the first terminal device.

In some embodiments of the present application, after stopping executing the job task, the method further includes if the bluetooth address matches a second preset address corresponding to a second terminal device, determining that the second terminal device enters the protection range, continuing to execute the job task, or if a restart instruction sent by the second terminal device is received, continuing to execute the job task.

In some embodiments of the present application, if the restart instruction sent by the second terminal device is received, continuing to execute the job task, where the restart instruction is received and the self-mobile device is in the first protection mode, outputting a prompt message to prompt a user to close the first protection mode, and responding to a mode closing instruction sent by the second terminal device, closing the first protection mode and continuing to execute the job task.

In some embodiments of the present application, the method further comprises controlling the self-mobile device to enter the first protection mode in response to a mode-on instruction sent by the second terminal device.

In some embodiments of the present application, the method further comprises controlling the self-mobile device to enter the first protection mode when the self-mobile device is in a non-protection mode and reaches a preset moment, wherein the non-protection mode comprises a second protection mode.

In some embodiments of the present application, the detecting a device within a protection range includes determining a device within the protection range based on a received location signal, acquiring device information of the device within the protection range, determining that the device within the protection range is the first terminal device if the device information matches with first preset information, and determining that the device within the protection range is the second terminal device if the device information matches with second preset information.

The application also provides a self-mobile device comprising a processor and a memory, the processor being adapted to implement the control method when executing a computer program stored in the memory.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method.

In the control method provided by the application, the equipment in the protection range is detected in the process of executing the operation task from the mobile equipment, so that the safety in the protection range is improved. Under the condition that the self-mobile equipment is in the first protection mode, if the first terminal equipment is detected, the execution of the job task is stopped, so that the damage to the target object carrying the first terminal equipment can be effectively avoided. The equipment maintenance efficiency of the self-mobile equipment is improved to a certain extent, and the situation of equipment damage is avoided.

Drawings

Fig. 1 is an application scenario schematic diagram of a control method provided in an embodiment of the present application.

Fig. 2 is a flowchart of a control method provided in an embodiment of the present application.

Fig. 3 is a schematic diagram of the protection scope provided by the embodiment of the application.

Fig. 4 is a flowchart of a control method according to still another embodiment of the present application.

Fig. 5 is a flowchart of a control method according to another embodiment of the present application.

Fig. 6 is a flowchart of detecting a device within a protection scope according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a self-mobile device according to an embodiment of the present application.

Detailed Description

For ease of understanding, a description of some of the concepts related to the embodiments of the application are given by way of example for reference.

In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or" describes an association relationship of associated objects, meaning that there may be three relationships, e.g., A and/or B may mean that A alone exists, while A and B together exist, and B alone exists, where A, B may be singular or plural. The terms "first," "second," "third," "fourth" and the like in the description and in the claims and drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

A self-moving device is a device that autonomously controls walking and work by the device itself, such as a mowing robot. The user may preset a weeding plan of the mowing robot, which may include a mowing time, an area requiring mowing, and the like. The mowing robot may automatically perform a weeding operation according to a weeding plan, for example, automatically moving to a designated mowing area for a fixed period of time each day to initiate mowing. Because the mowing robot is provided with the blade rotating at a high speed, the mowing robot has serious potential safety hazards in the mowing process. When a child enters a weeding area, the danger awareness of the child is not high, or the fault problem of the mowing robot itself can cause injury of limb contact.

In the related art, a visual recognition system is generally used to recognize whether a child is present in a mowing area, so as to avoid injury caused by contact of limbs. But visual recognition systems are susceptible to environmental disturbances affecting the accuracy of recognition. In addition, the insufficient generalization capability of the visual recognition system algorithm also can influence the recognition accuracy, so that the situation of obstacle avoidance failure occurs, and the risk of limb contact is increased. The visual recognition system can not meet the real-time obstacle avoidance requirement, and the safety protection efficiency is low.

In order to solve the technical problem of low safety protection efficiency caused by the existing self-mobile equipment, the embodiment of the application provides a control method, the self-mobile equipment and a storage medium, and whether a specific object, such as a child or an old person, exists in a protection range can be judged by detecting whether the first terminal equipment exists in the protection range, so that the execution of a task is automatically triggered and stopped when the specific object exists in the protection range, and the safety protection efficiency of the specific object, such as the child, is improved. The application scenario of the control method of the present application will be described first.

Fig. 1 is an application scenario schematic diagram of a control method provided in an embodiment of the present application. As shown in fig. 1, the self-mobile device 10 may be in communication connection with a first terminal device 20 and a second terminal device 30. The present application is not limited to the number of devices of the first terminal device 20 and the second terminal device 30.

The manner of communication connection may include a manner of wireless communication connection. The wireless Communication connection may include one or more of wireless Communication connection modes such as wireless fidelity (WIRELESS FIDELITY, wi-Fi), bluetooth (BT), mobile Communication network, frequency modulation (Frequency Modulation, FM), near Field Communication (NFC), infrared (IR), and the like. The communication connection manner between the self-mobile device 10 and the second terminal device 30 may also include a wired communication connection manner. The wired communication connection may include one or more of a universal serial bus (Universal Serial Bus, USB), a controller area network bus (CAN, controller Area Network), and the like.

The self-moving device 10 may be a semi-self-moving device or a completely autonomous moving device, and may be any one of devices having a self-moving function such as a mowing robot, a floor sweeping robot, a snow sweeping vehicle, and a cleaning robot.

The first terminal device 20 and the second terminal device 30 may be mobile phones, tablet computers, intelligent wearable devices, augmented Reality (Augmented Reality, AR)/Virtual Reality (VR) devices, notebook computers, netbooks, and other electronic devices, and the specific types of the first terminal device 20 and the second terminal device 30 are not limited in the embodiments of the present application.

The first terminal device 20 may be an electronic device carried by a protected object (such as a child). The second terminal device 30 may be a preset control device, may control the operation mode, device operation, etc. of the self-mobile device 10. The second terminal device 30 may implement remote control of the automation device 10 by means of wireless communication.

The schematic diagram 1 is merely an example of an application scenario, and does not constitute a limitation of the application scenario, and may include more or fewer components than illustrated, or some components may be combined, or different components, for example, the application scenario may further include more terminal devices than illustrated.

Fig. 2 is a flowchart of a control method provided in an embodiment of the present application, which is applied to a self-mobile device (e.g., the self-mobile device 10 of fig. 1). The order of the steps in the flowchart may be changed and some steps may be omitted according to various needs.

Step S201, in the process of executing the job task, detecting the devices within the protection scope.

In some embodiments of the application, the self-mobile device may include a touch-controllable touchscreen, through which a user may set a job task. The user may also set up job tasks through hardware buttons on the self-mobile device. The user may also set up job tasks for the self-mobile device via the control device. The application does not limit the setting mode of the operation task. The job tasks may include job time, job area, job path, job mode, etc., and the present application is not limited to job tasks.

When the job time is reached, the self-moving device may automatically start and job the job area along the job path. In one example, a self-moving device is exemplified as a mowing robot. When the mowing time is reached, the mowing robot automatically turns on a mowing mode and plans a path to a mowing area. After reaching the mowing area along the path, mowing is performed in the mowing area according to a mowing mode and a mowing mode.

In some embodiments of the present application, the protection range may be a working range corresponding to a working area preset by a user and a moving range of the self-mobile device (such as a running path between a storage location of the self-mobile device and the working area), where the range may be dynamically adjusted according to an actual requirement of the user, as shown in (a) of fig. 3. The protection range may also be a dynamic protection range (such as a broadcasting range of bluetooth) centered on the self-mobile device and having a preset safety distance as a radius, and such a range may dynamically change according to a location where the self-mobile device is located, as shown in (b) of fig. 3. The protection scope may also include a working scope, a movable scope, and a dynamic protection scope at the same time, as shown in fig. 3 (c). The application does not limit the protection scope and can be set according to actual requirements.

Within the scope of protection, there may be one or more devices. Such as terminal equipment, other self-moving equipment, control equipment, charging piles, and other fixtures, etc. In order to avoid collision, the self-mobile device can detect the devices within the protection range in real time, thereby avoiding damage to the devices and injuring the user carrying the terminal device. The means for detecting the range of protection from the mobile device may include bluetooth broadcast, location detection, etc. The device detecting the protection range in the form of bluetooth broadcast may refer to an embodiment shown in fig. 5, and the device detecting the protection range in the form of location detection may refer to an embodiment shown in fig. 6.

In step S202, if the self-mobile device is in the first protection mode, the execution of the job task is stopped if the first terminal device is detected.

In some embodiments of the application, the self-mobile device may support multiple modes. For example, a safety protection mode, a cruise mode, a boundary recognition mode, an obstacle avoidance mode, a remote control mode, a charging mode, a remote control mode, an operation mode, and the like. When the self-mobile device detects a preset trigger condition in a specific mode, the self-mobile device automatically executes the operation logic bound with the trigger condition, so that the intelligent response of the mode driving is realized. By dynamically associating the mode, trigger conditions and operation, it is ensured that the behavior of the self-mobile device is accurately matched with the scene requirements.

The first protection mode is one of the security protection modes, and is used for stopping executing the job task when the first terminal equipment exists in the protection range, and the triggering condition of the first protection mode can be that the first terminal equipment exists in the protection range, and the job task is stopped executing. And when the self-mobile equipment is in the first protection mode, stopping executing the operation task if the first terminal equipment exists in the protection range. In an example, if the mowing robot is in the first protection mode, the mowing robot stops mowing when detecting the presence of the first terminal device within the protection range.

The portable object of the first terminal device may include a specific object, for example, a special group such as a child or an elderly person. By detecting the first terminal equipment within the protection range, damage to children can be avoided to a certain extent. Moreover, the mode of detecting the first terminal equipment is not influenced by environmental factors, so that the detection efficiency and the detection precision can be improved.

By the embodiment, the self-mobile device detects the devices in the protection range in the process of executing the operation task, so that the safety in the protection range is improved. Under the condition that the self-mobile equipment is in the first protection mode, if the first terminal equipment is detected, the execution of the job task is stopped, so that the damage to the target object carrying the first terminal equipment can be effectively avoided. The equipment maintenance efficiency of the self-mobile equipment is improved to a certain extent, and the situation of equipment damage is avoided.

Fig. 4 is a flowchart of a control method according to still another embodiment of the present application. The self-mobile device may include a first protection mode and a second protection mode, different protection modes corresponding to different trigger conditions. The mode of the self-mobile device may be controlled by a second terminal device, which may be a control device. As shown in fig. 4, the following steps are included.

In step S401, during execution of the job task, devices within the protection range are detected.

In step S402, it is determined whether the self-mobile device is in the first protection mode.

In some embodiments of the present application, if the mode-on instruction sent by the second terminal device is received by the self-mobile device, and the mode-on instruction is used to instruct the self-mobile device to start the first protection mode, the self-mobile device enters the first protection mode.

If the self-mobile device is in the first protected mode, step S403 is continued to be performed. If the self-mobile device is not in the first protected mode, step S404 is performed.

Step S403, if the first terminal device is detected, stopping executing the job task.

In some embodiments of the present application, the specific descriptions of step S401 and step S403 may refer to step S201 to step S202 in the embodiment provided in fig. 2, and the descriptions thereof are not repeated here.

Step S404, determining whether the self-mobile device is in the second protection mode.

In some embodiments of the present application, the second protection mode may be one of the security protection modes for stopping performing the job task when the first terminal device is detected and the second terminal device is not detected. Thus, the trigger condition may include stopping execution of the job task when the first terminal device is detected from the mobile device and the second terminal device is not detected. In an embodiment, if the mode start instruction sent by the second terminal device is received by the self-mobile device, and the mode start instruction is used for indicating the self-mobile device to start the second protection mode, the self-mobile device enters the second protection mode.

If the self-mobile device is in the second protection mode, step S405 is continued. If the self-mobile device is not in the second protection mode, execution returns to step S401.

Step S405, determines whether the first terminal device is detected.

In some embodiments of the application, if the first terminal device is not detected, step S406 is continued. If the first terminal device is detected, step S407 is continued to be performed.

Step S406, the job task is continued to be executed.

In some embodiments of the application, if the work task is mowing, mowing is continued from the mobile device.

Step S407, it is determined whether the second terminal device is detected.

In some embodiments of the application, if a second terminal device is detected in case of detecting a first terminal device, it means that there is an object carrying the second terminal device within the protection scope. Under the condition that the object carrying the second terminal equipment exists, the probability that the object carrying the first terminal equipment touches the self-mobile equipment is lower, and the self-mobile equipment can work normally. Under the condition of higher safety coefficient of the protection range, the operation of frequently triggering to stop executing the job task is avoided, and the damage to the self-mobile equipment can be reduced to a certain extent. If the second terminal device is not detected under the condition that the first terminal device is detected, the condition that the second terminal device is not detected is that an object carrying the second terminal device does not exist in the protection range. In order to avoid contact damage to the object carrying the first terminal device within the protection scope, execution of the task may be stopped.

Therefore, if the second terminal device is detected, execution returns to step S406. If no second terminal device is detected, step S408 is continued.

In other embodiments of the application, if the second terminal device is detected and the first terminal device is not detected within the protection range, the operation is normal.

Step S408, execution of the job task is stopped.

In some embodiments of the application, if the work task is mowing, mowing is stopped from the mobile device.

In other embodiments of the present application, after stopping execution of the job task, if the user needs to restart the self-mobile device job, the self-mobile device restart may be controlled by the second terminal device. When a restart instruction is received from the mobile device and the mobile device is in the first protection mode, prompting information for prompting a user to close the first protection mode is output from the mobile device. The second terminal device may include an application program for controlling the self-mobile device, and the self-mobile device may send a prompt message to the user through the application program. For example, an alert tone, an alert entry, etc. is issued by the application.

And when a mode closing instruction sent by the second terminal equipment is received from the mobile equipment, closing the first protection mode and continuously executing the job task according to the job plan. Similarly, when the restart instruction is received from the mobile device and the mobile device is in the second protection mode, the mobile device outputs prompt information for prompting the user to close the second protection mode. And when a mode closing instruction sent by the second terminal equipment is received from the mobile equipment, closing the second protection mode and continuously executing the job task according to the job plan.

Through the above embodiment, the self-mobile device may include the first protection mode and the second protection mode, and different protection mechanisms are formed by setting different protection modes, so that the security coefficient for protecting the object carrying the first terminal device can be improved, and the service life of the self-mobile device can be prolonged.

In other embodiments of the present application, the self-mobile device has a function of automatically switching the operation mode according to a preset time. For example, the user may set the working time as a preset time, so as to avoid potential safety hazards caused by the existence of an object carrying the first terminal device in the protective range during the working time. And when the self-mobile device operates in the non-protection mode and reaches a preset moment, the self-mobile device automatically switches the non-protection mode into the first protection mode. Wherein the non-protection mode includes a second protection mode. In an example, when the self-mobile device operates in the second protection mode, the second protection mode is automatically switched to the first protection mode at a preset time. In another example, when the self-mobile device is operating in the normal mode, the normal mode is automatically switched to the first protection mode at a preset time.

Fig. 5 is a flowchart of a control method according to another embodiment of the present application. After the self-mobile device automatically enters the first protection mode, the self-mobile device can actively broadcast a Bluetooth signal under the condition that the first terminal device is not detected, and whether the first terminal device or the second terminal device exists in the protection range is determined by receiving a feedback signal of the Bluetooth signal in the protection range. As shown in fig. 5, the following steps are included.

In step S501, a bluetooth signal is broadcast based on a preset transmission frequency.

In some embodiments of the present application, the transmission frequency may be between 2.400GHz and 2.4835GHz, and the broadcast range may be between 10cm and 20 meters. The above is merely an example and the present application is not limited in terms of transmission frequency and broadcasting range. The self-mobile device may pre-store bluetooth addresses of a plurality of devices, for example, a first preset address of a first terminal device and a second preset address of a second terminal device. The self-mobile device can broadcast Bluetooth signals in a broadcasting range according to a preset transmitting frequency to try to carry out Bluetooth connection with the first terminal device, so that whether the first terminal device exists in the broadcasting range is judged in a Bluetooth connection mode. Wherein, the broadcasting range belongs to the protection range.

Step S502, a response signal to the bluetooth signal is received.

In some embodiments of the application, the response signal includes a bluetooth address of the device that sent the response signal. After receiving the response signal from the mobile device, the response signal may be parsed to obtain the bluetooth address of the device that sent the response signal.

Step S503, determining whether the bluetooth address matches the first preset address.

In some embodiments of the present application, if the bluetooth address matches the first preset address, indicating that the bluetooth connection is successful, then step S504 is continued. If the bluetooth address does not match the first preset address, indicating that the bluetooth connection fails, the process returns to step S502.

Step S504, if it is determined that the device that sends the response signal is the first terminal device, execution of the job task is stopped.

In some embodiments of the present application, if the bluetooth address matches the first preset address, it is determined that the first terminal device is located within the protection range, and execution of the job task is stopped.

In other embodiments of the application, the self-mobile device may continue to broadcast bluetooth signals after stopping performing the job task. If the Bluetooth addresses of other devices are received, the Bluetooth addresses of the other devices are matched with a second preset address corresponding to the second terminal, and if the Bluetooth addresses of the other devices are successfully matched with the second preset address, the second terminal device is determined to enter the protection range. And automatically restarting the mobile equipment when the second terminal equipment exists in the protection range, and continuously executing the job task.

In addition, after stopping executing the job task, if the self-mobile device receives a restart instruction sent by the second terminal device, the job task may be continuously executed in response to the restart instruction. Specifically, when a restart instruction is received from the mobile device and the mobile device is in the first protection mode, prompt information for prompting a user to close the first protection mode is output from the mobile device. And when a mode closing instruction sent by the second terminal equipment is received from the mobile equipment, closing the first protection mode and continuously executing the job task according to the job plan. Similarly, when the restart instruction is received from the mobile device and the mobile device is in the second protection mode, the mobile device outputs prompt information for prompting the user to close the second protection mode. And when a mode closing instruction sent by the second terminal equipment is received from the mobile equipment, closing the second protection mode and continuously executing the job task according to the job plan.

In another example, the self-mobile device may be responsive to voice instructions issued by the user. Specifically, a keyword is preset in the self-mobile device, for example, "please close the current operation mode", "please continue to operate". The corresponding operation is automatically triggered when the keyword entry is detected from the mobile device. For example, the self-mobile device shuts down the current mode of operation in response to a voice command to "please shut down the current mode of operation". The self-mobile device automatically starts and executes the job task in response to the voice command of 'please continue working'.

Fig. 6 is a flowchart of detecting a device within a protection scope according to an embodiment of the present application. The self-mobile device establishes an association with the first terminal device and the second terminal device in advance. The self-mobile device can determine the positions of the first terminal device and the second terminal device by receiving the position signals sent by the first terminal device and the second terminal device.

Step S601, determining devices located within the protection range based on the received location signal.

In some embodiments of the present application, the self-mobile device may receive, in real time, a position signal sent by a device that establishes a connection in advance during operation, where the position signal may represent a distance between the device that sends the position signal and the self-mobile device, and an orientation of the device that sends the position signal and the like. And screening out devices positioned in the protection range from the plurality of position signals.

Step S602, acquiring device information of devices located in the protection range.

In some embodiments of the present application, after determining a device that is within a protection range, corresponding device information is acquired, where the device information may include information that can characterize the identity of the device, such as a device identifier.

Step S603, if the device information matches the first preset information, determining that the device located in the protection range is the first terminal device.

In some embodiments of the present application, the first preset information is device information corresponding to a first terminal device stored in advance from the mobile device. And if the equipment information of the equipment in the protection range is matched with the first preset information, indicating that the first terminal equipment is in the protection range. And stopping executing the job task when the first terminal equipment exists in the protection range.

Step S604, if the device information is matched with the second preset information, determining that the device within the protection range is the second terminal device.

In some embodiments of the present application, the second preset information is device information corresponding to a second terminal device stored in advance from the mobile device. And if the equipment information of the equipment in the protection range is matched with the second preset information, indicating that the second terminal equipment is in the protection range.

In some embodiments of the present application, detecting a device trigger corresponding to a protection scope includes continuing to perform a task from a mobile device if device information does not match a first preset information and device information matches a second preset information. And under the condition that the equipment information is not matched with the first preset information and the equipment information is not matched with the second preset information, continuously executing the job task from the mobile equipment. And stopping executing the job task from the mobile equipment when the equipment information is matched with the first preset information. And stopping executing the job task from the mobile device under the condition that the equipment information is matched with the first preset information and the equipment information is not matched with the second preset information. And under the condition that the equipment information is matched with the first preset information and the equipment information is matched with the second preset information, the self-mobile equipment continues to execute the operation task.

Through the embodiment, whether the first terminal equipment exists in the protection range can be judged through the position signal, and the interference of environmental factors can be reduced, so that the safety coefficient in the protection range is improved.

Fig. 7 is a schematic structural diagram of a self-mobile device according to an embodiment of the present application. As shown in fig. 7, in an embodiment of the present application, the self-mobile device 10 may include a body, and a memory 110, a processor 120, a power source 130, a control device 140, a sensor 150, a working device 160, a communication module 170, a positioning module 180, a driving wheel 190, and a bus 100 disposed on the body. Processor 120 is coupled to memory 110, power supply 130, control device 140, sensor 150, work device 160, communication module 170, positioning module 180, and drive wheel 190, respectively, via bus 100.

Memory 110 may be used to store an operating system, computer programs, and various types of data, images, and the like. For example, the memory 110 stores a program corresponding to the control method provided in the embodiment of the present application.

The processor 120 provides computing and control capabilities to support the operation of the entire self-mobile device. For example, the processor 120 is configured to execute a computer program stored in the memory 110 to implement steps in a control method provided by an embodiment of the present application, such as a method flow shown in fig. 2 to 6.

The power supply 130 is used to power the self-mobile device 10. In an embodiment of the present application, the power source 130 may include a battery pack composed of several battery cells, etc.

The control means 140 is used to control the movements and behavior of the self-mobile device 10. In an embodiment of the present application, the control device 140 may implement functions of a motion controller, a logic controller, and the like.

The sensor 150 is used to obtain data for the self-mobile device 10, such as environmental data for the self-mobile device 10 and data related to the self-mobile device 10. In an embodiment of the present application, the sensor 150 may include one or more of a collision sensor, a current sensor, a voltage sensor, a rain detection sensor, a lidar, a camera, an ultrasonic sensor.

The working device 160 is used for realizing corresponding working functions, such as mowing, cleaning, pesticide spraying and the like. In one embodiment of the present application, work device 160 may include a motor, a hydraulic cylinder, or other drive mechanism, a cutterhead including blades, or other devices. In one embodiment of the application, the motor may drive the blade to move to complete the mowing operation. The motor can adjust the mowing height and speed by controlling the movement of the blade.

The communication module 170 is used to enable communication from the mobile device 10 with other devices. In one embodiment of the application, the communication module 170 may interact with other devices based on wired and/or wireless communication. The wireless Communication may include one or more of bluetooth Communication, wi-Fi Communication, near Field Communication (NFC), and the like.

The positioning module 180 is used to determine the position and direction of movement of the self-mobile device 10. In an embodiment of the application, the positioning module 180 may include a global positioning system (Global Positioning System, GPS), an inertial measurement unit (Inertial Measurement Unit, IMU), or the like.

The drive wheel 190 is used to effect movement from the mobile device 10. In an embodiment of the present application, the driving wheel 190 may implement the movement of the self-moving device 10 on the target planned trajectory according to the control of the control device 140. In one embodiment of the present application, the self-moving device 10 may include a driving wheel and a driven wheel, and the driving wheel may further include a left driving wheel and a right driving wheel.

Bus 100 is used to provide at least a pathway for intercommunication among memory 110, processor 120, power source 130, control device 140, sensor 150, work device 160, communication module 170, positioning module 180, and drive wheel 190 from mobile device 10.

In this embodiment, the memory 110 may be an internal memory of the self-mobile device 10, i.e. a memory built into the self-mobile device 10. In other embodiments, the memory 110 may also be an external memory from the mobile device 10, i.e., a memory external to the mobile device 10.

It should be appreciated that the memory 110 may include a stored program area and a stored data area. Wherein the storage program area may be used to store an operating system, applications (such as control methods, etc.) required for at least one method, etc., and the storage data area may store data created from use of the mobile device 10, etc. In addition, memory 110 may include volatile memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other storage device.

In some embodiments of the present application, memory 110 is used to store program code and various data and to enable high-speed, automated access to programs or data during operation of the self-mobile device 10.

In some embodiments of the application, the Processor 120 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any other conventional processor or the like.

Embodiments of the present application also provide a computer readable storage medium having a computer program stored thereon, the computer program including program instructions that, when executed, implement methods that can be referred to in various embodiments of the control method of the present application.

The computer readable storage medium may be an internal storage unit of the self-mobile device according to the foregoing embodiment, for example, a hard disk or a memory of the self-mobile device. The computer readable storage medium may also be an external storage device of the self-mobile device, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. that are provided on the self-mobile device.

Further, the computer-readable storage medium may mainly include a storage program area, which may store an operating system, an application program required for at least one function, and the like, and a storage data area, which may store data created according to use of the self-mobile device, and the like.

The self-mobile device and the computer readable storage medium provided in the foregoing embodiments can determine the motion compensation information of the self-mobile device according to the expected position information and the actual position information of the self-mobile device when the self-mobile device is in a slip state, and determine the actual speed information of the self-mobile device according to the motion compensation information, so as to control the self-mobile device to move according to the actual speed information, thereby providing a basis for the self-mobile device to continue to execute subsequent operations.

It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. A control method for a self-propelled device, characterized in that the method comprises: In the process of performing the operation task, detect the equipment within the protection range; When the self-moving device is in the first protection mode, if the first terminal device is detected, the execution of the operation task is stopped. 2. The control method according to claim 1, further comprising: When the self-moving device is in the second protection mode, if the first terminal device is detected and the second terminal device is not detected, the operation task is stopped, the first terminal device is associated with a preset protection object, and the second terminal device is a preset control device. 3. The control method according to claim 1, further comprising: Broadcast Bluetooth signals based on a preset transmission frequency; receiving a response signal to the Bluetooth signal, the response signal including a Bluetooth address of a device that sends the response signal; If the Bluetooth address matches the first preset address and it is determined that the device sending the response signal is the first terminal device, the execution of the operation task is stopped. 4. The control method according to any one of claims 1 to 3, characterized in that after stopping the execution of the work task, the method further comprises: If the Bluetooth address matches the second preset address corresponding to the second terminal device, it is determined that the second terminal device has entered the protection range, and the operation task is continued; or, If a restart instruction is received from the second terminal device, the operation task is continued. 5. The control method according to claim 4, wherein if a restart instruction sent by the second terminal device is received, continuing to execute the operation task comprises: When the restart instruction is received and the mobile device is in the first protection mode, outputting a prompt message to prompt the user to turn off the first protection mode; In response to the mode closing instruction sent by the second terminal device, the first protection mode is closed and the operation task is continued. 6. The control method according to claim 1, further comprising: In response to the mode start instruction sent by the second terminal device, the self-mobile device is controlled to enter the first protection mode. 7. The control method according to claim 1, further comprising: When the self-moving device is in the non-protected mode and reaches a preset time, the self-moving device is controlled to enter the first protected mode, where the non-protected mode includes the second protected mode. 8. The control method according to claim 1, wherein the device within the detection protection range includes: determining, based on the received location signal, a device located within the protection range; Obtain device information of devices within the protection range; If the device information matches the first preset information, determining that the device within the protection range is the first terminal device; If the device information matches the second preset information, it is determined that the device within the protection range is the second terminal device. 9. A self-moving device, characterized in that the self-moving device comprises a processor and a memory, the memory stores a computer program, and the processor implements the 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 at least one instruction, and when the at least one instruction is executed by a processor, the control method according to any one of claims 1 to 8 is implemented.