Method for determining door position, sweeping machine, and computer-readable storage medium

Abstract

The present application discloses a method for determining the position of a door, a sweeping machine, and a computer-readable storage medium, the method comprising: obtaining depth information of a door leaf in the environment where the sweeping machine is located, the depth information including the position information of the door leaf, and there is at least one door leaf; obtaining the position information of the outline of the room corresponding to the door leaf; and determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf. The method solves the technical problem of inaccurate door position when using a Voronoi diagram to determine the door position, and improves the accuracy of the door position in the execution environment of the sweeping machine.

Description

Technical Field

[0001] The present application relates to the field of sweeping machines, and in particular to a method for determining a door position, a sweeping machine, and a computer-readable storage medium. Background Art

[0002] When performing path planning, the robot vacuum cleaner needs to divide each room to reasonably plan the cleaning path. When the robot vacuum cleaner divides the room, it first needs to determine the location of each door.

[0003] In the prior art, a map segmentation method of a Voronoi diagram is usually used to determine the location of a door. However, when there is furniture with a gap similar to a door in the indoor environment (such as a bed or a sofa), the sweeper may misjudge it as the location of a door, thereby reducing the accuracy of the determined door location. Summary of the invention

[0004] The embodiments of the present application aim to solve the problem of improving the accuracy of the door position in the execution environment of the sweeping machine by providing a method for determining the door position, a sweeping machine, and a computer-readable storage medium.

[0005] To achieve the above objectives, the present application provides a method for determining a door position, comprising:

[0006] Acquire depth information of a door leaf of an environment where the sweeping robot is located, wherein the depth information includes position information of the door leaf, and there is at least one door leaf;

[0007] Obtaining the location information of the outline of the room corresponding to the door leaf;

[0008] The position of the door is determined according to the position information of the outline of the room and the depth information of the door leaf.

[0009] Optionally, the outline is composed of a plurality of line segments, and the step of determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf comprises:

[0010] Determining a characteristic line segment of each door leaf according to the depth information of each door leaf;

[0011] Determine a target line segment corresponding to the characteristic line segment from the contour, wherein the target line segment is a line segment in the contour composed of multiple line segments that has an intersection with the characteristic line segment;

[0012] Calculating the angle between the characteristic line segment and the target line segment;

[0013] The position of the door is obtained according to the position information of the characteristic line segment, the angle, and the outline of the room.

[0014] Optionally, the step of obtaining the position of the door according to the position information of the characteristic line segment, the angle, and the outline of the room includes:

[0015] Calculating the complementary angle or supplementary angle of the included angle;

[0016] Determine the vertex of the characteristic line segment, wherein the vertex is the intersection point of the characteristic line segment and the line segment of the contour;

[0017] Rotate the characteristic line segment according to the complementary angle or supplementary angle with the vertex as the rotation center;

[0018] When the characteristic line segment is rotated to the complementary angle or the supplementary angle, it is detected that the other end point of the characteristic line segment coincides with the line segment of the contour, and the current position of the characteristic line segment is determined to be the position of the door.

[0019] Optionally, after the step of determining that the current position of the characteristic line segment is the position of the door, the following steps are included:

[0020] The location of the door is marked in the outline of the room.

[0021] Optionally, before the step of obtaining the position information of the outline of the room corresponding to the door leaf, the step includes:

[0022] The depth information of at least two door leaves is clustered to obtain the depth information of each door leaf.

[0023] Optionally, the step of clustering the depth information of at least two door leaves to obtain the depth information of each door leaf comprises:

[0024] Obtaining the distance value between any two depth information;

[0025] Clustering the depth information whose distance value is less than a preset distance value;

[0026] The depth information of each door leaf is obtained based on the clustering results.

[0027] Optionally, before the step of obtaining the depth information of the door leaf of the room in the environment where the sweeping machine is located, the step includes:

[0028] The door leaf existing in the environment is identified.

[0029] Optionally, the step of identifying the door leaf existing in the environment includes:

[0030] Extracting feature information of objects existing in the environment;

[0031] When the characteristic information is characteristic information of the door leaf, it is determined that the object is the door leaf.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a sweeping machine on the other hand, which includes a processor, a memory, and a door position determination program stored in the memory and runnable on the processor, and the door position determination program, when executed by the processor, implements the steps of any of the door position determination methods mentioned above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium on the other hand, on which a program for determining the position of a door is stored. When the program for determining the position of a door is executed by a processor, the steps of any of the methods for determining the position of a door as described above are implemented.

[0034] In this implementation, the sweeping robot obtains depth information of door leaves in the environment in which it is located, the depth information including position information of the door leaves, and then obtains position information of the outline of the room corresponding to the door leaves, and finally obtains the position of the door based on the depth information of the door leaves and the position information of the outline, thereby avoiding the phenomenon that the sweeping robot determines the position of the door inaccurately due to interference from other furniture when determining the position of the door through the Voronoi diagram, thereby improving the accuracy of the determined position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present application;

[0036] Figure 2 This is a flow chart of an embodiment of a method for determining a door position of the present application;

[0037] Figure 3 For this application, the depth information and the outline of the room are combined into a coordinate map in the same plane coordinate system;

[0038] Figure 4 This is a flow chart of an embodiment of a method for determining a door position of the present application;

[0039] Figure 5 This is a flow chart of another embodiment of the method for determining the door position of the present application.

[0040] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] The main solution of the embodiment of the present application is: obtaining the depth information of the door leaf of the room where the sweeping robot is located, the depth information including the position information of the door leaf; obtaining the position information of the outline of the room corresponding to the door leaf; determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf.

[0043] In the prior art, a map segmentation method of a Voronoi diagram is usually used to determine the location of a door. However, when there is furniture with a gap similar to a door in the indoor environment (such as a bed or a sofa), the sweeper may misjudge it as the location of a door, thereby reducing the accuracy of the determined door location.

[0044] like Figure 1 As shown, Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present application.

[0045] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0046] Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, a remote controller, an audio circuit, a WiFi module, a detector, etc. Of course, the terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a temperature sensor, etc., which will not be described in detail here.

[0047] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation on the terminal device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0048] like Figure 1 As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a door position determination program.

[0049] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and perform data communication with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and perform data communication with the client; and the processor 1001 can be used to call the door position determination program stored in the memory 1005 and perform the following operations:

[0050] Acquire depth information of a door leaf of an environment where the sweeping robot is located, wherein the depth information includes position information of the door leaf;

[0051] Obtaining the location information of the outline of the room corresponding to the door leaf;

[0052] The position of the door is determined according to the position information of the outline of the room and the depth information of the door leaf.

[0053] refer to Figure 2 , Figure 2 This is a flow chart of an embodiment of a method for determining a door position of the present application.

[0054] The embodiments of the present application provide an embodiment of a method for determining the position of a door. It should be noted that although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown here.

[0055] Methods for determining the door location include:

[0056] Step S10, obtaining depth information of a door leaf of an environment where the sweeping machine is located, wherein the depth information includes position information of the door leaf;

[0057] The depth information is a point where the sweeper obtains the distance between the door leaf in the environment and the sweeper, and there are multiple points. The sweeper can use time-of-flight technology (TOF) to obtain the depth information of the door leaf in the environment.

[0058] The environment is the environment where the sweeper needs to perform cleaning tasks. It is understandable that in the prior art, the area where the sweeper needs to perform cleaning tasks is divided into different room types (for example, divided into kitchens, living rooms, bathrooms, and bedrooms according to the functions of the rooms) by setting the sweeper, so that the sweeper can perform cleaning tasks of different degrees in different places. Therefore, the sweeper needs to mark the rooms in the environment in advance, so as to achieve different cleaning intensities in different rooms during cleaning. Therefore, it is first necessary to identify the door positions of different rooms and mark them in the cleaning map, so that when the sweeper is in the door position of different rooms during the cleaning task, the current cleaning mode is quickly switched according to the type of room it is in.

[0059] The door leafs in the environment where the sweeper is located can be a door leaf with the same texture, or different types of door leaves can be identified according to different room types. The sweeper controls the driving wheel to walk along the environment, and records the depth information of the door leafs in the environment. It can be understood that the sweeper records the depth information of the door leafs in the environment by obtaining the depth information of the door leafs at different positions in different positions to obtain the depth information of all the door leafs in the environment. Among them, when the sweeper obtains the depth information of each frame of the door leaf through TOF, the position of the door leaf can be determined by the depth information. When the depth information is saved, the depth information of each frame of three-dimensional coordinates obtained by TOF is converted into the depth information of two-dimensional coordinates, and the depth information of all the door leafs obtained is saved in the same coordinate plane according to the two-dimensional coordinates. Thus, the depth information of all the doors in the environment can be displayed in the same plane. Among them, the specific conversion method of converting the depth information of the three-dimensional coordinates into the depth information of the two-dimensional coordinates can be converted according to the conversion matrix.

[0060] Step S20, obtaining the position information of the outline of the room corresponding to the door leaf;

[0061] The outline is the outline information of the wall of the room in the cleaning area of ​​the sweeper, which can be constructed by a laser radar scanner installed in the direction of the sweeper. When the sweeper constructs the outline of the room, the room outlines obtained at different positions are spliced ​​according to the positions of the room outlines to form the outlines of all rooms in the sweeper's cleaning area. The sweeper obtains the laser radar points of each room through the laser radar scanner. There are multiple laser radar points, and each laser radar point contains three-dimensional coordinate information. Similarly, the three-dimensional coordinate information of the outline of the room is converted into two-dimensional coordinate information of the plane, and the conversion method can be specifically obtained according to the matrix conversion method. Then, according to the position information of each laser radar point, each laser radar point is connected in the two-dimensional coordinate to form the outline of the room, and the outlines of all rooms are displayed in the same plane.

[0062] After the position information of the room outline is displayed in the same plane, it can be understood that since the two-dimensional coordinates of the depth information of the sweeper are the same as the two-dimensional coordinates according to the room outline, the depth information of the door leaf can be combined with the room outline to form a plane coordinate system as shown in FIG. Figure 3 shown.

[0063] Before the step of obtaining the position information of the outline of the room corresponding to the door leaf, the method includes:

[0064] Step S01, clustering the depth information of at least two door leaves to obtain the depth information of each door leaf.

[0065] The depth information obtained in step S10 is the depth information of multiple door leaves. In this embodiment, the multiple depth information of the multiple door leaves are clustered to determine the depth information of each door leaf.

[0066] The step of clustering the depth information of at least two door leaves to obtain the depth information of each door leaf comprises:

[0067] Step S011, obtaining the distance value between any two depth information;

[0068] Step S012, clustering the depth information whose distance value is less than a preset distance value;

[0069] Step S013, obtaining the depth information of each door leaf according to the clustering result.

[0070] The distance value is the distance between two depth information in the established two-dimensional coordinates. Determination is made to cluster the depth information less than the preset distance, and then the depth information that does not belong to the same door leaf is excluded to obtain the depth information of each door leaf.

[0071] The preset distance can be determined according to the ratio between the line segment length of the outline of the room constructed in the plane coordinate system and the line segment length of the actual room outline. For example, when the ratio is large, the preset distance can be set to 3 cm, and when the ratio is small, the preset distance can be set to 5 cm, so as to obtain an appropriate amount of depth information belonging to the same door for clustering, improve the accuracy of clustering, and further improve the accuracy of obtaining the depth information of each door.

[0072] In the present application, after clustering the doors, the depth information of each door leaf is obtained, and the depth information of each door leaf is divided to more accurately extract the depth information of each door leaf.

[0073] Reference Figure 3 , Figure 3 It is a coordinate diagram that combines the depth information and the room outline in the same plane coordinate system. After the depth information of the door leaf is determined, since the door leaf and the corresponding room outline are connected in practice, after the depth information of the door leaf is obtained, the outline of the room corresponding to the door leaf can be obtained based on the outline around the depth information, and then the position information of the outline can be determined based on the established two-dimensional coordinate system.

[0074] Step S30, determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf.

[0075] In this embodiment, the position information of the outline of the room is determined and the position information of the door leaf is determined by the depth information of the door leaf. Then, the door leaf and the outline are placed in the same plane according to the position information of the outline and the position information of the door leaf. Then, the missing part of the outline of the room corresponding to the door leaf is obtained, and the position of the door is determined by rotating and translating the depth information of the door leaf to the missing part of the outline.

[0076] In this implementation, the sweeping robot obtains depth information of door leaves in the environment in which it is located, the depth information including position information of the door leaves, and then obtains position information of the outline of the room corresponding to the door leaves, and finally obtains the position of the door based on the depth information of the door leaves and the position information of the outline, thereby avoiding the phenomenon that the sweeping robot determines the position of the door inaccurately due to interference from other furniture when determining the position of the door through the Voronoi diagram, thereby improving the accuracy of the determined position information.

[0077] Further, refer to Figure 4 , yet another embodiment of the method for determining the door position of the present application is proposed.

[0078] The second embodiment of the method for determining the position of a door is different from the first embodiment of the method for determining the position of a door in that the outline is composed of a plurality of line segments, and the step of determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf includes:

[0079] Step S31, determining a characteristic line segment of each door leaf according to the depth information of each door leaf;

[0080] Step S32, determining a target line segment corresponding to the characteristic line segment from the contour, wherein the target line segment is a line segment in the contour composed of multiple line segments that intersects with the characteristic line segment;

[0081] Step S33, calculating the angle between the characteristic line segment and the target line segment;

[0082] Step S34, obtaining the position of the door according to the position information of the characteristic line segment, the angle, and the outline of the room.

[0083] It can be understood that in the plane formed by the door leaf and the outline of the room, the outline of the room is formed by connecting and combining multiple line segments representing the wall. The characteristic line segment is the line segment with the most depth information connecting the door leaf in the plane formed by the door leaf and the outline of the room.

[0084] Then, the line segment that intersects the characteristic line segment in the outline of the room composed of multiple line segments is determined as the target line segment, and the angle between the characteristic line segment and the target line segment is calculated, and then the position information of the door is obtained according to the characteristic line segment, the calculated angle and the position information of the room outline. The position of the door is obtained by combining the depth information of the door leaf and the position information of the room outline, thereby improving the accuracy of determining the position of the door.

[0085] The step of obtaining the position of the door according to the position information of the characteristic line segment, the angle, and the outline of the room includes:

[0086] Step S341, calculating the complementary angle or supplementary angle of the included angle;

[0087] Step S342, determining the vertex of the characteristic line segment, wherein the vertex is the intersection point of the characteristic line segment and the line segment of the contour;

[0088] Step S343, rotating the characteristic line segment according to the complementary angle or supplementary angle with the vertex as the rotation center;

[0089] Step S344, when the feature line segment is rotated to the complementary angle or the supplementary angle, it is detected that the other end point of the feature line segment coincides with the line segment of the contour, and the current position of the feature line segment is determined to be the position of the door.

[0090] It is understandable that in real life, the door can be installed in a way that the plane where the door is located is perpendicular to the wall of the room, and when the door is in a closed state, the angle between the door and the wall on which it is installed is 90 degrees; or the plane where the door is located is installed parallel to the wall of the room, and when the door is in a closed state, the angle between the door and the wall on which it is installed is 180 degrees. Therefore, in this application, it is necessary to calculate the complementary angle (the angle is 90 degrees) or the supplementary angle (the angle is 180 degrees) of the angle between the characteristic line segment and the target line segment, and then determine the characteristic line segment. A segment that intersects with the target line segment is the vertex of the feature line segment. The vertex is used as the rotation center of the feature line segment. The feature line segment is controlled to rotate in a clockwise or counterclockwise direction to the complementary angle or supplementary angle. When it rotates to the complementary angle or supplementary angle, the other end point of the feature line segment coincides with the line segment of the contour. The current position of the feature line segment is determined to be the position of the door. By controlling the feature line segment to rotate according to the complementary angle or supplementary angle so that it coincides with the missing part of the contour of the room, the position of the door can be accurately determined.

[0091] After the step of determining that the current position of the characteristic line segment is the position of the door, the method further includes:

[0092] Step S345, marking the position of the door in the outline of the room.

[0093] In the present application, after determining that the position of the line segment rotated to the complementary angle or supplementary angle is the position of the door, the position of the door is marked in the outline of the room so that the outline of the room forms a closed line to intuitively display the position of the door in the plane.

[0094] Furthermore, in order to improve the accuracy of door determination in the present application, after the room outline forms a closed line, the area of ​​the room can be calculated based on the length and width of the room outline, and then compared with the pre-stored room area. When the comparison is successful, the location of the door is determined to be accurate.

[0095] Further, refer to Figure 5 , another embodiment of the method for determining the door position of the present application is proposed.

[0096] The third embodiment of the method for determining the position of a door is different from the first embodiment and the second embodiment of the method for determining the position of a door in that, before the step of obtaining the depth information of the door leaf of the environment where the sweeper is located, the method includes:

[0097] Step S02, identifying the door leaf existing in the environment.

[0098] In this embodiment, in order to improve the accuracy of obtaining the depth information of the door leaf, it is necessary to identify the door leaf in the environment where the sweeper is located. The specific identification method can be through AI identification.

[0099] The step of identifying the door leaf existing in the environment comprises:

[0100] Step S021, extracting feature information of objects existing in the environment;

[0101] Step S022: When the characteristic information is characteristic information of the door leaf, determining that the object is the door leaf.

[0102] The feature information is information with characteristic features in the object, such as the door handle, the height of the coffee table, etc. The sweeping robot extracts the feature information of all objects in the environment, including door leaves, televisions, sofas, coffee tables, etc.

[0103] The sweeping robot uses AI to identify the feature information of the extracted object. When it recognizes that there are door leaves in the current environment based on the feature information, it obtains the depth information of the door leaves through TOF, thereby improving the accuracy of the acquired depth information.

[0104] In addition, to achieve the above-mentioned purpose, the present application also provides a sweeping machine on the other hand, which includes a processor, a memory, and a door position determination program stored in the memory and runnable on the processor, and the door position determination program, when executed by the processor, implements the steps of any of the door position determination methods mentioned above.

[0105] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium on the other hand, on which a program for determining the position of a door is stored. When the program for determining the position of a door is executed by a processor, the steps of any of the methods for determining the position of a door as described above are implemented.

[0106] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0110] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0111] Although the optional embodiments of the present application have been described, those skilled in the art, once informed of the basic creative concept, may make additional changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including optional embodiments and all changes and modifications falling within the scope of the present application.

[0112] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for determining the position of a door, characterized in that: The method for determining the door position includes: Obtaining depth information of a door leaf in the environment where the sweeper is located, the depth information including position information of the door leaf, there is at least one door leaf, and the depth information is a point at which the sweeper obtains the distance between the door leaf in the environment and the sweeper; Obtaining position information of an outline of a room corresponding to the door leaf, wherein the outline is composed of a plurality of line segments; Determining a characteristic line segment of each door leaf according to the depth information of each door leaf; Determine a target line segment corresponding to the characteristic line segment from the contour, wherein the target line segment is a line segment in the contour composed of multiple line segments that has an intersection with the characteristic line segment; Calculating the angle between the characteristic line segment and the target line segment; Calculating the complementary angle or supplementary angle of the included angle; Determine the vertex of the characteristic line segment, wherein the vertex is the intersection point of the characteristic line segment and the line segment of the contour; Rotate the characteristic line segment according to the complementary angle or supplementary angle with the vertex as the rotation center; When the characteristic line segment is rotated to the complementary angle or the supplementary angle, it is detected that the other end point of the characteristic line segment coincides with the line segment of the contour, and the current position of the characteristic line segment is determined to be the position of the door.

2. The method for determining the door position according to claim 1, characterized in that: After the step of determining that the current position of the characteristic line segment is the position of the door, the method further includes: The location of the door is marked in the outline of the room.

3. The method for determining the door position according to claim 1, characterized in that: Before the step of obtaining the position information of the outline of the room corresponding to the door leaf, the method includes: The depth information of at least two door leaves is clustered to obtain the depth information of each door leaf.

4. The method for determining the door position according to claim 3, characterized in that: The step of clustering the depth information of at least two door leaves to obtain the depth information of each door leaf comprises: Obtaining the distance value between any two depth information; Clustering the depth information whose distance value is less than a preset distance value; The depth information of each door leaf is obtained based on the clustering results.

5. The method for determining the door position according to claim 1, characterized in that: Before the step of obtaining the depth information of the door leaf of the environment where the sweeping machine is located, the method includes: The door leaf existing in the environment is identified.

6. The method for determining the door position according to claim 5, characterized in that: The step of identifying the door leaf existing in the environment comprises: Extracting feature information of objects existing in the environment; When the characteristic information is characteristic information of the door leaf, it is determined that the object is the door leaf.

7. A sweeping machine, characterized in that: The sweeping machine includes a processor, a memory, and a door position determination program stored in the memory and executable on the processor. When the door position determination program is executed by the processor, the steps of the door position determination method according to any one of claims 1 to 6 are implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a door position determination program, and when the door position determination program is executed by a processor, the steps of the door position determination method according to any one of claims 1 to 6 are implemented.

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