Cleaning control method and device of self-moving device, electronic device and storage medium

Abstract

The application is suitable for the technical field of intelligent control, and provides a cleaning control method and device of a self-moving device, an electronic device and a storage medium. The self-moving device is configured with a cantilever probe integrated with a dust suction assembly and an air outlet assembly. The cleaning control method comprises: obtaining object information of an object to be cleaned; determining a current working mode of the self-moving device according to the object information; and controlling the dust suction assembly to perform a dust suction operation or controlling the air outlet assembly to perform an air outlet operation according to the current working mode. Embodiments of the application can adaptively select a cleaning mode of the cantilever probe according to object information, thereby improving the cleaning effect of the self-moving device on garbage.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent control, and particularly relates to a cleaning control method and device of a self-moving device, an electronic device, and a storage medium. BACKGROUND

[0002] Outdoor sweeping vehicles and other intelligent devices have autonomous positioning and navigation capabilities, and can clean garbage in outdoor environments such as outdoor commercial sites, schools, parks, scenic spots, communities, and roads. However, outdoor environments are more complex than indoor environments. For example, paper scraps and fallen leaves can hide in corners formed by the road surface and the curbstone, and the garbage in these corners is difficult to be effectively cleaned by conventional brushes and suction cups, resulting in poor cleaning effect. SUMMARY

[0003] Embodiments of the present application provide a cleaning control method and device of a self-moving device, an electronic device, and a storage medium, which can solve the problem of poor cleaning effect of the self-moving device in related technologies.

[0004] The first aspect of the embodiments of the present application provides a cleaning control method of a self-moving device, the self-moving device being configured with a cantilever probe, the cantilever probe being integrated with a dust suction assembly and an air outlet assembly, the cleaning control method comprising: obtaining object information of an object to be cleaned; determining a current working mode of the self-moving device according to the object information; and controlling the dust suction assembly to perform a dust suction operation or controlling the air outlet assembly to perform an air outlet operation according to the current working mode.

[0005] In some embodiments of the present application, the self-moving device is configured with a roller brush, and the roller brush is designed to be hollow. When the air outlet assembly is controlled to perform the air outlet operation, the cleaning control method further comprises: controlling the roller brush to roll to form a first low-pressure area below the roller brush, the first low-pressure area being used to generate an air flow flowing to the first low-pressure area with a high-pressure area formed by the air outlet of the air outlet assembly.

[0006] In some embodiments of the present application, the cantilever probe is a hollow structure, the air outlet assembly comprises an air outlet arranged at one end of the cantilever probe, a flow guide cavity arranged outside the cantilever probe, and an air inlet of the flow guide cavity away from the one end of the cantilever probe. Before the air outlet assembly is controlled to perform the air outlet operation, the cleaning control method further comprises: controlling the air inlet of the flow guide cavity to move between the roller brush and the air outlet to form a second low-pressure area between the roller brush and the air outlet, the second low-pressure area being used to generate an air flow flowing to the second low-pressure area with the high-pressure area and an air flow flowing to the first low-pressure area with the first low-pressure area.

[0007] In some embodiments of the present application, the object information comprises an object type and an object size of the object to be cleaned; and the determining the current working mode of the self-moving device according to the object information comprises: if the object size is smaller than a size of a hollow cavity of the cantilever probe and the object type is a preset type, determining the current working mode as a dust collection mode, wherein the preset type represents that a surface of the object to be cleaned is flexible, and the dust collection mode is used to instruct the dust collection assembly to perform a dust collection operation; otherwise, determining the current working mode as an air outlet mode, and the air outlet mode is used to instruct the air outlet assembly to perform an air outlet operation.

[0008] In some embodiments of the present application, the self-moving device is further configured with a water outlet assembly; and during the control of the air outlet assembly to perform the air outlet operation, the cleaning control method further comprises: obtaining an air outlet direction of the air outlet assembly when the air outlet assembly performs the air outlet operation; determining a water outlet direction of the water outlet assembly according to the air outlet direction; and controlling the water outlet assembly to perform a water spraying operation or a water flushing operation according to the water outlet direction.

[0009] In some embodiments of the present application, the obtaining the object information of the object to be cleaned comprises: controlling the self-moving device to move; and controlling the cantilever probe to perform object detection during the movement of the self-moving device to obtain the object information.

[0010] In some embodiments of the present application, the cantilever probe is further integrated with a roller; and the controlling the cantilever probe to perform object detection to obtain the object information comprises: obtaining position information of a curbstone; controlling the roller to roll close to the curbstone according to the position information, so that the cantilever probe is directed to a corner formed by the curbstone and a road surface; and controlling the cantilever probe to detect the corner to obtain the object information.

[0011] The second aspect of the embodiments of the present application provides a cleaning control device of a self-moving device, the self-moving device being configured with a cantilever probe, the cantilever probe being integrated with a dust collection assembly and an air outlet assembly, the cleaning control device comprising: an obtaining unit configured to obtain object information of an object to be cleaned; a determining unit configured to determine a current working mode of the self-moving device according to the object information; and a cleaning control unit configured to control the dust collection assembly to perform a dust collection operation or control the air outlet assembly to perform an air outlet operation according to the current working mode.

[0012] The third aspect of the embodiments of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the cleaning control method of the self-moving device when executing the computer program.

[0013] The fourth aspect of the embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the cleaning control method of the self-moving device.

[0014] The fifth aspect of the embodiment of the present application provides a computer program product, when the computer program product runs on an electronic device, the electronic device executes the steps of the cleaning control method of the self-moving device.

[0015] In the embodiment of the present application, by obtaining object information of the object to be cleaned, determining the current working mode of the self-moving device according to the object information, and controlling the dust collection assembly to perform the dust collection operation or controlling the air outlet assembly to perform the air outlet operation according to the current working mode, the garbage in the corner which is not easy to clean can be cleaned by the cantilever probe, and the cleaning mode can be adaptively selected between dust collection and air outlet according to the object information, thereby improving the cleaning effect of the self-moving device on the garbage. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is an implementation flow diagram of the cleaning control method of the self-moving device provided by the embodiment of the present application;

[0018] Figure 2 is a first specific implementation flow diagram of step S102 provided by the embodiment of the present application;

[0019] Figure 3 is a schematic diagram of air outlet control provided by the embodiment of the present application;

[0020] Figure 4 is a structural schematic diagram of the cleaning control device of the self-moving device provided by the embodiment of the present application;

[0021] Figure 5 is a structural schematic diagram of the electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and not to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application.

[0023] The intelligent equipment such as outdoor sweeper has autonomous positioning and navigation capability, and can clean garbage in outdoor environments such as outdoor commercial places, schools, parks, scenic spots, communities and roads. However, the outdoor environment is more complex than the indoor environment. For example, paper scraps, fallen leaves and other garbage can hide in the corners formed by the road plane and the curbstone. The garbage in these corners is difficult to be effectively cleaned by the conventional brush and suction cup, resulting in poor cleaning effect.

[0024] In view of this, the present application proposes a cleaning control method of a self-moving device, which can clean garbage that is not easy to clean in a corresponding manner through a cantilever probe, thereby improving the cleaning effect of the self-moving device.

[0025] In order to illustrate the technical solutions of the present application, the following will be described by specific embodiments.

[0026] Figure 1 An implementation flowchart of a cleaning control method of a self-moving device provided by an embodiment of the present application is shown. The method can be applied to an electronic device and can be applicable to a situation where the cleaning effect of the self-moving device needs to be improved.

[0027] In the embodiments of the present application, the above-mentioned electronic device can be a robot, an outdoor unmanned vehicle or other self-moving device used for performing cleaning tasks, or a computer, a smart phone or other control device used for controlling the self-moving device. The present application does not limit this.

[0028] The self-moving device is configured with a cantilever probe, which can be used for cleaning work. Specifically, the cantilever probe includes a cantilever connected to the body of the self-moving device, and a probe provided at the end away from the body. The probe can be a camera, an infrared sensor or other device with information collection capability, and can be used for garbage detection.

[0029] The cantilever probe can be integrated with a dust suction assembly and an air outlet assembly. The dust suction assembly can include a motor, a fan, an air inlet and an air outlet. The cantilever can be designed as a hollow pipe for dust suction, and a dust suction head can be provided on the side of the probe on the cantilever. Thus, the motor can drive the fan to rotate to suck garbage into the cantilever through the dust suction head. The air outlet assembly can include a motor, a blower and a wind box. The motor can drive the blower in the wind box to rotate to send air out through the air outlet on the side of the probe.

[0030] Specifically, the cleaning control method of the self-moving device can include the following steps S101 to S103.

[0031] In step S101, object information of an object to be cleaned is obtained.

[0032] In embodiments of the present application, the object to be cleaned is an object that needs to be cleaned, such as paper scraps, fallen leaves, and other garbage. The object information of the object to be cleaned is used to represent the attributes of the object to be cleaned and the state of the object to be cleaned in the environment, such as the object type and object size of the object to be cleaned.

[0033] The object information can be collected by the cantilever probe and identified by the processor. In other embodiments, the object information can be input by the user or identified by an external device and then input, which is not limited in the present application.

[0034] In step S102, a current working mode of the self-moving device is determined according to the object information.

[0035] The current working mode refers to the working mode in which the self-moving device is currently located. Specifically, the self-moving device can be configured with a dust collection mode and an air outlet mode. The dust collection mode is used to instruct the dust collection assembly to perform a dust collection operation, and the air outlet mode is used to instruct the air outlet assembly to perform an air outlet operation.

[0036] In embodiments of the present application, according to the object information, the cleaning method suitable for the object to be cleaned can be analyzed, and then the current working mode of the self-moving device is determined.

[0037] In step S103, the dust collection assembly is controlled to perform a dust collection operation or the air outlet assembly is controlled to perform an air outlet operation according to the current working mode.

[0038] Specifically, if the current working mode is the dust collection mode, the dust collection assembly can be controlled to perform a dust collection operation, and if the current working mode is the air outlet mode, the air outlet assembly can be controlled to perform an air outlet operation.

[0039] In embodiments of the present application, by obtaining the object information of the object to be cleaned, determining the current working mode of the self-moving device according to the object information, and controlling the dust collection assembly to perform a dust collection operation or controlling the air outlet assembly to perform an air outlet operation according to the current working mode, the garbage in the corner that is not easy to clean can be cleaned by the cantilever probe, and the cleaning method can be adaptively selected between dust collection and air outlet according to the object information, thereby improving the cleaning effect of the self-moving device on the garbage.

[0040] In some embodiments of the present application, in step S101, the electronic device can control the self-moving device to move, and control the cantilever probe to perform object detection during the movement of the self-moving device, to obtain object information.

[0041] Specifically, the electronic device can move according to a preset task trajectory or a previously set moving direction, and the cantilever probe can perform real-time detection on a preset area during the movement of the self-moving device. The preset area can be a specified task area for performing a cleaning task, or a collection area in which the cantilever probe can collect information. Accordingly, the cantilever probe can obtain object information of an object to be cleaned.

[0042] In some specific embodiments, the cantilever probe described above further integrates a roller, and the control of the cantilever probe to perform object detection to obtain object information can include: obtaining position information of a curbstone, controlling the roller to roll close to the curbstone according to the position information, so that the detection component is directed to a corner formed by the curbstone and a road surface, and then controlling the cantilever probe to detect the corner to obtain object information.

[0043] The curbstone is a boundary stone for the edge of a road surface, also known as a kerbstone or a curbstone. In the embodiments of the present application, the position information of the curbstone recorded in an electronic map can be obtained, or the position information of the curbstone can be detected in real time by the cantilever probe. Based on the position of the curbstone, the pose of the cantilever can be controlled to change, so that the roller rolls close to the curbstone. When the roller is close to the curbstone, the cantilever probe is at a distance from the curbstone, and the cantilever probe is directed to the corner formed by the curbstone and the road surface. At this time, the cantilever probe can be controlled to detect the corner to obtain object information, so that garbage in the corner formed by the curbstone and the road surface can be detected.

[0044] After obtaining the object information, the electronic device can determine the current working mode of the self-moving device.

[0045] As shown in FIG. 1, Figure 2 In some embodiments of the present application, the step S102 described above can include the following steps S201 to S202.

[0046] In step S201, if the size of the object is smaller than the size of the hollow cavity of the cantilever probe, and the type of the object is a preset type, it is determined that the current working mode is a dust collection mode.

[0047] Since the cantilever probe is designed to be hollow, the hollow cavity inside the cantilever can be used as a dust collection pipeline of the dust collection component. Considering that the size of the hollow cavity is limited, it is necessary to determine whether the size of the object is smaller than the size of the hollow cavity of the cantilever probe. If the size of the object is smaller than the size of the hollow cavity of the cantilever probe, it means that the object can move to the garbage storage box through the hollow cavity.

[0048] Further, it is also needed to determine whether the object type is a preset type, the preset type representing that the surface of the object to be cleaned is flexible. When the object type is the preset type, the surface of the object to be cleaned is flexible and is not easy to cause damage to the hollow cavity inside.

[0049] Further, if the object size is smaller than the size of the hollow cavity of the cantilever probe and the object type is the preset type, the electronic device can determine that the current working mode is the dust collection mode, and then control the dust collection assembly to perform the dust collection operation in step S103.

[0050] In step S202, otherwise, it is determined that the current working mode is the air outlet mode.

[0051] Specifically, if the object size is greater than or equal to the size of the hollow cavity of the cantilever probe, or the object type is not the preset type, it indicates that the object to be cleaned cannot pass through the hollow cavity of the cantilever, or will cause damage to the hollow cavity, and then the electronic device can determine that the current working mode is the air outlet mode, and then control the air outlet assembly to perform the air outlet operation in step S103.

[0052] Correspondingly, the self-moving device can be configured with a cleaning assembly, which can include a roller brush and a storage box for storing garbage, and the garbage can be moved to the storage box under the driving of the roller brush.

[0053] In the embodiments of the present application, after the electronic device controls the dust collection assembly to perform the dust collection operation, the object to be cleaned can pass through the hollow cavity and move to the storage box built-in the self-moving device to complete the cleaning. In the embodiments of the present application, after the electronic device controls the air outlet assembly to perform the air outlet operation, the object to be cleaned can move with the airflow and move to the cleaning area of the roller brush, and then be cleaned into the storage box by the roller brush to complete the cleaning.

[0054] In this way, two cleaning channels can be formed, the first cleaning channel is realized by the brush, and the second cleaning channel is realized by the cantilever probe.

[0055] In some specific embodiments, the above-mentioned roller brush can also be hollow designed. When the electronic device controls the air outlet assembly to perform the air outlet operation, the electronic device can control the roller brush to roll to form a first low-pressure area below the roller brush.

[0056] At this time, the first low-pressure area is used to generate an airflow flowing to the first low-pressure area with the high-pressure area formed by the air outlet assembly, so that the object to be cleaned will move to the first low-pressure area under the driving of the airflow, and then be swept away by the roller brush.

[0057] Further, the air outlet assembly can include an air outlet arranged at one end of the cantilever probe, a flow guide cavity arranged outside the cantilever probe, and an air inlet arranged at one end of the flow guide cavity away from the cantilever probe. When the air outlet assembly is in operation, air can be introduced into the air inlet, and the air flows through the flow guide cavity to the air outlet at one end of the cantilever probe.

[0058] Before controlling the air outlet assembly to operate, the electronic device can control the air inlet of the flow guide cavity to move between the roller brush and the air outlet, so as to form a second low-pressure area between the roller brush and the air outlet.

[0059] The second low-pressure area is used to generate air flow to the second low-pressure area with the high-pressure area, and to generate air flow to the first low-pressure area with the first low-pressure area.

[0060] Specifically, referring to Figure 3 , the flow guide cavity can rotate around the cantilever as a rotating shaft, the electronic device can obtain the relative position relationship between the cantilever probe and the roller brush, and then control the flow guide cavity to rotate so that the air inlet moves between the roller brush and the air outlet. At this time, when the air inlet is in operation, a second low-pressure area will be formed below the air inlet, and the second low-pressure area is located between the roller brush and the air outlet. As Figure 3 indicated by the dashed arrow in the air flow direction, when the air outlet is in operation, a high-pressure area will be formed below the air outlet, so that the air flow flows from the high-pressure area to the second low-pressure area, and then the object to be cleaned can move to the second low-pressure area. Correspondingly, the air pressure of the second low-pressure area is higher than that of the first low-pressure area, and at this time, the second low-pressure area and the first low-pressure area can generate air flow from the second low-pressure area to the first low-pressure area, so that the object to be cleaned finally moves below the roller brush, and then is cleaned by the roller brush.

[0061] In order to avoid the problem of dust raising during air blowing, the self-moving device can also be provided with a water outlet assembly. During the process of controlling the air outlet assembly to operate, the electronic device can obtain the air blowing direction of the air outlet assembly during the air blowing operation, determine the water outlet direction of the water outlet assembly according to the air blowing direction, and control the water outlet assembly to perform watering operation or flushing operation according to the water outlet direction.

[0062] The water outlet direction can have a certain angle with the air blowing angle, on the one hand, the wet water can reduce the problem of dust raising, and on the other hand, the object to be cleaned can not be easily moved because of being wet.

[0063] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other orders.

[0064] As Figure 4Fig. 4 shows a structural schematic diagram of a cleaning control device 400 of a self-moving device according to an embodiment of the present application. The cleaning control device 400 of the self-moving device is arranged on an electronic device.

[0065] Specifically, the cleaning control device 400 of the self-moving device can include:

[0066] An acquisition unit 401 configured to acquire object information of an object to be cleaned.

[0067] A determination unit 402 configured to determine a current working mode of the self-moving device according to the object information.

[0068] A cleaning control unit 403 configured to control the dust suction assembly to perform a dust suction operation or control the air outlet assembly to perform an air outlet operation according to the current working mode.

[0069] In some embodiments of the present application, the self-moving device is provided with a roller brush, and the roller brush is designed to be hollow. When the air outlet assembly is controlled to perform the air outlet operation, the cleaning control unit 403 is further configured to control the roller brush to roll to form a first low-pressure area below the roller brush, and the first low-pressure area is used to generate an air flow flowing to the first low-pressure area with a high-pressure area formed by the air outlet of the air outlet assembly.

[0070] In some embodiments of the present application, the cantilever probe is designed to be hollow, the air outlet assembly includes an air outlet arranged at one end of the cantilever probe, a flow guide cavity arranged outside the cantilever probe, and an air inlet arranged at an end of the flow guide cavity away from the cantilever probe. When the air outlet assembly is controlled to perform the air outlet operation, the cleaning control unit 403 is further configured to control the air inlet of the flow guide cavity to move to between the roller brush and the air outlet to form a second low-pressure area between the roller brush and the air outlet, and the second low-pressure area is used to generate an air flow flowing to the second low-pressure area with the high-pressure area and an air flow flowing to the first low-pressure area with the first low-pressure area.

[0071] In some embodiments of the present application, the object information includes an object type and an object size of the object to be cleaned. The determination unit 402 can be specifically configured to: if the object size is smaller than a size of a hollow cavity of the cantilever probe and the object type is a preset type, determine the current working mode as a dust suction mode, wherein the preset type represents that a surface of the object to be cleaned is flexible, and the dust suction mode is used to instruct the dust suction assembly to perform the dust suction operation; otherwise, determine the current working mode as an air outlet mode, and the air outlet mode is used to instruct the air outlet assembly to perform the air outlet operation.

[0072] In some embodiments of this application, the self-moving device is further configured with a water outlet component; during the process of controlling the air outlet component to perform air outlet operation, the cleaning control unit 403 is further configured to: obtain the air outlet direction when the air outlet component performs air outlet operation; determine the water outlet direction of the water outlet component according to the air outlet direction; and control the water outlet component to perform a water spraying operation or a water rinsing operation according to the water outlet direction.

[0073] In some embodiments of this application, the acquisition unit 401 may be specifically used to: control the movement of the self-moving device; and during the movement of the self-moving device, control the cantilever probe to perform object detection and obtain the object information.

[0074] In some embodiments of this application, the cantilever probe is also integrated with a roller; the acquisition unit 401 can be specifically used to: acquire the position information of the curbstone; control the roller to roll close to the curbstone according to the position information, so that the cantilever probe faces the corner formed by the curbstone and the road surface; control the cantilever probe to detect the corner and obtain the object information.

[0075] It should be noted that, for the sake of convenience and brevity, the specific working process of the cleaning control device 400 of the aforementioned self-moving device can be found in the following reference: Figures 1 to 3 The corresponding process of the method will not be described in detail here.

[0076] like Figure 5 The diagram shown is a schematic of an electronic device provided in an embodiment of this application. Specifically, the electronic device 5 may include: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a cleaning control program for a self-moving device. When the processor 50 executes the computer program 52, it implements the steps in the various self-moving device cleaning control method embodiments described above, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 50 executes the computer program 52, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of the acquisition unit 401, determination unit 402, and cleaning control unit 403 are shown.

[0077] The computer program can be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0078] For example, the computer program can be divided into: an acquisition unit, a determination unit and a cleaning control unit. The specific functions of each unit are as follows: the acquisition unit is configured to acquire object information of an object to be cleaned; the determination unit is configured to determine a current working mode of the self-moving device according to the object information; and the cleaning control unit is configured to control the dust suction assembly to perform a dust suction operation or control the air outlet assembly to perform an air outlet operation according to the current working mode.

[0079] The electronic device can include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art can understand that, Figure 5 The electronic device is only an example and does not constitute a limitation on the electronic device, and can include more or fewer components than the illustration, or combine certain components, or different components, for example, the electronic device can also include an input / output device, a network access device, a bus, etc.

[0080] The processor 50 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), ready programmable gate arrays or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0081] The memory 51 can be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 51 can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 51 can include both the internal storage unit and the external storage device of the electronic device. The memory 51 is used to store the computer program and other programs and data required by the electronic device. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0082] It should be noted that, for the convenience and brevity of description, the structure of the above-mentioned electronic device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0083] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software function unit. In addition, the specific name of each functional unit and module is only for the convenience of mutual distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0084] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0085] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0086] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed each other can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0087] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0088] In addition, each of the function units in each of the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0089] The integrated module / unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer-readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0090] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for controlling cleaning of a self-moving device, characterized by, The self-moving device is configured with a cantilever probe integrated with a dust suction assembly, an air outlet assembly and a roller, and the cleaning control method comprises: Obtaining object information of an object to be cleaned, comprising: controlling the self-moving device to move; obtaining position information of a curbstone during movement of the self-moving device; controlling the roller to roll close to the curbstone according to the position information, so that the cantilever probe is directed towards a corner formed by the curbstone and the road surface; controlling the cantilever probe to detect the corner to obtain the object information; According to the object information, determining the current working mode of the self-moving device; According to the current working mode, controlling the dust suction assembly to perform a dust suction operation or controlling the air outlet assembly to perform an air outlet operation; The self-moving device is configured with a roller brush, and the roller brush is designed to be hollow; When controlling the air outlet assembly to perform an air outlet operation, the cleaning control method further comprises: controlling the roller brush to roll to form a first low-pressure area below the roller brush, and the first low-pressure area is used to generate an air flow towards the first low-pressure area with a high-pressure area formed by the air outlet of the air outlet assembly; The cantilever probe is a hollow structure, the air outlet assembly comprises an air outlet arranged at one end of the cantilever probe, a flow guide cavity arranged outside the cantilever probe, and an air inlet arranged at one end of the flow guide cavity away from the cantilever probe; Before controlling the air outlet assembly to perform an air outlet operation, the cleaning control method further comprises: controlling the air inlet of the flow guide cavity to move between the roller brush and the air outlet to form a second low-pressure area between the roller brush and the air outlet, and the second low-pressure area is used to generate an air flow towards the second low-pressure area with the high-pressure area and an air flow towards the first low-pressure area with the first low-pressure area.

2. The cleaning control method of a self-moving apparatus according to claim 1, wherein The object information comprises an object type and an object size of the object to be cleaned; The determination of the current working mode of the self-moving device according to the object information comprises: If the object size is smaller than the size of the hollow cavity of the cantilever probe, and the object type is a preset type, it is determined that the current working mode is a dust suction mode, wherein the preset type represents that the surface of the object to be cleaned is flexible, and the dust suction mode is used to indicate that the dust suction assembly performs a dust suction operation; Otherwise, it is determined that the current working mode is an air outlet mode, and the air outlet mode is used to indicate that the air outlet assembly performs an air outlet operation. 3.The cleaning control method of the self-moving device according to claim 1, wherein The self-moving device is further configured with a water outlet assembly; During the control of the air outlet assembly to perform an air outlet operation, the cleaning control method further comprises: Obtaining an air outlet direction of the air outlet assembly during the air outlet operation; According to the air outlet direction, determining a water outlet direction of the water outlet assembly; According to the water outlet direction, controlling the water outlet assembly to perform a watering operation or a flushing operation.

4. A cleaning control device of a self-moving device, characterized by, The cleaning control device of the self-moving device is used to implement the cleaning control method of the self-moving device according to any one of claims 1-3.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the cleaning control method of the self-moving device according to any one of claims 1-3.

6. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 5. The computer program, when executed by a processor, implements the steps of the cleaning control method of the self-moving device according to any one of claims 1 to 3.

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