Method and device for controlling a bin door, self-moving device and readable storage medium

Abstract

This application relates to the field of intelligent control technology, and provides a method, device, self-moving device, and readable storage medium for controlling a warehouse door. The self-moving device includes a warehouse and a door disposed on one side of the warehouse's entrance / exit. The method for controlling the warehouse door includes: responding to a task execution request of a target task, obtaining reference information, the reference information including at least one of device information of the self-moving device and task information of the target task; determining control parameters for the warehouse door during the opening and closing process based on the reference information; and controlling the warehouse door to open or close according to the control parameters during the execution of the target task. The embodiments of this application can solve the problem of limited control over warehouse doors in related technologies.

Description

Technical Field

[0001] This application belongs to the field of intelligent control technology, and in particular relates to a control method, device, self-moving device and readable storage medium for a storage door. Background Technology

[0002] With the development of technology, the application of self-moving devices is becoming increasingly widespread. For example, various service robots are used in hotels, office buildings, and other places. Service robots are usually equipped with a warehouse and a door, allowing users to store items in the warehouse and have the robot transport them to a designated location to complete the delivery task.

[0003] In relevant technical solutions, the control methods of self-moving devices when controlling the opening or closing of the compartment door are relatively simple and difficult to adapt to different usage scenarios. Summary of the Invention

[0004] This application provides a method, device, self-moving device, and readable storage medium for controlling a storage door, which can solve the problem that the control methods of self-moving devices for storage doors are relatively simple in related technical solutions.

[0005] In a first aspect, embodiments of this application provide a method for controlling a warehouse door, applied to a self-moving device. The self-moving device includes a warehouse and a warehouse door disposed on one side of the warehouse entrance / exit. The method for controlling the warehouse door includes: responding to a task execution request of a target task, obtaining reference information, the reference information including at least one of device information of the self-moving device and task information of the target task; determining control parameters of the warehouse door during the opening and closing process based on the reference information; and controlling the warehouse door to open or close based on the control parameters during the execution of the target task.

[0006] The first advantage of this application lies in that, in response to the task execution request of the target task, reference information is obtained, and control parameters for the opening and closing of the door are determined based on the reference information. These control parameters are then used to control the opening or closing of the door. In this embodiment, different control parameters can be determined using the device information of the self-moving device and / or the task information of the target task. These control parameters can adjust the opening and closing process of the door, making the process more diverse and solving the problem of singular door control in related technologies. This facilitates adaptation to different usage scenarios of self-moving devices.

[0007] In some embodiments of the first aspect, the reference information includes device information and task information. The device information includes one or more of the following: the current battery level and current location of the self-moving device. The task information includes one or more of the following: the task location of the target task, the task urgency, and the task execution time. The control parameters include the opening and closing speed of the door. The above-mentioned determination of the control parameters of the door during the opening and closing process based on the reference information includes: determining a first sub-speed corresponding to each type of device information and a second sub-speed corresponding to each type of task information based on the reference information; and fusing the first sub-speed and the second sub-speed to obtain the opening and closing speed of the door.

[0008] In some embodiments of the first aspect, the reference information includes task information, which includes at least one of the task location of the target task and the item size of the target item, the target item being an item stored or retrieved in the warehouse during the target task, and the control parameters including the opening and closing range of the warehouse door; determining the control parameters of the warehouse door during the opening and closing process based on the reference information includes: determining the opening and closing range of the warehouse door based on the task information.

[0009] In some embodiments of the first aspect, controlling the opening or closing of the warehouse door according to the control parameters includes: after the warehouse door is opened, performing item detection on the warehouse to obtain the item detection result of the target item, wherein the target item is the item stored or retrieved in the warehouse in the target task; and when the item detection result of the target item meets the closing conditions, controlling the warehouse door to close according to the control parameters.

[0010] In some embodiments of the first aspect, the self-moving device includes multiple warehouses, each with a different accommodating space; the task information includes the quantity and size of the target item, the target item being the item stored or retrieved in the warehouse during the target task; prior to determining the control parameters of the warehouse door during the opening and closing process based on the reference information, the method for controlling the warehouse door further includes: determining the accommodating space required by the target item based on the quantity and size of the target item; selecting a target warehouse from the multiple warehouses based on the accommodating space required by the target item, wherein the accommodating space of the target warehouse is greater than or equal to the accommodating space required by the target item; determining the control parameters of the warehouse door during the opening and closing process based on the reference information includes: determining the control parameters of the warehouse door of the target warehouse during the opening and closing process based on the reference information.

[0011] In some embodiments of the first aspect, the self-moving device further includes at least one control device for adjusting environmental parameters within the warehouse, and the task information further includes the name of the target item, which is the item stored or retrieved within the warehouse in the target task; the warehouse door control method further includes: determining the control device to be activated based on the name of the target item, and the adjustment parameters when the control device adjusts the environmental parameters after activation.

[0012] In some embodiments of the first aspect, the self-moving device further includes: a motor for driving the door to open or close; before obtaining reference information in response to the task execution request of the target task, the door control method further includes: controlling the door to open and close by the motor, and obtaining a detection signal obtained by detecting the degree of opening and closing of the door during the opening and closing process; obtaining a self-test result of the door based on the operating state of the motor and the detection signal.

[0013] Secondly, embodiments of this application provide a control device for a warehouse door, applied to a self-moving device. The self-moving device includes a warehouse and a warehouse door disposed on one side of the warehouse entrance / exit. The control device for the warehouse door includes: an acquisition module, used to acquire reference information in response to a task execution request of a target task. The reference information includes at least one of the device information of the self-moving device and the task information of the target task; a first determination module, used to determine control parameters of the warehouse door during the opening and closing process based on the reference information; and a control module, used to control the opening or closing of the warehouse door according to the control parameters during the execution of the target task.

[0014] Thirdly, embodiments of this application provide a self-moving device, including: a processor; and a memory for storing a computer program of the processor; wherein the processor is configured to execute the above-described door control method by executing the computer program.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described control method for the storage door.

[0016] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the aforementioned door control method.

[0017] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of the control method for the warehouse door provided in the embodiments of this application;

[0020] Figure 2This is a flowchart illustrating the self-inspection process for the storage door provided in this embodiment of the application.

[0021] Figure 3 This is a flowchart illustrating the specific process of selecting target warehouses provided in the embodiments of this application;

[0022] Figure 4 This is a flowchart illustrating the specific process for determining the opening and closing speed of the storage door, as provided in an embodiment of this application.

[0023] Figure 5 This is a flowchart illustrating the specific process of controlling the closing of the compartment door based on the item detection results provided in this application embodiment;

[0024] Figure 6 This is a structural diagram of the control device for the storage door provided in the embodiments of this application;

[0025] Figure 7 This is a detailed structural diagram of the control device for the storage door provided in the embodiments of this application;

[0026] Figure 8 This is a structural block diagram of the control system for the warehouse door provided in an embodiment of this application;

[0027] Figure 9 This is a structural block diagram of the self-moving device provided in the embodiments of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are protected by this application.

[0029] It should be noted that the terms "comprising," "including," and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application, are intended to cover non-exclusive inclusion. For example, a process, method, terminal, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. Terms such as "first" and "second" in the claims, specification, and accompanying drawings of this application, as well as relational terms, are used merely to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such immediate relationship or order between these entities / operations / objects.

[0030] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] With technological advancements, the application of self-moving devices is becoming increasingly widespread. For example, various service robots are used in hotels, office buildings, and other locations. Service robots are typically equipped with a cargo hold and a door, allowing users to store items inside, which the robot then transports to a designated location to complete the delivery task. However, in related technical solutions, the control methods for opening and closing the cargo hold are relatively simple, making it difficult to adapt to different usage scenarios.

[0032] In view of this, embodiments of this application propose a method for controlling a warehouse door, which can determine control parameters based on reference information and use variable control parameters to control the opening or closing of the warehouse door, thereby achieving diversified control of the warehouse door.

[0033] To illustrate the technical solution of this application, specific embodiments are described below.

[0034] Figure 1 The illustration shows a schematic diagram of the implementation process of a door control method provided in an embodiment of this application, which can be applied to self-moving equipment.

[0035] Self-moving devices can be devices with self-movement assistance functions, or they can be semi-autonomous or fully autonomous mobile devices. For example, self-moving devices can be intelligent robots, drones, etc., such as delivery robots, lawnmower robots, food delivery robots, transport robots, sweeping robots, and mopping robots. This application does not limit the type of robot. It is understood that the self-moving device in this embodiment can also be other devices with self-movement functions.

[0036] In embodiments of this application, the self-moving device may include a storage compartment and a door. The storage compartment may be located inside the self-moving device and is used to store items. The door may be located on the entrance / exit side of the storage compartment; specifically, the door may be located on the body of the self-moving device or on the side of the storage compartment. Users can use the door to store items in the storage compartment or retrieve items from the storage compartment.

[0037] Specifically, the above-mentioned control method for the warehouse door may include the following steps S101 to S103.

[0038] Step S101: In response to the task execution request of the target task, obtain reference information.

[0039] The target task is the task to be performed by the self-moving device, such as a delivery task or a pickup task. In the embodiments of this application, the self-moving device needs to open or close the door during the execution of the target task. The task execution request is used to instruct the self-moving device to perform the target task. The reference information is information related to the target task, which may include at least one of the device information of the self-moving device and the task information of the target task. The device information is information related to the attributes of the self-moving device, and the task information is information related to the attributes of the target task.

[0040] In the embodiments of this application, a user can issue a task execution request on a user terminal or a self-moving device. After receiving the task execution request, the self-moving device can begin executing the target task. At this time, the self-moving device can obtain the corresponding device information through the device information-related device on the self-moving device. The self-moving device can also obtain the task information of the associated target task through the task execution request.

[0041] Step S102: Determine the control parameters of the door during the opening and closing process based on the reference information.

[0042] Among them, the control parameters can be used to control the opening and closing of the door during the opening and closing process. The control parameters may include one or more of the door opening and closing speed and opening and closing amplitude.

[0043] In the embodiments of this application, different reference information indicates that the self-moving device is in different working scenarios, and different working scenarios usually have different requirements for the opening and closing process of the door. Therefore, based on the reference information, the control parameters of the door during the opening and closing process can be determined. Specifically, the self-moving device can determine one or more of the door's opening and closing speed and opening and closing amplitude based on the reference information. Different control parameters can be obtained according to different reference information, making the control parameters variable.

[0044] Step S103: During the execution of the target task, the door is opened or closed according to the control parameters.

[0045] In the embodiments of this application, there are scenarios where the self-moving device needs to open or close the storage door during the execution of a target task. For example, during a delivery task, when the self-moving device arrives at the pickup location, it needs to open the storage door so that the item can be placed into the storage compartment. At this time, the self-moving device can control the opening of the storage door according to control parameters. Similarly, the self-moving device can also control the closing of the storage door according to control parameters.

[0046] The beneficial effect of this application's embodiments lies in that, firstly, in response to the task execution request of the target task, reference information is obtained, and control parameters for the door during the opening and closing process are determined based on the reference information. These control parameters are then used to control the door's opening or closing. In this application's embodiments, different control parameters can be determined using the device information of the self-moving device and the task information of the target task. These control parameters can adjust the door's opening and closing process, making the process more diverse and solving the problem of singular door control in related technologies. This facilitates adaptation to different usage scenarios of self-moving devices.

[0047] In some embodiments of this application, the self-moving device needs to perform a self-check to see if there are any abnormalities in the opening and closing of the door before performing the target task. Figure 2 A schematic flowchart illustrating the self-testing process of the storage door in one embodiment of this application is shown. Before obtaining the reference information, the above-mentioned storage door control method may specifically include the following steps S201 and S202.

[0048] Step S201: The door is opened and closed by controlling the motor, and a detection signal is obtained by detecting the degree of opening and closing of the door during the opening and closing process.

[0049] In some embodiments of this application, the self-moving device may include a motor and a sensor. The motor is connected to the door and is used to drive the door to open or close. The sensor can be used to acquire detection signals, which can be used to reflect the degree of opening or closing of the door.

[0050] In the embodiments of this application, the self-moving device can perform a self-check to check for abnormalities in the opening and closing of the compartment door after receiving a self-check command sent by the user. The self-check command can be used to control the self-moving device to perform a self-check on the degree of opening and closing of the compartment door. The self-moving device can also perform a self-check to check for abnormalities in the opening and closing of the compartment door immediately after powering on. During the self-check process, the self-moving device can control the motor to rotate, thereby driving the compartment door to complete a complete opening and closing action. This application does not restrict the execution order of the opening and closing actions. The sensor can detect the position of the compartment door during the opening and closing process and obtain a detection signal.

[0051] Specifically, the sensor can be a distance sensor and can be positioned directly below the door. When the sensor returns a distance of zero, it can be determined that the door is fully closed; when the sensor returns a distance of a preset value, it can be determined that the door is fully open. Furthermore, the type and location of the sensor can differ from those described above, as long as the sensor can detect the degree of opening or closing of the door. This application does not impose any restrictions on this.

[0052] Step S202: Based on the motor's operating status and detection signals, obtain the self-test results of the compartment door.

[0053] In the embodiments of this application, during the process of the motor driving the compartment door to open or close, the self-moving device can acquire the operating status of the motor, and combine the operating status of the motor with the detection signal to obtain the self-test result of the compartment door.

[0054] Specifically, the self-operated device can determine whether the motor is operating normally based on the motor's voltage and current. When both the motor's voltage and current are within the normal range, the motor's operating status can be determined to be normal. When the door is fully open, the detection signal corresponding to the door position matches the door position when it is fully open; similarly, when the door is fully closed, the detection signal corresponding to the door position matches the door position when it is fully closed. This indicates that the door's opening and closing degree is normal.

[0055] When the motor is operating normally and the door opening / closing degree corresponding to the detection signal is normal, the corresponding door self-test result is normal. When either the motor's operating status or the door opening / closing degree corresponding to the detection signal is abnormal, the corresponding door self-test result is abnormal. When the door self-test result is normal, the self-moving device can begin executing the target task.

[0056] In some implementations, the self-moving device can acquire various configuration parameters of the door, which may include the door number, door opening and closing speed, automatic closing waiting time, electric suction lock activation status, backup sensor activation status, etc. Then, it can perform a self-test on the door, obtain the self-test results, and upload the door configuration parameters and the door self-test results to the cloud server.

[0057] In some implementations, the self-moving device may include multiple warehouses, each with a different capacity. Figure 3 The flowchart illustrating the specific process of screening target warehouses according to an embodiment of this application is shown. Before determining the control parameters of the warehouse door during the opening and closing process based on reference information, it is necessary to screen the target warehouses. Screening the target warehouses may specifically include steps S301 and S302.

[0058] It is important to understand that task information may include the quantity and size of the target items, which are the items stored or retrieved in the warehouse during the target task.

[0059] Step S301: Based on the quantity and size of the target items, determine the required storage space for the target items.

[0060] In the embodiments of this application, when the quantity of the target item is one piece, the required storage space is the size of the target item. When the quantity of the target item is multiple pieces, the required storage space is the total size of all the target items.

[0061] Step S302: Select the target warehouse from a variety of warehouses based on the storage space required by the target item.

[0062] In this system, when a warehouse is empty, its maximum capacity is defined as its available space. When an item is placed inside, its remaining capacity is defined as its available space. The target warehouse is the warehouse where the target item is stored. It is understood that the available space of the selected target warehouse is greater than or equal to the capacity required by the target item.

[0063] In the embodiments of this application, the self-moving device can obtain the accommodating space of each type of warehouse. Specifically, when no items are placed in the warehouse, the self-moving device can directly obtain the maximum accommodating space of the warehouse as the accommodating space of the warehouse; when items are placed in the warehouse, the self-moving device can obtain the maximum accommodating space of the warehouse and the total size of the items placed in the warehouse, and the difference between the two is the accommodating space of the warehouse.

[0064] The self-operated device can filter target warehouses from multiple warehouses based on the required storage space for the target item and the available storage space of each type of warehouse. Specifically, the target warehouse can be the warehouse with the largest difference between its available storage space and the required storage space for the target item, or it can be a warehouse with an available storage space that is larger than the required storage space for the target item but does not contain any items. This application does not restrict the method of filtering target warehouses.

[0065] In some implementations, after identifying the target warehouse, the self-moving device can determine the control parameters for the opening and closing of the warehouse door based on reference information. The specific steps for determining the control parameters can be found in step S102 above, and will not be repeated here.

[0066] In some specific embodiments, the control parameters may include the opening and closing speed of the door, and the self-moving device can control the opening or closing of the door according to the opening and closing speed of the door. Figure 4 The flowchart illustrating the implementation of step S102 in one embodiment of this application is shown schematically. Determining the opening and closing speed of the door may specifically include the following steps S401 and S402.

[0067] It is important to understand that the opening and closing speed of the compartment door can be used to control its opening or closing. The reference information can include both device information and task information. Device information may include one or more of the following: the current battery level of the self-moving device and its current location. The self-moving device can obtain its current battery level through a BMS battery management system or other means; this application does not limit this. Simultaneously, the self-moving device can obtain its current location coordinates through a positioning device, which can be a Real-time Kinematic (RTK) carrier phase differential positioning module, a Global Positioning System (GPS), a BeiDou positioning system, etc.; this application does not limit this. The opening and closing speeds of the compartment door can be the same or different; hereinafter, it is assumed that the opening and closing speeds are the same during the same opening and closing process.

[0068] Task information may include one or more of the following: task location, task urgency, and task execution time. The task location is the destination of the self-mobile device executing the target task; the number of task locations can be one or more, and this application does not limit this. Task urgency indicates the level of urgency of the target task. Different target tasks may have the same or different urgency levels. Task urgency can be represented by integers (1, 2, 3…), where 1 can be the lowest or highest urgency; it can also be represented by letters (A, B, C…), where A can be the highest urgency, B represents a lower urgency than A, and so on. X can indicate that the self-mobile device has low battery and needs to return to a charging station; Y can indicate that the self-mobile device has completed the task; Z can indicate an idle state, i.e., the self-mobile device is not in a working state; it can also be represented by Chinese characters such as "highest," "second highest," "second lowest," and "lowest," and this application does not limit this. The task urgency can be specified directly or by other methods, and this application does not limit this. Task execution time is the time period during which the self-mobile device executes the target task. The self-mobile device can obtain task information associated with the task execution request based on the task execution request.

[0069] Step S401: Based on the reference information, determine the first sub-velocity corresponding to each type of device information and the second sub-velocity corresponding to each type of task information.

[0070] In embodiments of this application, there may be one or more types of device information, and each type of device information can correspond to determining the opening and closing sub-speed (first sub-speed) of one or more doors. Similarly, there may be one or more types of task information, and each type of task information can correspond to determining the opening and closing sub-speed (second sub-speed) of one or more doors.

[0071] In some specific implementations, when the task information includes the task location of the target task, the self-moving device can obtain the speed preset value corresponding to the task location and use the corresponding speed preset value as the second sub-speed corresponding to the task location. The speed preset value corresponding to the task location can be set according to actual needs, and this application does not impose any restrictions on it. The speed preset value corresponding to the task location can be preset and stored in the internal storage of the self-moving device, or it can be preset and associated with the task location.

[0072] Specifically, there can be one or more task locations. For example, in a storage task, the task location can be the user's location. In a delivery task, there can be two task locations: a drop-off location (where the target item is placed in the warehouse) and a retrieval location (where the target item is retrieved from the warehouse). In this case, the drop-off location can correspond to a second sub-velocity, and the retrieval location can also correspond to a second sub-velocity. The second sub-velocities corresponding to the drop-off location and the retrieval locations can be different.

[0073] For example, from the user experience perspective, if the opening and closing speed of the compartment door is faster, the noise generated will be greater, which may result in a poor user experience. Therefore, in this embodiment of the application, the preset speed value corresponding to the retrieval location can be set to be less than the preset speed value corresponding to the placement location, so that the second sub-speed value corresponding to the retrieval location is less than the second sub-speed corresponding to the placement location, thereby reducing the noise generated by the automatic mobile device opening and closing the compartment door at the retrieval location and improving the user experience.

[0074] In other specific implementations, when the task information includes the urgency of the target task, the self-moving device can determine the second sub-velocity corresponding to the task urgency based on the task urgency and the positive correlation between the task urgency and the corresponding second sub-velocity. There is a positive correlation between task urgency and the corresponding second sub-velocity; that is, the higher the task urgency, the greater the corresponding second sub-velocity.

[0075] In other specific embodiments, when the task information includes the task execution time of the target task, the self-moving device can obtain a preset speed value corresponding to the task execution time and use this preset speed value as a second sub-speed corresponding to the task execution time. The preset speed value corresponding to the task execution time can be set according to actual needs, and this application does not impose any restrictions on it. The preset speed value corresponding to the task execution time can be preset and stored in the internal storage of the self-moving device, or it can be preset and associated with the task execution time.

[0076] Specifically, the task execution time can include different time periods, and the preset speed values ​​corresponding to different time periods can be the same or different. For example, the task execution time can include a first time period (8:00 to 20:00) and a second time period (20:00 to 8:00 the next day). The first time period can correspond to a second sub-speed, and the second time period can also correspond to a second sub-speed. The second sub-speed corresponding to the first time period and the second sub-speed corresponding to the second time period can be different.

[0077] For example, from the user experience perspective, if the time period in which the self-device performs the target task is the second time period, the opening and closing speed of the door will generate a lot of noise, which may affect the user's rest. Therefore, in this embodiment, the speed preset value corresponding to the second time period can be set to be less than the speed preset value corresponding to the first time period, so that the second sub-speed value corresponding to the second time period is less than the second sub-speed corresponding to the first time period, so as to reduce the noise generated by the self-device opening and closing the door in the second time period and improve the user experience.

[0078] In other specific implementations, when the device information includes the current battery level of the self-moving device, the self-moving device can determine the first sub-speed corresponding to the current battery level based on the current battery level and the positive correlation between the current battery level and the corresponding first sub-speed. There is a positive correlation between the current battery level of the self-moving device and the corresponding first sub-speed; that is, the higher the current battery level, the higher the corresponding first sub-speed.

[0079] In other specific implementations, when the device information includes the current location of the self-moving device and the task information includes the task location of the target task, the self-moving device can calculate the distance from its current location to the task location. Based on this distance and the positive correlation between this distance and the corresponding first sub-velocity, it can determine the first sub-velocity corresponding to its current location. There is a positive correlation between the distance from the self-moving device to the task location and the corresponding first sub-velocity; that is, the greater the distance from the self-moving device to the task location, the higher the corresponding first sub-velocity, the faster the door opens and closes, the shorter the door opening and closing time, and ultimately, the shorter the time required for the self-moving device to reach the task location. When there are multiple task locations, the first sub-velocities corresponding to the distance from the current location of the self-moving device to each task location can also be determined using the above method.

[0080] Step S402: The first sub-velocity and the second sub-velocity are fused to obtain the opening and closing speed of the door.

[0081] In embodiments of this application, after obtaining one or more first sub-velocities and one or more second sub-velocities, the average speed of all first and second sub-velocities can be calculated, and this average speed can be used as the opening and closing speed of the gate. Alternatively, each first sub-velocity and each second sub-velocity can be assigned a weight, and a weighted average of all first and second sub-velocities can be calculated, with this weighted average used as the opening and closing speed of the gate. Furthermore, other speed fusion methods can be used to fuse the first and second sub-velocities, and this application does not impose any limitations on this.

[0082] In some implementations, the self-moving device can determine the sub-velocity corresponding to each type of reference information based on a mathematical model. The specific mathematical model is as follows:

[0083] V = AX;

[0084] X={work_pose, work, time, power, robot_pose};

[0085] Where V is the opening and closing speed of the door, A is the correspondence between the reference information and the corresponding sub-speed, and the correspondence between the reference information and the corresponding sub-speed can be referred to the correspondence between the reference information and the corresponding sub-speed in the specific implementation of step S401 above, which will not be repeated here, X is the set of reference information, work_ is the task location, work is the task urgency, time is the task execution time, power is the current battery level of the self-moving device, and robot_pose is the current position of the self-moving device.

[0086] In some specific embodiments, the control parameters may include the opening and closing range of the compartment door, and the self-moving device can control the opening of the compartment door according to the opening and closing range of the compartment door.

[0087] It is important to understand that the opening and closing range of the warehouse door can be used to control the degree to which the door is open. Reference information may include task information, which may include at least one of the following: the task location of the target task and the dimensions of the target item. The task location is the destination of the self-moving device performing the target task; the number of task locations can be one or more, and this application does not limit this. The target item is the item stored or retrieved within the warehouse during the target task; the dimensions of the target item can be measured in advance and associated with its name.

[0088] In some embodiments of this application, the self-moving device can determine the opening and closing range of the door based on task information.

[0089] In some specific implementations, when the task information includes the location of the target task, the self-moving device can obtain the preset amplitude value corresponding to the task location and use this preset amplitude value as the opening and closing amplitude of the warehouse door. Different task locations can correspond to the same or different preset amplitude values, which can be set according to actual needs. For example, the preset amplitude value corresponding to the placement location (the location where the target item is placed into the warehouse) can be 90%, and the preset amplitude value corresponding to the retrieval location (the location where the target item is retrieved from the warehouse) can be 100%.

[0090] In other specific implementations, when the task information includes the dimensions of the target item, the self-moving device can determine the opening and closing range of the storage door based on the dimensions of the target item and the positive correlation between the dimensions of the target item and the opening and closing range of the storage door. There is a positive correlation between the dimensions of the target item and the corresponding opening and closing range of the storage door; that is, the larger the dimensions of the target item, the larger the opening and closing range of the corresponding storage door. This embodiment of the application can determine the opening and closing range of the storage door based on the dimensions of the target item. In some scenarios, users can place items into the storage compartment without fully opening the storage door, thus improving the efficiency of storage.

[0091] In some specific implementations, when the task information includes the target task's location, the self-moving device can also obtain its current location. Based on the current location and the target task's location, the arrival time of the self-moving device to the task location is calculated. Then, based on the arrival time and the negative correlation between the arrival time and the opening / closing range of the door, the opening / closing range of the door is determined. There is a negative correlation between the arrival time and the corresponding opening / closing range of the door; that is, the longer the arrival time, the shorter the opening / closing range of the door.

[0092] In some implementations, the self-moving device can determine the opening and closing speed of the door based on reference information, and can also determine the opening and closing range of the door based on the reference information. During the execution of the target task, the device can control the door to open or close based on the opening and closing speed and the opening and closing range of the door.

[0093] In summary, in the embodiments of this application, the opening and closing speed and range of the warehouse door can be determined by reference information, and the warehouse door can be controlled during the opening and closing process according to the opening and closing speed and range, thereby realizing diversified control of the warehouse door and solving the problem of single control of the warehouse door in related technologies.

[0094] The self-moving device can control the closing of the warehouse door based on the detection results of the target items inside the warehouse. Figure 5A flowchart illustrating the implementation of step S103 in one embodiment of this application is shown schematically. The control door is closed according to control parameters, which may specifically include steps S501 and S502.

[0095] Step S501: After the warehouse door is opened, the warehouse is inspected to obtain the inspection results of the target item.

[0096] Among them, the target item is the item stored or retrieved in the warehouse during the target task. The item detection result of the target item can be used to characterize whether the target item has been stored or retrieved in the warehouse.

[0097] In some embodiments, the self-moving device may also include an image acquisition device, which may be installed inside the warehouse to acquire images of the warehouse. The image acquisition device may be a camera, scanner, or other device with a photographic function, and this application does not limit this.

[0098] In the embodiments of this application, after the warehouse door is opened, the self-moving device can control the image acquisition device to turn on and acquire images inside the warehouse. After acquiring images inside the warehouse, the self-moving device can perform image recognition on the acquired images to obtain the item detection result of the target item; the self-moving device can also send the acquired images to a cloud server, where the cloud server performs image recognition to obtain the item detection result of the target item, and receives the item detection result of the target item sent by the cloud server.

[0099] In other embodiments, the self-moving device may also include a weight sensor, which may be located at the bottom of the cargo hold to collect weight information of the items inside the cargo hold. The weight sensor may be a resistance strain gauge load cell, an electromagnetic force load cell, etc., and this application does not limit this to any particular type. The task information may also include the weight of the target item.

[0100] In the embodiments of this application, after the warehouse door is opened, the self-moving device can control the weight sensor to activate and collect the weight information of the items inside the warehouse. When the weight sensor detects that the weight of the items inside the warehouse has increased compared to the weight of the target item, the corresponding detection result is that the target item has been stored in the warehouse; when the weight sensor detects that the weight of the items inside the warehouse has decreased compared to the weight of the target item, the corresponding detection result is that the target item has been removed from the warehouse; when the weight sensor detects that the weight of the items inside the warehouse is zero, the corresponding detection result is that there are no items in the warehouse. This application does not limit the method of item detection.

[0101] Step S502: When the item detection result of the target item meets the closing conditions, the door is controlled to close according to the control parameters.

[0102] The closing condition can be used to trigger the self-moving device to close the compartment door. The closing condition can be related to the target task, and the closing condition can be different for different target tasks.

[0103] In the embodiments of this application, after the mobile device obtains the item detection result of the target item, it can acquire the target task and determine the corresponding shutdown condition based on the target task.

[0104] Specifically, when the target task is a storage task, the corresponding closing condition can be that the target item has been stored. When the target task is a pickup task, the corresponding closing condition can be that the target item has been retrieved. When the target task is a delivery task, the corresponding closing condition can be that the mobile device is at the drop-off location and the target item has been stored, or that the mobile device is at the pickup location and the target item has been retrieved.

[0105] After the self-moving device determines the corresponding closing condition based on the target task, it can compare the item detection result of the target item with the corresponding closing condition. When the item detection result of the target item meets the closing condition, for example, if the item detection result of the target item is that there is no target item in the warehouse, the corresponding closing condition is that the target item has been taken out. At this time, the item detection result of the target item meets the closing condition, and the self-moving device can control the warehouse door to close according to the control parameters.

[0106] This application embodiment can automatically close the compartment door based on the detection results of the target item, eliminating the need for the user to manually close the compartment door and improving the user experience.

[0107] In some scenarios (such as food delivery), the target item has requirements for the warehouse environment, thus necessitating the control of environmental parameters within the warehouse. Specifically, in some embodiments of this application, the aforementioned warehouse door control method may further include: determining the control device to be activated based on the name of the target item, and the adjustment parameters for adjusting environmental parameters after the control device is activated.

[0108] The mobile device may also include at least one control device, which can be used to adjust the environmental parameters within the warehouse according to adjustment parameters. The control device may be a temperature control device, a disinfection device, etc., and this application does not limit this. The task information may also include the name of the target item, which is the item stored or retrieved in the warehouse during the target task, and the name of the target item is associated with the control device.

[0109] In the embodiments of this application, the self-moving device can obtain the name of the target item in the task information, then determine the control device to be started associated with the name of the target item, and determine the adjustment parameters after the control device is started based on the adjustment parameters set during association.

[0110] For example, if the name of the target item is banana, the self-moving device can determine that the heat preservation device associated with banana is the control device to be activated, and determine that the adjustment parameter is the temperature parameter, specifically the temperature parameter set at 15°C when associated.

[0111] After determining the control device to be activated and the adjustment parameters for adjusting environmental parameters after activation, the self-moving device can activate the control device and set its adjustment parameters according to the control device to be activated and the corresponding adjustment parameters. The self-moving device can activate the control device and set its adjustment parameters before the target item is placed in the warehouse, or it can activate the control device and set its adjustment parameters after the target item is placed in the warehouse; this application does not impose any restrictions on this.

[0112] This application embodiment determines the control device to be activated and the corresponding adjustment parameters by the name of the target item, so that the environmental parameters in the warehouse meet the storage requirements of the target item and ensure the quality of the target item in the warehouse.

[0113] Based on the same inventive concept, as an implementation of the above-mentioned method for controlling the warehouse door, this application provides a control device for the warehouse door. This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will not repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspondingly implement all the contents of the aforementioned method embodiment.

[0114] Figure 6 This diagram illustrates a structural diagram of a warehouse door control device according to an embodiment of this application. The warehouse door control device 6 is applied to a self-moving device, which may include a warehouse and a warehouse door located on one side of the warehouse entrance / exit. The warehouse door control device 6 may include:

[0115] The acquisition module 601 is used to acquire reference information in response to a task execution request from the target task. The reference information includes at least one of the device information of the self-moving device and the task information of the target task.

[0116] The first determining module 602 is used to determine the control parameters of the door during the opening and closing process based on the referenced information.

[0117] The control module 603 is used to control the opening or closing of the compartment door according to control parameters during the execution of the target task.

[0118] The beneficial effect of this application's embodiments lies in that, firstly, in response to the task execution request of the target task, reference information is obtained, and control parameters for the door during the opening and closing process are determined based on the reference information. These control parameters are then used to control the door's opening or closing. In this application's embodiments, different control parameters can be determined using the device information of the self-moving device and the task information of the target task. These control parameters can adjust the door's opening and closing process, making the process more diverse and solving the problem of singular door control in related technologies. This facilitates adaptation to different usage scenarios of self-moving devices.

[0119] In some embodiments of this application, the reference information includes device information and task information. The device information includes one or more of the following: the current battery level and current location of the self-moving device. The task information includes one or more of the following: the task location of the target task, the task urgency, and the task execution time. The control parameters include the opening and closing speed of the door. The first determining module 602 can also be used to: determine a first sub-speed corresponding to each type of device information and a second sub-speed corresponding to each type of task information based on the reference information; and fuse the first sub-speed and the second sub-speed to obtain the opening and closing speed of the door.

[0120] In some embodiments of this application, the reference information includes task information, which includes at least one of the task location of the target task and the item size of the target item. The target item is the item stored or retrieved in the warehouse during the target task. The control parameters include the opening and closing range of the warehouse door. The first determining module 602 can also be used to: determine the opening and closing range of the warehouse door based on the task information.

[0121] In some embodiments of this application, the control module 603 can also be used to: after the warehouse door is opened, perform item detection on the warehouse to obtain the item detection result of the target item, wherein the target item is the item stored or retrieved in the warehouse in the target task; and when the item detection result of the target item meets the closing conditions, control the warehouse door to close according to the control parameters.

[0122] refer to Figure 7 , Figure 7This diagram illustrates a specific structure of a door control device provided in an embodiment of this application. In some embodiments of this application, the self-moving device includes multiple warehouses, each with a different accommodating space. The task information includes the quantity and size of the target item, which is the item stored or retrieved in the warehouse during the target task. The door control device may further include a filtering module 604, used to determine the accommodating space required by the target item based on its quantity and size. Based on the accommodating space required by the target item, a target warehouse is selected from the multiple warehouses, wherein the accommodating space of the target warehouse is greater than or equal to the accommodating space required by the target item. The first determining module 602 may further be used to determine the control parameters of the door of the target warehouse during the opening and closing process based on reference information.

[0123] refer to Figure 7 In some embodiments of this application, the self-moving device further includes at least one control device for adjusting environmental parameters within the warehouse, and the task information also includes the name of the target item, which is the item stored or retrieved within the warehouse in the target task; the control device for the warehouse door may also include a second determining module 605, used to determine the control device to be activated based on the name of the target item, and the adjustment parameters when the control device adjusts the environmental parameters after activation.

[0124] refer to Figure 7 In some embodiments of this application, the self-moving device further includes: a motor, which is used to drive the door to open or close; the control device for the door may also include a self-test module 606, which is used to control the door to open and close through the motor, and to acquire a detection signal obtained by detecting the degree of opening and closing of the door during the opening and closing process; and to obtain the self-test result of the door based on the operating status of the motor and the detection signal.

[0125] It should be noted that the information interaction and execution process between the above-mentioned devices / modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0126] Figure 8 The diagram shown is a structural block diagram of a warehouse door control system provided in an embodiment of this application. This embodiment of the application provides a warehouse door control system, which may include a self-moving device 801. The self-moving device 801 includes a warehouse and a warehouse door disposed on one side of the warehouse entrance / exit. The self-moving device 801 is used to: respond to a task execution request of a target task, obtain reference information, the reference information including at least one of device information of the self-moving device 801 and task information of the target task; determine control parameters for the warehouse door during the opening and closing process based on the reference information; and control the warehouse door to open or close according to the control parameters during the execution of the target task.

[0127] In some embodiments, the control system for the aforementioned warehouse door may further include: a cloud server 802 and a user terminal 803; the cloud server 802 is used to acquire device fault information sent by the self-moving device 801 and send the device fault information to the user terminal 803, the device fault information being used to characterize the fault status of the control device that adjusts the environmental parameters inside the warehouse, and / or the sensing device that detects the status of the warehouse door; the user terminal 803 is used to receive the device fault information; receive control commands and send the control commands to the self-moving device 801; the self-moving device 801 is also used to receive and execute the control commands, controlling the malfunctioning device to complete a preset action, the preset action being used to restore the malfunctioning device to normal operation.

[0128] In some implementations, if the faulty device still cannot return to normal after the self-moving device 801 receives and executes the control command, the self-moving device 801 can report the status of the faulty device to the user terminal 803 and send a prompt message to the user terminal 803.

[0129] In this embodiment of the application, when the device of the self-moving device 801 malfunctions, the self-moving device 801 receives a control command issued by the user terminal 803, and performs a preset action corresponding to the control command, so that the malfunctioning device returns to normal and remote maintenance of the self-moving device 801 is achieved.

[0130] Figure 9 The diagram shown is a structural block diagram of a self-moving device 801 provided in an embodiment of this application. Specifically, the self-moving device 801 may include: a processor 8011, a memory 8012, and a computer program 8013 stored in the memory 8012 and executable on the processor 8011, such as a door control program.

[0131] When the processor 8011 executes the computer program 8013, it implements the steps in the above-described embodiments of the control methods for each compartment door, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 8011 executes the computer program 8013, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 6 The shown modules are: acquisition module 601, first determination module 602, and control module 603.

[0132] The computer program can be divided into one or more modules / units, which are stored in the memory 8012 and executed by the processor 8011 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the self-moving device 801.

[0133] The self-moving device 801 may include, but is not limited to, a processor 8011 and a memory 8012. Those skilled in the art will understand that... Figure 9 This is merely an example of a self-moving device 801 and does not constitute a limitation on the self-moving device 801. It may include more or fewer components than shown, or combine certain components, or different components. For example, the self-moving device 801 may also include input / output devices, network access devices, buses, etc.

[0134] The processor 8011 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0135] The memory 8012 can be an internal storage unit of the self-moving device 801, such as a hard drive or memory of the self-moving device 801. The memory 8012 can also be an external device of the self-moving device 801, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the self-moving device 801. Furthermore, the memory 8012 can include both internal storage units of the self-moving device 801 and external devices. The memory 8012 is used to store the computer program and other programs and data required by the self-moving device 801. The memory 8012 can also be used to temporarily store data that has been output or will be output.

[0136] It should be noted that, for the sake of convenience and brevity, the structure of the self-moving device 801 described above can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0137] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0138] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described control method for the compartment door.

[0139] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps in the aforementioned door control method.

[0140] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0141] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for various specific applications, but such implementations should not be considered beyond the scope of this application.

[0142] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0144] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0145] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0146] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling a warehouse door, characterized in that, Applied to self-moving equipment, the self-moving equipment includes a cargo compartment and a door located on one side of the cargo compartment's entrance / exit, wherein the control method for the door includes: In response to a task execution request for a target task, reference information is obtained, including device information of the self-mobile device and task information of the target task; the device information includes one or more of the self-mobile device's current battery level and current location, and the task information includes one or more of the target task's task location, task urgency, and task execution time; Based on the reference information, control parameters for the door during the opening and closing process are determined, including the opening and closing speed of the door. During the execution of the target task, the compartment door is controlled to open or close according to the control parameters; The step of determining the control parameters of the door during the opening and closing process based on the reference information includes: determining a first sub-speed corresponding to each type of equipment information and a second sub-speed corresponding to each type of task information based on the reference information; and fusing the first sub-speed and the second sub-speed to obtain the opening and closing speed of the door.

2. The method for controlling the warehouse door as described in claim 1, characterized in that, The task information includes at least one of the task location of the target task and the size of the target item, the target item is the item stored or retrieved in the warehouse in the target task, and the control parameters include the opening and closing range of the warehouse door; Determining the control parameters of the door during the opening and closing process based on the reference information includes: Based on the task information, determine the opening and closing range of the warehouse door.

3. The method for controlling the warehouse door as described in claim 1, characterized in that, The step of controlling the opening or closing of the compartment door according to the control parameters includes: After the warehouse door is opened, the warehouse is inspected to obtain the inspection result of the target item, which is the item stored or retrieved in the warehouse during the target task. When the item detection result of the target item meets the closing condition, the compartment door is controlled to close according to the control parameters.

4. The method for controlling the warehouse door as described in claim 1, characterized in that, The self-moving device includes multiple cargo compartments, each with a different capacity. The task information includes the quantity and size of the target items, which are the items stored or retrieved in the warehouse during the target task. Before determining the control parameters of the door during the opening and closing process based on the reference information, the door control method further includes: Based on the quantity and size of the target items, determine the required storage space for each target item; Based on the required storage space for the target item, a target warehouse is selected from a variety of warehouses, wherein the storage space of the target warehouse is greater than or equal to the storage space required for the target item. Determining the control parameters of the door during the opening and closing process based on the reference information includes: Based on the reference information, the control parameters of the warehouse door of the target warehouse during the opening and closing process are determined.

5. The method for controlling the warehouse door as described in claim 1, characterized in that, The self-moving device also includes at least one control device for adjusting environmental parameters within the warehouse, and the task information also includes the name of the target item, which is the item stored or retrieved within the warehouse in the target task. The method for controlling the warehouse door also includes: Based on the name of the target item, determine the control device to be activated, and the adjustment parameters when the control device adjusts the environmental parameters after activation.

6. The method for controlling a warehouse door as described in any one of claims 1 to 5, characterized in that, The self-moving device also includes a motor, which is used to drive the compartment door to open or close. Before obtaining reference information in response to the task execution request of the target task, the control method for the storage door further includes: The motor controls the opening and closing of the compartment door, and a detection signal is obtained by detecting the degree of opening and closing of the compartment door during the opening and closing process. The self-test result of the compartment door is obtained based on the operating status of the motor and the detection signal.

7. A control device for a warehouse door, characterized in that, Applied to self-moving equipment, the self-moving equipment includes a cargo compartment and a door disposed on one side of the cargo compartment's entrance and exit, and the control device for the door includes: The acquisition module is used to acquire reference information in response to a task execution request of a target task. The reference information includes device information of the self-mobile device and task information of the target task. The device information includes one or more of the current battery level and current location of the self-mobile device, and the task information includes one or more of the task location, task urgency, and task execution time of the target task. The first determining module is used to determine the control parameters of the door during the opening and closing process based on the reference information, wherein the control parameters include the opening and closing speed of the door; The control module is used to control the opening or closing of the compartment door according to the control parameters during the execution of the target task; The first determining module is used to: determine a first sub-speed corresponding to each type of device information and a second sub-speed corresponding to each type of task information based on the reference information; and perform speed fusion on the first sub-speed and the second sub-speed to obtain the opening and closing speed of the door.

8. A self-moving device, characterized in that, include: processor; And a memory for storing the computer program of the processor; The processor is configured to execute the control method for the storage door according to any one of claims 1 to 6 by executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for the storage door as described in any one of claims 1 to 6.

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