CN117991768A

CN117991768A - Control method, device, system and storage medium of self-mobile device

Info

Publication number: CN117991768A
Application number: CN202211313700.7A
Authority: CN
Inventors: 张建越; 蒋代红; 王文; 张陶晶; 齐勇
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2024-05-07

Abstract

The invention discloses a control method, equipment, a system and a storage medium of self-mobile equipment.

Description

Control method, device, system and storage medium of self-mobile device

Technical Field

The present invention relates to the field of intelligent devices, and in particular, to a method, a device, a system, and a storage medium for controlling a self-mobile device.

Background

The intelligent mower is a full-automatic mechanical tool for trimming grass and vegetation, is widely applied to occasions such as garden decoration trimming, family and public grassland greening trimming, and can autonomously complete the work of trimming lawns without manual direct control and operation, and fully saves manpower and time.

The passageway in the home yard that communicates between the forecourt and the backcourt is often narrower in width and is therefore referred to as a narrow aisle. Narrow walkways are more common due to the presence of forecourts and backcourts. For the intelligent mower, the intelligent mower can smoothly pass through a narrow pavement to reach another area to perform a cutting task, and the intelligent mower is a necessary work.

However, due to the special scene of a narrow pavement, the sensor is often invalid, and the positioning accuracy is greatly reduced. For example, on the wall and under large trees, satellite signals may be lost and the machine may lose position. So that the machine cannot pass through a narrow walkway smoothly. In a mower equipped with a visual sensor, there is a tendency that the visual field is limited and the positioning error is increased in a narrow aisle, and the mower cannot smoothly pass through the narrow aisle.

Disclosure of Invention

The invention provides a control method, a device, equipment, a system and a storage medium of self-moving equipment, which can effectively solve the problem that an intelligent mower cannot pass through a narrow pavement when encountering an area with the narrow pavement.

According to an aspect of the present invention, there is provided a control method of a self-mobile device, the control method of the self-mobile device including: acquiring the ranging information between each beacon component and the beacon tag; acquiring current positioning information of the self-mobile equipment according to each ranging information; and controlling the self-mobile equipment to pass through the channel according to the current positioning information of the self-mobile equipment.

Further, the step of obtaining the current positioning information of the self-mobile device according to each ranging information specifically includes: acquiring the current distance between each beacon component and the beacon tag according to each ranging information; and calculating the current position of the self-mobile device according to the current distance and the corresponding position information of the beacon component, wherein the current position is the current positioning information of the self-mobile device.

Further, the location information of the beacon component is world coordinates of the beacon component in a world coordinate system.

Further, the step of controlling the self-mobile device to pass through the channel according to the current positioning information of the self-mobile device specifically includes: and controlling the self-mobile device to pass through the channel according to the current positioning information of the self-mobile device and the position information of the channel.

Further, before controlling the self-mobile device to pass through the channel according to the current positioning information of the self-mobile device and the position information of the channel, the method further comprises: and acquiring the position information of the channel according to the environment map of the working area.

Further, the channel has an entity boundary, and the location information of the channel is world coordinates of the entity boundary in a world coordinate system.

Further, the number of beacon components is 3.

Further, 3 of the beacon assemblies are respectively arranged at an inlet end, an outlet end and an intermediate section between the inlet end and the outlet end of the channel.

Further, a plurality of the beacon assemblies are disposed outside the channel.

Further, a plurality of the beacon assemblies are disposed on opposite sides of the channel.

According to another aspect of the present invention there is provided a travel system for a self-moving device, the system comprising a plurality of beacon assemblies and a self-moving device for passing through a passageway, wherein a plurality of the beacon assemblies are spaced inside and/or outside the passageway; the self-mobile device includes: the driving module is arranged on the body and used for driving the body to pass through the channel; the execution module is arranged on the body and used for executing the work task; the beacon tag is arranged on the body and is used for communicating with the beacon component so as to receive and/or transmit ranging information; a memory for storing a computer program; a processor coupled with the memory, the program comprising instructions that when executed by the processor cause the processor to perform operations comprising: acquiring the ranging information between each beacon component and the beacon tag; acquiring current positioning information of the self-mobile equipment according to each ranging information; and controlling the self-mobile equipment to pass through the channel according to the current positioning information of the self-mobile equipment.

According to another aspect of the present invention, there is provided a self-moving device including: the driving module is arranged on the body and used for driving the body to pass through the channel; the execution module is arranged on the body and used for executing the work task; the beacon tag is arranged on the body and is used for communicating with the beacon component so as to receive and/or transmit ranging information; a memory for storing a computer program; a processor coupled with the memory, the program comprising instructions that when executed by the processor cause the processor to perform operations comprising: acquiring the ranging information between each beacon component and the beacon tag; acquiring current positioning information of the self-mobile equipment according to each ranging information; and controlling the self-mobile equipment to pass through the channel according to the current positioning information of the self-mobile equipment.

According to another aspect of the present invention, there is provided a storage medium having stored thereon computer instructions which, when executed by a processor, implement a method of controlling a self-mobile device according to any of the embodiments of the present invention.

The invention has the advantages that the beacon component is arranged near the channel, and the beacon component is arranged near the channel, so that signals cannot be lost due to different scenes, and the beacon component and the beacon tag are adopted, thereby being beneficial to avoiding the problem of reduced positioning precision caused by sensor failure due to the shielding of a wall body or a tree on the channel by a target in a special scene.

Drawings

The technical solution and other advantageous effects of the present invention will be made apparent by the following detailed description of the specific embodiments of the present invention with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a self-mobile device according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a self-moving system according to an embodiment of the invention.

Fig. 3 is a schematic structural diagram of a self-moving system according to an embodiment of the invention.

Fig. 4 is a flowchart of a control method of a self-mobile device according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a self-mobile device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

In the present application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been described in detail so as not to obscure the description of the application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

Fig. 1 is a schematic structural diagram of a self-mobile device according to a first embodiment of the present invention, where the self-mobile device includes a body, a driving module, an execution module, a memory, a beacon tag, and a processor.

The self-moving device described in the present invention includes various types of intelligent robots, such as a mowing robot, a sweeping robot, and the like.

Illustratively, a drive module is disposed on the body for driving the body through the passageway. The execution module is arranged on the body and used for executing the work task. The memory is used for storing a computer program.

The beacon tag is illustratively disposed on the body for communicating with the beacon components to receive and/or transmit ranging information, and in particular, for transmitting pulse signals to and receiving response signals from a plurality of beacon components installed at a plurality of corresponding fixed location points associated with the self-mobile device's channel.

Illustratively, a processor is disposed within the device, coupled to the memory, the processor configured to: acquiring the ranging information between each beacon component and the beacon tag; acquiring current positioning information of the self-mobile equipment according to each ranging information; and controlling the self-mobile equipment to pass through the channel according to the current positioning information of the self-mobile equipment.

In some embodiments, the self-mobile device further comprises: a first image sensor 22, an inertial sensor 23, a second image sensor 24, an encoder 26, and a distance sensor 21.

The first image sensor 22 is disposed on one side of the body, and is configured to acquire image information of one side of the self-mobile device. Specifically, the first image sensor 22 is a normal camera or a fisheye camera, the first image sensor 22 is disposed in front of the body, that is, on one side of the advancing direction of the self-moving device, and for the self-moving device being a mowing robot, the first image sensor 22 is generally disposed in front of the mowing robot or around the mowing machine, and is specifically disposed at a height that enables the first image sensor 22 to see the ground (or lawn) in view.

The inertial sensor 23 is rigidly connected to the first image sensor 22 for acquiring the acceleration and angular velocity of the self-moving device.

The second image sensor 24 is disposed on top of the self-mobile device, and is configured to acquire panoramic image information around the self-mobile device. In particular, the second image sensor 24 is typically a panoramic camera, preferably disposed at the highest of the self-mobile device, so that the second image sensor 24 can acquire 360 degrees from the scene surrounding the mobile device.

An encoder 26 is provided on the body for acquiring movement data of the self-moving device. For example, encoder 26 may count the rotational speed of the running wheel from the mobile device, etc.

A distance sensor 21 is provided at one side of the body for sensing depth information of an object in a forward direction of the self-moving device. Specifically, the distance sensor 21 is a TOF head, which emits infrared light (laser pulse) that cannot be seen by a human eye, reflects after encountering an object, reflects to the camera, calculates a time difference or a phase difference from the emission to the reflection back to the camera, and collects data to form a set of depth information, thereby obtaining an imaging technology of a three-dimensional 3D model.

In some embodiments, the self-mobile device further comprises a battery pack that provides energy for operation of the self-mobile device. Specifically, the battery pack is electrically connected to and supplies power to the beacon tag 25, the processor, the first image sensor 22, the inertial sensor 23, the second image sensor 24, the encoder 26, and the distance sensor 21. The battery pack adopts a portable and rechargeable storage battery, and the storage battery can be a nickel-manganese battery, a nickel-hydrogen battery, a lithium metal battery or a lithium polymer battery, etc., preferably, the battery pack adopts a lithium polymer battery pack with light weight and high electricity.

Fig. 2 shows a traveling system of a self-mobile device according to a first embodiment of the present invention. The system includes a plurality of beacon components and a self-mobile device.

Referring to fig. 3 in combination, the plurality of beacon components are illustratively disposed at corresponding fixed location points associated with the channel of the self-mobile device. For example, in one embodiment, the channel is the third region 3 in fig. 2, and the first region 1 and the second region 5 are communicated through the third region 3. Therefore, when the self-mobile device is in the first area 1 after working, the self-mobile device needs to enter the second area to work, the self-mobile device needs to pass through the third area 3, a first beacon assembly is arranged on one side of a first communication port 2 communicated with the first area 3, a second beacon assembly is arranged on one side of a second communication port 4 communicated with the second area 5 in the third area 3, and a third beacon assembly is arranged on one side between the first communication port 2 and the second communication port 4.

In some embodiments, the number of beacon assemblies is 3, including a first beacon assembly, a second beacon assembly, and a third beacon assembly, the 3 beacon assemblies being disposed at an entrance end, an exit end, and an intermediate section between the entrance end and the exit end, respectively, of the channel.

A plurality of the beacon assemblies are disposed outside the channel, and a plurality of the beacon assemblies are disposed on opposite sides of the channel. In particular, the first and second beacon assemblies are typically disposed on the same side of the channel and the third beacon assembly is disposed on the other side of the channel. This arrangement is advantageous for improving the ranging positioning accuracy of the beacon assembly.

Illustratively, the channel has an entity boundary, and the location information of the channel is world coordinates in a world coordinate system of the entity boundary. For example, a physical boundary is a physical boundary formed by a fence or wall, or a physical boundary of a channel.

The beacon assembly 20 includes the following steps in performing ranging:

The beacon tag 25 is controlled to transmit a pulse signal to the plurality of beacon components 20 and receive a response signal fed back from the plurality of beacon components 20. Illustratively, the beacon tag 25 may be controlled to transmit the pulse signals to the plurality of beacon components 20 by the mobile device transmitting control commands to the beacon tag 25 according to the set requirements, or by an external control system, for example, by the user transmitting control commands to the beacon tag through the external control system. The control instructions are for controlling the beacon tag 25 to transmit a pulse signal to the plurality of beacon components. It will be appreciated that the beacon tag 25 may receive control from the mobile device or may receive control directly from the user.

For example, in a daily working scenario, the self-mobile device sends a control command according to a set requirement, the requirement may be a certain interval time or an abnormal signal collected from the self-mobile device.

And obtaining the reference distance values according to the time stamp of the pulse signal and the time stamp of the response signal.

Illustratively, when the beacon tag responds to the control instruction, firstly the beacon tag transmits a pulse signal to the beacon component, the pulse signal is generated, the corresponding time stamp is synchronously generated, when the pulse signal is received by the beacon component, the beacon component generates the corresponding time stamp when the pulse signal is received, and generates the corresponding time stamp when the response signal is transmitted, and when the response signal is received by the beacon tag, the corresponding time stamp is generated, so that the flight time of the pulse signal between the beacon tag and the beacon component can be calculated, and the distance between the beacon tag and the beacon component can be determined. Further, the beacon tag and the beacon component are UWB protocol based beacon tags and beacon components.

To facilitate understanding of the method of acquiring ranging information, it is further illustrated that, assuming that tag a (i.e., the beacon tag) initiates a pulse signal requesting communication at time TA1 on its timestamp, base station B receives the pulse signal transmitted by tag a at its own time TB1, and then base station B (i.e., beacon assembly 20) transmits a response signal again at time TB2, which is received by tag a at its own time TA 2. In this way the time of flight of the pulse signal between the two devices can be calculated, thus determining the distance D between the two devices.

It will be appreciated that the above method is only one possible implementation and does not limit the first distance value to be obtained by the above method.

After obtaining the ranging information, the position information of the self-mobile device is obtained from the ranging information at the traveling system of the self-mobile device as described below. In this embodiment, the location information from the mobile device requires at least two beacon assemblies 20 to locate. For example, when a self-mobile device is located on the line of two beacon assemblies 20, the location information of the self-mobile device may be determined by the two beacon assemblies 20, and when the self-mobile device is not located on the line of two beacon assemblies, the location information of the self-mobile device needs to be determined by the other beacon assembly 20. It is common to locate the self-mobile device by providing three or more beacon assemblies around the tunnel. Because the beacon component 20 is arranged around the channel, the signal is not easy to be subjected to the problem that the sensor is invalid due to the shielding of the wall body or the tree on the channel by the target during positioning, so that the positioning accuracy is reduced.

Illustratively, the self-mobile device includes an ontology, a driving module, an execution module, a memory, a beacon tag, and a processor.

In some embodiments, the self-mobile device further comprises: a first image sensor 22, an inertial sensor 23, a second image sensor 24, an encoder 26, and a distance sensor 21. The first image sensor 22, the inertial sensor 23, the second image sensor 24, the encoder 26, and the distance sensor 21 are described in detail above and are not described here.

As shown in fig. 4, a method for controlling a self-mobile device according to a first embodiment of the present invention is provided, where the self-mobile device is configured to pass through a channel, and a plurality of beacon components are arranged at intervals inside and/or outside the channel, and the self-mobile device is provided with a beacon tag for communicating with the beacon components to receive and/or transmit ranging information, and the method includes:

Step S310: the ranging information between each beacon component and the beacon tag is acquired.

For example, the beacon tag may be controlled to transmit a pulse signal to the beacon component, and the self-mobile device may transmit a control instruction to the beacon tag according to a set requirement, or may transmit a control instruction to an external control system, for example, a user may transmit a control instruction to the beacon tag through the external control system. The control instructions are for controlling the beacon tag to transmit a pulse signal to the beacon component.

It will be appreciated that the above method is only one possible implementation method and does not limit that the ranging information must be obtained by the above method.

Step S320: and acquiring the current positioning information of the self-mobile equipment according to each ranging information.

Specifically, step S320 may include the steps of: and acquiring the current distance between each beacon component and the beacon tag according to each ranging information. And calculating the current position of the self-mobile device according to the current distance and the position information of the corresponding beacon component. Wherein the current location is current location information of the self-mobile device.

In the above embodiments, it is mentioned that when using a beacon assembly to locate the self-mobile device and obtain location information from the mobile device, it is generally necessary to use at least two beacon assemblies for locating. For example, when the self-mobile device is located on the line of two beacon components, the location information of the self-mobile device may be determined by the two beacon components, and when the self-mobile device is not located on the line of the two beacon components, the location information of the self-mobile device needs to be determined by the other beacon component. It is common to locate the self-mobile device by providing three or more beacon assemblies around the tunnel. Because the beacon components are arranged around the channel, the signal is not easy to be blocked by the wall body or the tree on the channel due to the target in positioning, so that the sensor is invalid, and the positioning accuracy is reduced.

Specifically, according to the current distance and the corresponding position information of the beacon components, for example, three beacon components are respectively arranged at intervals inside and/or outside the channel, wherein the current distance between the first beacon component and the beacon tag is a, the current distance between the second beacon component and the beacon tag is B, and the current distance between the third beacon component and the beacon tag is C, the "corresponding" in the above steps of the method is understood as the position information of the a and the corresponding first beacon component, the position information of the B and the corresponding second beacon component, and the position information of the C and the corresponding third beacon component.

Step S330: and controlling the self-mobile equipment to pass through the channel according to the current positioning information of the self-mobile equipment.

Specifically, step S330 includes controlling the self-mobile device to pass through the channel according to the current positioning information of the self-mobile device and the position information of the channel, where the position information of the channel is obtained according to the environment map of the working area. In the first embodiment of the present invention, the step S330 is implemented by two implementation manners, which is specifically as follows:

first embodiment of step S330:

And planning a target traveling path according to the position information of the beacon component and the current positioning information of the self-mobile device, and driving the self-mobile device to continuously travel according to the target traveling path so as to pass through the channel.

For example, the current positioning information of the mobile device may be acquired first, then the location information of the destination to be reached of the mobile device may be acquired, and the target travel path may be planned according to the navigation algorithm of the mobile device, where the target travel path prioritizes the shortest route, so as to save energy of the mobile device.

And in the process that the self-mobile device continuously travels according to the target travel path, the beacon tag periodically performs signal interaction with the plurality of beacon components to determine the current positioning information of the self-mobile device in real time, and the target travel path is corrected in real time according to the current positioning information.

For example, the current positioning information of the self-mobile device may be acquired every 1 second, and the latest target travel path may be planned according to the current positioning information of the self-mobile device.

Second embodiment of step S330:

And determining a coordinate point set formed by the relative coordinates of coordinate points, which are spaced by a preset distance, on the physical boundary of the channel under the coordinate system of the beacon component according to the position information of the beacon component under the world coordinate system and the position information of the channel under the world coordinate system, wherein the coordinate system of the beacon component takes the beacon component as an origin, the width direction of the channel is a transverse axis or a longitudinal axis, and the length direction of the channel is a longitudinal axis or a transverse axis.

The method for determining the coordinate point set formed by the coordinate points with the preset distance on the physical boundary of the channel under the beacon component coordinate system can be understood as a channel formed by a plurality of coordinate point sets, wherein the coordinate points with the preset distance are the minimum moving distance of the self-mobile device according to the positioning precision of the self-mobile device, namely the preset distance of the coordinate points.

And determining a first abscissa value and a second abscissa value of the first side and the second side of the channel, which are intersected with the horizontal axis respectively, according to a coordinate point set formed by coordinate points with preset distances on the boundary of the channel under a beacon component coordinate system.

Or determining a first ordinate value and a second ordinate value of the first side and the second side of the channel intersecting with the longitudinal axis respectively according to a coordinate point set formed by the relative coordinates of coordinate points, which are spaced by a preset distance, on the boundary of the channel under the beacon component coordinate system.

And when the width direction of the channel is the transverse axis, determining the real-time equipment relative coordinates of the self-mobile equipment under the beacon component coordinate system according to the current position of the self-mobile equipment.

And when the self-mobile device is positioned in the channel, controlling the abscissa value of the relative coordinate of the real-time device to be kept between a first abscissa value and a second abscissa value.

And when the width direction of the channel is the longitudinal axis, determining the real-time equipment relative coordinates of the self-mobile equipment under the beacon component coordinate system according to the current position of the self-mobile equipment.

Controlling the ordinate value of the real-time device relative coordinates to remain between the first ordinate value and the second ordinate value while the self-moving device is located in the passageway.

For example, the first and second abscissa values of the first and second sides of the channel intersecting the horizontal axis are x=1 and x=3, respectively, and then the value of X in the real-time device relative coordinates (X, Y) of the self-mobile device in the beacon component coordinate system should be 1+.x+.3 when the self-mobile device passes through the channel. The first and second longitudinal coordinate values of the same channel, where the first and second sides intersect the longitudinal axis, are y=1 and y=3, respectively, then the Y value in the real-time device relative coordinates (X, Y) of the self-mobile device in the beacon component coordinate system should be 1+.y+.3 as it passes through the channel.

According to the invention, the beacon component is arranged near the channel, and the beacon component is arranged near the channel, so that signals cannot be lost due to different scenes, and the beacon component and the beacon tag are beneficial to avoiding the problem that the positioning accuracy is reduced due to the fact that the sensor is invalid due to the fact that a target shields a wall body or a tree on the channel in a special scene.

The self-mobile device may also include one or more processing cores 'processors 401, one or more storage media's memory 402, power supply 403, and input unit 404, among other components. Those skilled in the art will appreciate that the device structure shown in fig. 5 is not limiting of the device, and that the self-moving device may also include more or fewer components than shown, or may combine certain components, or a different arrangement of components. Wherein:

The processor 401 is a control center of the device, connects various parts of the entire device using various interfaces and lines, and performs various functions of the device and processes data by running or executing software programs and/or unit modules stored in the memory 402, and calling data stored in the memory 402, thereby performing overall monitoring of the self-mobile device. Optionally, processor 401 may include one or more processing cores; the Processor 401 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and preferably, the processor 401 may integrate an application processor, which primarily handles operating systems, user interfaces, application programs, and the like, with a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 401.

The memory 402 may be used to store software programs and modules, and the processor 401 executes various functional applications and data processing by executing the software programs and modules stored in the memory 402. The memory 402 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function, and the like; the storage data area may store data created from the use of the mobile device, etc. In addition, memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

The self-mobile device may further include a power supply 403 for supplying power to the respective components, and preferably, the power supply 403 may be logically connected to the processor 401 through a power management system, so as to implement functions of managing charging, discharging, and power consumption management through the power management system. The power supply 403 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The self-mobile device may further comprise an input unit 404 and an output unit 405, the input unit 404 being operable to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs in connection with user settings and function control.

Although not shown, the self-mobile device may further include a display unit or the like, which is not described herein. Specifically, in the present application, the processor 401 in the self-mobile device loads executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 executes the application programs stored in the memory 402, so as to implement various functions, as follows:

Acquiring the ranging information between each beacon component and the beacon tag;

Acquiring current positioning information of the self-mobile equipment according to each ranging information;

and controlling the self-mobile equipment to pass through the channel according to the current positioning information of the self-mobile equipment.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods described above may be performed by instructions or by instruction control related hardware, which may be stored on a storage medium and loaded and executed by the processor 401.

To this end, a second embodiment of the present application provides a storage medium, which may include: read Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like. On which computer instructions are stored, the computer instructions being loaded by the processor 401 to perform the steps of any of the control methods of the self-mobile device provided by the present application. For example, the computer instructions, when executed by the processor 401, perform the following functions:

And controlling the self-mobile equipment to pass through the channel according to the current positioning information of the self-mobile equipment. The computer instructions stored in the storage medium may perform the steps in the method for controlling a self-mobile device in any embodiment of the present application, so that the beneficial effects that can be achieved by the method for controlling a self-mobile device in any embodiment of the present application can be achieved, which is described in detail in the foregoing description and will not be repeated here.

In summary, although the present invention has been described in terms of the preferred embodiments, the preferred embodiments are not limited to the above embodiments, and various modifications and changes can be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is defined by the appended claims.

Claims

1. A control method of a self-mobile device for passing through a channel, inside and/or outside of which a plurality of beacon assemblies are arranged at intervals, the self-mobile device being provided with a beacon tag for communicating with the beacon assemblies to receive and/or transmit ranging information, characterized in that the method comprises:

2. The method according to claim 1, wherein the step of obtaining current positioning information of the self-mobile device according to each ranging information comprises:

Acquiring the current distance between each beacon component and the beacon tag according to each ranging information;

And calculating the current position of the self-mobile device according to the current distance and the corresponding position information of the beacon component, wherein the current position is the current positioning information of the self-mobile device.

3. The control method of a self-mobile device according to claim 2, wherein the position information of the beacon component is world coordinates of the beacon component in a world coordinate system.

4. The method for controlling a self-mobile device according to claim 1 or 2, wherein the step of controlling the self-mobile device to pass through the channel according to the current positioning information of the self-mobile device specifically comprises:

And controlling the self-mobile device to pass through the channel according to the current positioning information of the self-mobile device and the position information of the channel.

5. The method according to claim 4, wherein before controlling the passage of the self-mobile device from the channel according to the current positioning information of the self-mobile device and the position information of the channel, further comprising:

And acquiring the position information of the channel according to the environment map of the working area.

6. The method of claim 4, wherein the channel has an entity boundary, and the location information of the channel is world coordinates of the entity boundary in a world coordinate system.

7. A control method of a self-mobile device according to claim 1 or 2, characterized in that the number of beacon components is 3.

8. A control method of a self-moving device according to claim 1 or 2, characterized in that 3 of the beacon assemblies are arranged at the inlet end, the outlet end and the middle section between the inlet end and the outlet end of the channel, respectively.

9. A control method of a self-mobile device according to claim 1 or 2, characterized in that a plurality of the beacon components are arranged outside the channel.

10. A method of controlling a self-moving device according to claim 1 or 2, wherein a plurality of the beacon components are arranged on opposite sides of the channel.

11. A self-moving system, comprising: a plurality of beacon components and a self-moving device for passing through a channel, wherein,

A plurality of said beacon assemblies being spaced inwardly and/or outwardly of said channel;

The self-mobile device includes:

The body is provided with a plurality of grooves,

The driving module is arranged on the body and used for driving the body to pass through the channel;

the execution module is arranged on the body and used for executing the work task;

The beacon tag is arranged on the body and is used for communicating with the beacon component so as to receive and/or transmit ranging information;

A memory for storing a computer program;

A processor coupled with the memory, the program comprising instructions that when executed by the processor cause the processor to perform operations comprising:

12. A self-moving device, comprising:

The body is provided with a plurality of grooves,

A memory for storing a computer program;

13. A storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of controlling a self-mobile device according to any of claims 1-10.