CN110865637A - Control method and device for self-walking equipment and computer equipment - Google Patents
Control method and device for self-walking equipment and computer equipment Download PDFInfo
- Publication number
- CN110865637A CN110865637A CN201810911872.1A CN201810911872A CN110865637A CN 110865637 A CN110865637 A CN 110865637A CN 201810911872 A CN201810911872 A CN 201810911872A CN 110865637 A CN110865637 A CN 110865637A
- Authority
- CN
- China
- Prior art keywords
- walking
- self
- reflected light
- intensity
- equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 238000004590 computer program Methods 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010902 straw Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 206010024796 Logorrhoea Diseases 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a control method and device for self-walking equipment and computer equipment, wherein the method comprises the following steps: acquiring the intensity of reflected light of a distance measuring sensor; if the intensity of the reflected light meets the preset condition, adjusting the walking direction of the self-walking equipment, and continuously monitoring the intensity of the reflected light; and correspondingly controlling the self-walking equipment according to the continuously monitored intensity of the reflected light. This application is through acquireing range sensor's reverberation intensity, when reverberation intensity satisfies the preset condition, then the walking direction of adjustment from the walking equipment to continue the size of monitoring reverberation intensity, and control from the walking equipment correspondingly according to the size of the reverberation intensity of continuing the monitoring, thereby avoided only through the erroneous judgement of distance to the road conditions.
Description
Technical Field
The present application relates to the field of intelligent control technologies, and in particular, to a method and an apparatus for controlling a self-propelled device, and a computer device.
Background
With the continuous progress of the technology level, self-walking equipment such as sweeping robots, intelligent mowers and the like are gradually widely applied. The self-propelled device calculates a distance based on a time difference between emitted light and received light to detect an obstacle such as a step, typically by an infrared distance measuring sensor.
And infrared distance measuring sensor generally need set up the light filter with interference light sources such as filtering sunshine, consequently, after a period of use, be infected with filths such as dust or garrulous grass, straw pulp on the light filter easily to the distance that leads to detecting is unreliable, and then influences the judgement to the road conditions from the traveling device.
Disclosure of Invention
In view of the above, it is desirable to provide a method and an apparatus for controlling a self-propelled device, and a computer device, which can effectively avoid misjudgment of road conditions, in order to solve the above-mentioned technical problems.
A control method of a self-walking apparatus, comprising:
acquiring the intensity of reflected light of a distance measuring sensor;
if the intensity of the reflected light meets the preset condition, adjusting the walking direction of the self-walking equipment, and continuously monitoring the intensity of the reflected light;
and correspondingly controlling the self-walking equipment according to the continuously monitored intensity of the reflected light.
In one embodiment, the preset condition comprises a fixed preset threshold or a preset range value;
if the intensity of the reflected light meets the preset condition, the walking direction of the self-walking equipment is adjusted, and the method comprises the following steps:
and if the intensity of the reflected light is smaller than a fixed preset threshold value or meets a preset range value, controlling the self-walking equipment to retreat or turn.
In one embodiment, the self-walking device is correspondingly controlled according to the magnitude of the continuously monitored reflected light intensity, and the self-walking device comprises:
judging whether the magnitude of the continuously monitored reflected light intensity meets a preset condition or not;
if the direction does not meet the preset walking direction, determining that the self-walking equipment detects the mirror surface obstacle before the walking direction is adjusted, and controlling the self-walking equipment to continue walking according to the adjusted direction.
In one embodiment, the method further comprises the following steps:
if so, controlling the self-walking equipment to continue walking for a preset distance in the adjusted direction;
and if the intensity of the reflected light monitored within the preset distance of the self-walking equipment during continuous walking meets the preset condition, determining that the lens of the distance measuring sensor is polluted, and controlling the self-walking equipment to stop walking.
In one embodiment, after controlling the self-walking device to stop walking, the method further comprises:
controlling a self-walking device to start a lens self-cleaning mode to clean the lens from contamination.
In one embodiment, after controlling the self-walking device to stop walking, the method further comprises:
and controlling the self-walking equipment to enter an alarm mode so as to remind a user of cleaning the pollution on the lens in time.
In one embodiment, the method further comprises the following steps:
if the intensity of the reflected light does not meet the preset condition, the distance measured by the distance measuring sensor is obtained;
and controlling the self-walking device according to the distance.
A control device for a self-propelled apparatus, comprising:
the reflected light intensity monitoring module is used for acquiring the reflected light intensity of the distance measuring sensor;
the walking direction adjusting module is used for adjusting the walking direction of the self-walking equipment if the intensity of the reflected light meets the preset condition, and continuously monitoring the intensity of the reflected light through the reflected light intensity monitoring module;
and the control module is used for correspondingly controlling the self-walking equipment according to the intensity of the reflected light continuously monitored by the reflected light intensity monitoring module.
A self-walking device comprising a control apparatus of the self-walking device as described above.
A computer device comprising a memory storing a computer program and a processor implementing steps as said method when executing said computer program.
According to the control method and device for the self-walking equipment and the computer equipment, the walking direction of the self-walking equipment is adjusted by obtaining the reflected light intensity of the distance measuring sensor when the reflected light intensity meets the preset condition, the intensity of the reflected light intensity is continuously monitored, and the self-walking equipment is correspondingly controlled according to the intensity of the reflected light intensity which is continuously monitored, so that misjudgment of road conditions only through distance is avoided.
Drawings
FIG. 1 is a schematic flow chart of a control method for a self-propelled apparatus in one embodiment;
FIG. 2 is a schematic flow chart of a control method of the self-walking apparatus in one embodiment;
FIG. 3 is a schematic structural view of a control device for a self-propelled apparatus in one embodiment;
FIG. 4 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The self-walking equipment such as a sweeping robot, an intelligent mower and the like needs to identify road conditions by installing a distance measuring sensor. The conventional distance measuring sensor is generally an infrared distance measuring sensor, and transmits an infrared signal to the ground through the infrared distance measuring sensor, and the infrared signal is reflected by the ground and then received by the sensor, so that the time difference (i.e. flight time) between the infrared signal received by the sensor and the infrared signal transmitted by the sensor is calculated, and the distance from the sensor to the ground (i.e. the product of the time difference and the light speed) is further obtained through the light speed, so that the road condition is identified through the measured distance.
However, in the using process, the optical filter of the infrared distance measuring sensor is easily stained with dust or straw pulp, so that the received infrared signal, namely the reflected light intensity is very weak, the reflected light signal is not received, the distance from the sensor to the ground cannot be calculated, the judgment of the road condition by the self-walking equipment is influenced, and the normal work of the whole equipment is influenced.
Based on this, the present application provides a control method of a self-walking apparatus, as shown in fig. 1, which may include the steps of:
and S100, acquiring the intensity of the reflected light of the distance measuring sensor.
The distance measuring sensor may be an infrared distance measuring sensor, or may be a distance sensor of electromagnetic waves for measuring distance based on wavelength, such as a laser sensor. In this embodiment, the distance measuring sensor is used as an infrared distance measuring sensor for explanation, so that the intensity of the reflected light after the infrared signal emitted to the ground by the infrared distance measuring sensor is reflected can be obtained, and specifically, the intensity of the reflected light can be directly measured.
And S120, if the intensity of the reflected light meets the preset condition, adjusting the walking direction of the self-walking equipment, and continuously monitoring the intensity of the reflected light.
Because the intensity of the light signal generated by the ranging sensor with different functions and models is different, in this embodiment, the specific preset conditions may be different according to the different functions and models of the ranging sensor. The preset condition may be a minimum operational light intensity threshold value or a light intensity range value corresponding to a function or a model of the distance measuring sensor. Therefore, when the obtained intensity of the reflected light meets the corresponding light intensity threshold value or light intensity range value, the walking direction of the self-walking equipment is adjusted, and meanwhile, the intensity of the reflected light is continuously monitored.
And S140, correspondingly controlling the self-walking equipment according to the continuously monitored intensity of the reflected light.
In this embodiment, after the walking direction of the self-walking device is adjusted, the intensity of the reflected light is continuously monitored, and the self-walking device is correspondingly controlled according to the intensity of the reflected light which is continuously monitored. For example, if the magnitude of the reflected light intensity continuously monitored after the adjustment of the direction does not satisfy the preset condition, it indicates that the self-walking device detects a mirror obstacle before the adjustment of the walking direction, and thus the self-walking device is controlled to continue walking in the adjusted direction. If the intensity of the reflected light continuously monitored after the direction is adjusted still meets the preset condition, the lens of the distance measuring sensor on the self-walking equipment is possibly polluted, and therefore the self-walking equipment can be controlled to stop walking.
According to the control method of the self-walking equipment, the walking direction of the self-walking equipment is adjusted by obtaining the reflected light intensity of the distance measuring sensor when the reflected light intensity meets the preset condition, the intensity of the reflected light intensity is continuously monitored, and the self-walking equipment is correspondingly controlled according to the intensity of the reflected light intensity which is continuously monitored, so that misjudgment of road conditions only through distance is avoided.
In one embodiment, if the intensity of the reflected light does not satisfy the preset condition, the distance is further calculated according to the receiving time of the reflected light so as to make a correct judgment on the road condition, and the self-walking equipment is controlled according to the road condition.
In one embodiment, the preset condition may be a fixed preset threshold value (minimum operating light intensity threshold value) or a preset range value (minimum operating light intensity range value) corresponding to a function or a model of the ranging sensor. Therefore, when the reflected light intensity is smaller than the fixed preset threshold value or satisfies the preset range value, the reflected light intensity satisfies the preset condition, because the reflected light intensity is too small at the moment, the real distance cannot be measured, and the road condition cannot be identified, so that the influence of the unknown road condition on the self-walking equipment is further reduced, the walking direction of the self-walking equipment is adjusted, and the self-walking equipment is controlled to go backwards or turn and the like. And after the walking direction of the self-walking equipment is adjusted, the intensity of the reflected light is continuously monitored so as to continuously monitor the road condition.
In one embodiment, as shown in fig. 2, the self-walking device is correspondingly controlled according to the magnitude of the continuously monitored reflected light intensity, comprising:
and step S200, judging whether the intensity of the reflected light which is continuously monitored meets a preset condition. If not, go to step S220, otherwise go to step S240.
And step S220, controlling the self-walking equipment to continue walking according to the adjusted direction.
If the intensity of the reflected light continuously monitored after the walking direction is adjusted by the self-walking equipment does not meet the preset condition, the fact that a mirror surface obstacle is detected by the self-walking equipment before the walking direction is adjusted, if mirror surface media such as creeks and rivers are detected, the emitted infrared light signal is subjected to diffuse reflection, and therefore the intensity of the reflected light detected at that time is small; the influence of the mirror medium is separated after the walking direction is adjusted by the self-walking equipment, so that the intensity of reflected light detected by the self-walking equipment after the walking direction is adjusted reaches a normal value, the distance can be calculated through the receiving time of the reflected light, and correct judgment can be made on road conditions.
And step S240, controlling the self-walking equipment to continue walking for a preset distance according to the adjusted direction.
Step S260, if the intensity of the reflected light monitored within the preset distance of the self-walking equipment in the continuous walking process meets the preset condition, determining that the lens of the distance measuring sensor is polluted, and controlling the self-walking equipment to stop walking.
In this embodiment, if the intensity of the reflected light continuously monitored after the self-walking device adjusts the walking direction still satisfies the preset condition, the self-walking device is controlled to continue walking for the preset distance according to the adjusted direction,
if the intensity of the reflected light monitored within the preset distance of the self-walking equipment during continuous walking meets the preset condition, the lens of the distance measuring sensor is possibly polluted, and the correct judgment on the road condition cannot be made, so that the self-walking equipment can be controlled to stop walking.
In one embodiment, after controlling the self-walking device to stop walking, the method further comprises: controlling self-walking equipment to start a lens self-cleaning mode so as to clean the pollution on the lens; or controlling the self-walking equipment to enter an alarm mode so as to remind a user of cleaning the pollution on the lens in time. Thereby enabling the self-walking equipment to timely remove pollution and recover normal work.
It should be understood that, although the steps in the flowcharts of fig. 1 and 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 and 2 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
The embodiment of the present application further provides a control apparatus for a self-walking device, as shown in fig. 3, including a reflected light intensity monitoring module 301, a walking direction adjusting module 302, and a control module 303, where:
and the reflected light intensity monitoring module 301 is configured to obtain the intensity of the reflected light of the ranging sensor. And a walking direction adjusting module 302, configured to adjust a walking direction of the self-walking device if the reflected light intensity meets a preset condition, and continue to monitor the reflected light intensity through the reflected light intensity monitoring module. And the control module 303 is configured to correspondingly control the self-walking device according to the magnitude of the reflected light intensity continuously monitored by the reflected light intensity monitoring module.
In one embodiment, the preset condition comprises a fixed preset threshold or a preset range value; the walking direction adjusting module 302 is specifically configured to control the self-walking device to go backwards or turn if the intensity of the reflected light is less than a fixed preset threshold or meets a preset range value.
In an embodiment, the control module 303 is specifically configured to determine whether the magnitude of the continuously monitored reflected light intensity meets the preset condition; if the direction does not meet the preset walking direction, determining that the self-walking equipment detects the mirror surface obstacle before the walking direction is adjusted, and controlling the self-walking equipment to continue walking according to the adjusted direction. If so, controlling the self-walking equipment to continue walking for a preset distance in the adjusted direction; and if the intensity of the reflected light monitored within the preset distance of the self-walking equipment during continuous walking meets the preset condition, determining that the lens of the distance measuring sensor is polluted, and controlling the self-walking equipment to stop walking.
In one embodiment, the control module 303 controls the self-walking device to stop walking and then: and controlling the self-walking equipment to start a self-cleaning mode of the lens so as to clean the pollution on the lens or controlling the self-walking equipment to enter an alarm mode so as to remind a user of cleaning the pollution on the lens in time.
In one embodiment, the device further includes a distance obtaining module, configured to obtain a distance measured by the distance measuring sensor if the intensity of the reflected light does not satisfy a preset condition; the control module 303 is also used to control the self-propelled device according to the distance.
For specific limitations of the control means of the self-propelled device, reference may be made to the above limitations of the control method of the self-propelled device, which are not described in detail herein. The respective modules in the control apparatus of the self-walking device described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a self-walking device is provided, which may be a sweeping robot, an intelligent lawn mower, and the like, and in this embodiment, the self-walking device includes a control device of the self-walking device as shown in fig. 3, so as to control the self-walking device through the control device, and specific limitations may refer to the above limitations on the control method of the self-walking device, and are not described herein again.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a control method from a walking device. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring the intensity of reflected light of a distance measuring sensor;
if the intensity of the reflected light meets the preset condition, adjusting the walking direction of the self-walking equipment, and continuously monitoring the intensity of the reflected light;
and correspondingly controlling the self-walking equipment according to the continuously monitored intensity of the reflected light.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
the preset condition comprises a fixed preset threshold value or a preset range value; if the intensity of the reflected light meets the preset condition, the walking direction of the self-walking equipment is adjusted, and the method comprises the following steps: and if the intensity of the reflected light is smaller than the fixed preset threshold value or meets a preset range value, controlling the self-walking equipment to retreat or turn.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
correspondingly controlling the self-walking equipment according to the magnitude of the continuously monitored reflected light intensity, comprising: judging whether the continuously monitored intensity of the reflected light meets the preset condition or not; if the direction does not meet the preset walking direction, determining that the self-walking equipment detects the mirror surface obstacle before the walking direction is adjusted, and controlling the self-walking equipment to continue walking according to the adjusted direction.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
if so, controlling the self-walking equipment to continue walking for a preset distance in the adjusted direction; and if the intensity of the reflected light monitored within the preset distance of the self-walking equipment during continuous walking meets the preset condition, determining that the lens of the distance measuring sensor is polluted, and controlling the self-walking equipment to stop walking.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
after controlling the self-walking equipment to stop walking, the method further comprises the following steps: controlling self-walking equipment to start a lens self-cleaning mode so as to clean the pollution on the lens; or controlling the self-walking equipment to enter an alarm mode so as to remind a user of cleaning the pollution on the lens in time.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
if the intensity of the reflected light does not meet the preset condition, the distance measured by the distance measuring sensor is obtained; and controlling the self-walking device according to the distance.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. 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. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A control method for a self-propelled apparatus, characterized in that the method comprises:
acquiring the intensity of reflected light of a distance measuring sensor;
if the intensity of the reflected light meets the preset condition, adjusting the walking direction of the self-walking equipment, and continuously monitoring the intensity of the reflected light;
and correspondingly controlling the self-walking equipment according to the continuously monitored intensity of the reflected light.
2. The control method of a self-walking apparatus according to claim 1, wherein the preset condition includes a fixed preset threshold value or a preset range value;
if the reflected light intensity meets the preset condition, the walking direction of the self-walking equipment is adjusted, and the method comprises the following steps:
and if the intensity of the reflected light is smaller than the fixed preset threshold value or meets a preset range value, controlling the self-walking equipment to retreat or turn.
3. The control method of the self-walking apparatus according to claim 1 or 2, wherein the correspondingly controlling the self-walking apparatus according to the magnitude of the continuously monitored reflected light intensity includes:
judging whether the magnitude of the continuously monitored reflected light intensity meets the preset condition or not;
if the direction does not meet the preset walking direction, determining that the self-walking equipment detects the mirror surface obstacle before the walking direction is adjusted, and controlling the self-walking equipment to continue walking according to the adjusted direction.
4. The control method of the self-walking apparatus of claim 3, further comprising:
if so, controlling the self-walking equipment to continue walking for a preset distance according to the adjusted direction;
and if the intensity of the reflected light monitored within the preset distance of the self-walking equipment in the continuous walking process meets the preset condition, determining that the lens of the distance measuring sensor is polluted, and controlling the self-walking equipment to stop walking.
5. The control method of the self walking apparatus according to claim 4, further comprising, after the controlling the self walking apparatus to stop walking:
and controlling the self-walking equipment to start a lens self-cleaning mode so as to clean the pollution on the lens.
6. The control method of the self walking apparatus according to claim 4, further comprising, after the controlling the self walking apparatus to stop walking:
controlling the self-walking device to enter an alarm mode to remind a user to clean the pollution on the lens in time.
7. The control method for the self-propelled apparatus according to any one of claims 1 to 6, further comprising:
if the intensity of the reflected light does not meet a preset condition, acquiring the distance measured by the distance measuring sensor;
and controlling the self-walking equipment according to the distance.
8. A control apparatus for a self-propelled device, comprising:
the reflected light intensity monitoring module is used for acquiring the reflected light intensity of the distance measuring sensor;
the walking direction adjusting module is used for adjusting the walking direction of the self-walking equipment if the reflected light intensity meets the preset condition, and continuously monitoring the intensity of the reflected light through the reflected light intensity monitoring module;
and the control module is used for correspondingly controlling the self-walking equipment according to the intensity of the reflected light continuously monitored by the reflected light intensity monitoring module.
9. A self-walking apparatus, comprising a control device of the self-walking apparatus according to claim 8.
10. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810911872.1A CN110865637B (en) | 2018-08-10 | 2018-08-10 | Self-walking equipment control method and device and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810911872.1A CN110865637B (en) | 2018-08-10 | 2018-08-10 | Self-walking equipment control method and device and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110865637A true CN110865637A (en) | 2020-03-06 |
| CN110865637B CN110865637B (en) | 2022-12-06 |
Family
ID=69650858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810911872.1A Active CN110865637B (en) | 2018-08-10 | 2018-08-10 | Self-walking equipment control method and device and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110865637B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113892860A (en) * | 2020-06-22 | 2022-01-07 | 原相科技股份有限公司 | Electronic device capable of judging contamination degree |
| US11493336B2 (en) | 2020-06-22 | 2022-11-08 | Pixart Imaging Inc. | Optical navigation device which can determine dirtiness level of cover or fix multi light pattern issue |
| US11523722B2 (en) | 2019-05-28 | 2022-12-13 | Pixart Imaging Inc. | Dirtiness level determining method and electronic device applying the dirtiness level determining method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5970433A (en) * | 1996-06-24 | 1999-10-19 | Mitsui Engineering & Shipbuilding Co. Ltd. | Laser obstacle detection method and sensor |
| JP2003114277A (en) * | 2001-10-04 | 2003-04-18 | Nissan Motor Co Ltd | Vehicle-to-vehicle distance measuring device |
| CN101393263A (en) * | 2008-11-05 | 2009-03-25 | 上海科勒电子科技有限公司 | Anti mirror processing method of distance detecting induction system |
| CN104199042A (en) * | 2014-09-23 | 2014-12-10 | 李亚锋 | Multi-echo laser ranging method and laser range finder |
| CN105022394A (en) * | 2014-04-29 | 2015-11-04 | 东北大学 | Mobile robot reliable location method under dynamic environment |
| CN105283777A (en) * | 2014-04-25 | 2016-01-27 | 株式会社小松制作所 | Surroundings-monitoring system, work vehicle, and surroundings-monitoring method |
| CN105575121A (en) * | 2016-02-02 | 2016-05-11 | 陕西安裕智能科技有限公司 | Intelligent traffic-based source technology overload control and prevention data acquisition system and method |
| CN105759839A (en) * | 2016-03-01 | 2016-07-13 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle (UAV) visual tracking method, apparatus, and UAV |
| WO2016161971A1 (en) * | 2015-04-10 | 2016-10-13 | 科沃斯机器人有限公司 | Self-moving robot and control method therefor |
-
2018
- 2018-08-10 CN CN201810911872.1A patent/CN110865637B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5970433A (en) * | 1996-06-24 | 1999-10-19 | Mitsui Engineering & Shipbuilding Co. Ltd. | Laser obstacle detection method and sensor |
| JP2003114277A (en) * | 2001-10-04 | 2003-04-18 | Nissan Motor Co Ltd | Vehicle-to-vehicle distance measuring device |
| CN101393263A (en) * | 2008-11-05 | 2009-03-25 | 上海科勒电子科技有限公司 | Anti mirror processing method of distance detecting induction system |
| CN105283777A (en) * | 2014-04-25 | 2016-01-27 | 株式会社小松制作所 | Surroundings-monitoring system, work vehicle, and surroundings-monitoring method |
| CN105022394A (en) * | 2014-04-29 | 2015-11-04 | 东北大学 | Mobile robot reliable location method under dynamic environment |
| CN104199042A (en) * | 2014-09-23 | 2014-12-10 | 李亚锋 | Multi-echo laser ranging method and laser range finder |
| WO2016161971A1 (en) * | 2015-04-10 | 2016-10-13 | 科沃斯机器人有限公司 | Self-moving robot and control method therefor |
| CN105575121A (en) * | 2016-02-02 | 2016-05-11 | 陕西安裕智能科技有限公司 | Intelligent traffic-based source technology overload control and prevention data acquisition system and method |
| CN105759839A (en) * | 2016-03-01 | 2016-07-13 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle (UAV) visual tracking method, apparatus, and UAV |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11523722B2 (en) | 2019-05-28 | 2022-12-13 | Pixart Imaging Inc. | Dirtiness level determining method and electronic device applying the dirtiness level determining method |
| CN113892860A (en) * | 2020-06-22 | 2022-01-07 | 原相科技股份有限公司 | Electronic device capable of judging contamination degree |
| US11493336B2 (en) | 2020-06-22 | 2022-11-08 | Pixart Imaging Inc. | Optical navigation device which can determine dirtiness level of cover or fix multi light pattern issue |
| US11976942B2 (en) | 2020-06-22 | 2024-05-07 | Pixart Imaging Inc. | Optical navigation device which can determine dirtiness level of cover or fix multi light pattern issue |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110865637B (en) | 2022-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110865637B (en) | Self-walking equipment control method and device and computer equipment | |
| CN110193828B (en) | Method and device for identifying state of mobile robot | |
| CN107499309B (en) | Lane keeping system for autonomous vehicles during camera loss | |
| JP3669320B2 (en) | Inter-vehicle distance measuring device | |
| US20210252786A1 (en) | Additive manufacturing quality control systems | |
| CN103533231A (en) | Diagnostic equipment decontamination vehicle camera devices, diagnostics and vehicle systems | |
| US20180025499A1 (en) | Trailer tracking apparatus and method | |
| US20190344799A1 (en) | Vehicle control system and method | |
| CN104639833B (en) | A kind of control method of camera device | |
| CN111665828A (en) | Vehicle sensing method and device, computer equipment and storage medium | |
| US20220406104A1 (en) | Implement management system for implement wear detection and estimation | |
| EP4279950A1 (en) | Fault diagnosis and handling method for vehicle-mounted laser radar, apparatus, medium and vehicle | |
| CN113212442A (en) | Trajectory-aware vehicle driving analysis method and system | |
| CN112782983B (en) | Self-learning-based high-temperature early warning threshold setting method and system | |
| CN110843769A (en) | Method, assembly and storage medium for adapting a detection region of a sensor | |
| US20210068332A1 (en) | Method for controlling the operation of an attachment | |
| CN110928285A (en) | Automatic walking equipment and cliff identification method and device thereof | |
| US10962649B2 (en) | Method and system for handling blind sectors of scanning layers of redundant sensors in a vehicle | |
| KR101426797B1 (en) | Vision system for having failsafe function and method for failsafing of the same | |
| CN115991195A (en) | Automatic detection and compensation method, device and system for wheel slip in automatic driving | |
| US12026940B2 (en) | Implement management system for determining implement state | |
| CN114812652A (en) | Mower control method and device, mower and storage medium | |
| CN115222779A (en) | Vehicle cut-in detection method and device and storage medium | |
| KR100422627B1 (en) | Calibration method of active safety system using Camera, and error detection method of the system | |
| US20240227867A9 (en) | Vehicle control device, storage medium for storing computer program for vehicle control, and method for controlling vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |