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

Abstract

This application relates to the field of intelligent control technology and provides a cleaning control method, device, electronic device, and storage medium for a self-moving device. The self-moving device is equipped with a fan and a cleaning device. The cleaning control method includes: acquiring object information of the object to be cleaned and obstacle information of obstacles surrounding the object; determining the air outlet parameters of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device; and controlling the air outlet of the fan according to the air outlet parameters to move the object to be cleaned to the cleaning area. Embodiments of this application can control difficult-to-clean debris to move to the cleaning area for cleaning, thereby improving the cleaning effect of the self-moving device.

Description

Technical Field

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

[0002] Smart devices such as outdoor sweepers have autonomous positioning and navigation capabilities, enabling them to clean up litter in outdoor environments such as commercial areas, schools, parks, scenic spots, communities, and roads. However, outdoor environments are more complex than indoor environments. For example, litter such as paper scraps and fallen leaves can hide in corners formed by the road surface and curbs. Litter in these corners is difficult to clean effectively with conventional brushes and suction cups, resulting in poor cleaning results. Summary of the Invention

[0003] This application provides a cleaning control method, apparatus, electronic device, and readable storage medium for self-moving devices, which can solve the problem of poor cleaning effect of self-moving devices in related technologies.

[0004] The first aspect of this application provides a cleaning control method for a self-moving device, the self-moving device being equipped with a fan and a cleaning device. The cleaning control method includes: acquiring object information of an object to be cleaned and obstacle information of obstacles surrounding the object to be cleaned; determining the air outlet parameters of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device; and controlling the air outlet of the fan based on the air outlet parameters, so as to control the object to be cleaned to move to the cleaning area via the fan.

[0005] In some embodiments of this application, the obstacle and the fan are located on opposite sides of the object to be cleaned; the object information includes a first position of the object to be cleaned, and the obstacle information includes a second position of the obstacle; the air outlet parameter includes the air outlet angle; determining the air outlet parameter of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device includes: determining, based on the first position and the second position, the first motion trajectory of the object to be cleaned after impacting the obstacle when the fan blows the object to be cleaned toward the obstacle at each candidate angle; and determining the air outlet angle from the candidate angles based on the first motion trajectory and the cleaning area.

[0006] In some embodiments of this application, the fan includes a first fan located at the front of the fuselage and a second fan located at the rear of the fuselage; determining the first motion trajectory of the object to be cleaned after impacting the obstacle when the fan blows the object to be cleaned toward the obstacle at each candidate angle, based on the first position and the second position, includes: determining the first sub-trajectory of the object to be cleaned after impacting the obstacle when the first fan blows the object to be cleaned toward the obstacle at each first candidate angle, based on the first position and the second position; if the rebound trajectory passes through the working area of ​​the second fan, then determining the second sub-trajectory of the object to be cleaned after the second fan changes the motion direction of the object to be cleaned at each second candidate angle; and determining the first motion trajectory based on the first sub-trajectory and the second sub-trajectory.

[0007] In some embodiments of this application, determining the air outlet angle from the candidate angles based on the first motion trajectory and the cleaning area includes: if the first motion trajectory passes through the cleaning area, then taking the first candidate angle corresponding to the first motion trajectory as the air outlet angle of the first fan, and taking the second candidate angle corresponding to the first motion trajectory as the air outlet angle of the second fan.

[0008] In some embodiments of this application, the air outlet parameter further includes an air outlet velocity; after determining the air outlet angle from the candidate angles based on the first motion trajectory and the cleaning area, the method further includes: determining a second motion trajectory of the object to be cleaned moving towards the obstacle when the fan is emitting air at the air outlet angle, based on the first position, the second position, and the air outlet angle; and determining the air outlet velocity based on a first distance of the second motion trajectory and a second distance traveled by the object to be cleaned when it reaches the cleaning area in the first motion trajectory.

[0009] In some embodiments of this application, the self-moving device further includes a water outlet device; during the process of controlling the airflow of the fan according to the airflow parameters to control the object to be cleaned to move to the cleaning area by the fan, the cleaning control method further includes: determining the water outlet direction of the water outlet device according to the airflow parameters; and controlling the water outlet device to perform a sprinkling operation or a rinsing operation according to the water outlet direction.

[0010] In some embodiments of this application, the self-moving device is equipped with a detection device; the acquisition of object information of the object to be cleaned and obstacle information of obstacles around the object to be cleaned includes: controlling the self-moving device to move; during the movement of the self-moving device, controlling the detection device to detect a preset area to obtain the object information and the obstacle information.

[0011] A second aspect of this application provides a cleaning control device for a self-moving device, the self-moving device being equipped with a fan and a cleaning device. The cleaning control device includes: an acquisition unit, used to acquire object information of an object to be cleaned and obstacle information of obstacles surrounding the object to be cleaned; a determination unit, used to determine the air outlet parameters of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device; and a control unit, used to control the air outlet of the fan based on the air outlet parameters, so as to control the object to be cleaned to move to the cleaning area via the fan.

[0012] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the cleaning control method for the self-moving device described above.

[0013] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the cleaning control method for the self-moving device described above.

[0014] The fifth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to perform the steps of the cleaning control method for the self-moving device described above.

[0015] In the embodiments of this application, by acquiring the object information of the object to be cleaned and the obstacle information of the obstacles around the object to be cleaned, the air outlet parameters of the fan can be determined based on the object information, obstacle information, and the cleaning area of ​​the cleaning device. The fan is then controlled according to the air outlet parameters to move the object to be cleaned to the cleaning area. This allows difficult-to-clean garbage to be moved to the cleaning area under the control of the fan and cleaned, thereby improving the cleaning effect of the self-moving device on garbage. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram illustrating the implementation process of a cleaning control method for a self-moving device provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the first specific implementation process of step S102 provided in the embodiments of this application;

[0019] Figure 3 This is a schematic diagram of the motion trajectory of the object to be cleaned under different candidate angles provided in the embodiments of this application. Figure 1 ;

[0020] Figure 4 This is a schematic diagram of the movement trajectory of the object to be cleaned under dual fans provided in the embodiments of this application. Figure 2 ;

[0021] Figure 5 This is a schematic diagram of the second specific implementation process of step S102 provided in the embodiments of this application;

[0022] Figure 6 This is a schematic diagram of the motion trajectory of the object to be cleaned under different candidate angles provided in the embodiments of this application. Figure 2 ;

[0023] Figure 7 This is a schematic diagram of the movement trajectory of the object to be cleaned under dual fans provided in the embodiments of this application. Figure 2 ;

[0024] Figure 8 This is a schematic diagram of the structure of a cleaning control device for a self-moving device provided in an embodiment of this application;

[0025] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0026] 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.

[0027] Smart devices such as outdoor sweepers have autonomous positioning and navigation capabilities, enabling them to clean up litter in outdoor environments such as commercial areas, schools, parks, scenic spots, communities, and roads. However, outdoor environments are more complex than indoor environments. For example, litter such as paper scraps and fallen leaves can hide in corners formed by the road surface and curbs. Litter in these corners is difficult to clean effectively with conventional brushes and suction cups, resulting in poor cleaning results.

[0028] In view of this, this application proposes a cleaning control method for a self-moving device, which can move hard-to-clean garbage to the cleaning area by controlling the fan, thereby improving the cleaning effect of the self-moving device.

[0029] To illustrate the technical solution of this application, specific embodiments are described below.

[0030] Figure 1 This illustration shows a schematic flowchart of a cleaning control method for a self-moving device according to an embodiment of this application. This method can be applied to electronic devices and is suitable for situations requiring improved reliability of cleaning control for self-moving devices. In the embodiments of this application, the aforementioned electronic device can be a robot, an outdoor unmanned vehicle, or other self-moving device used to perform cleaning tasks, or a computer, a smartphone, or other control device used to control the self-moving device; this application does not impose any limitations on this.

[0031] The self-moving device is equipped with a fan and a cleaning device. The fan may include a drive assembly, a blower, an air duct, and an air box. The drive assembly drives the blower inside the air box to rotate, sending air out through an air outlet at one end of the air duct. The cleaning device may include cleaning components such as brushes and suction cups, as well as a storage box for storing waste. The waste can be moved to the storage box by the movement of the cleaning components.

[0032] Specifically, the cleaning control method for the aforementioned self-moving device may include the following steps S101 to S103.

[0033] Step S101: Obtain object information of the object to be cleaned and obstacle information of the obstacles around the object to be cleaned.

[0034] In the embodiments of this application, the object to be cleaned refers to the 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 characterize the attributes of the object and its state in the environment; for example, it may be the object's first name, first type, first location, and first shape. Obstacles surrounding the object to be cleaned refer to objects located within a certain distance of the object that do not need to be cleaned; for example, they may refer to objects fixed to the environment such as curbs and railings. The obstacle information of an obstacle is used to characterize the obstacle's attributes and its state in the environment; for example, it may be the obstacle's second name, second type, second location, and second shape.

[0035] In this embodiment, object and obstacle information can be collected by a detection device on the mobile device and identified by a processor. This detection device can be a camera, infrared sensor, lidar, or other sensors. In other embodiments, object and obstacle information can also be input by the user or identified by an external device, and this application does not impose any restrictions on this.

[0036] Step S102: Determine the air outlet parameters of the fan based on the object information, obstacle information, and the cleaning area of ​​the cleaning device.

[0037] Among them, the air outlet parameters refer to the air outlet control parameters of the fan when it emits air. These parameters are used to blow the object to be cleaned to the cleaning area of ​​the cleaning device, and can include the air outlet angle and the air outlet speed. The air outlet angle determines the direction of the airflow, affecting the direction of movement of the object to be cleaned under the influence of the wind. The air outlet speed determines the strength of the wind, affecting the distance the object to be cleaned travels under the influence of the wind.

[0038] In the embodiments of this application, based on object information, obstacle information and the cleaning area of ​​the cleaning device, the obstacle can be used as a reference for rebound or obstacle avoidance to determine the air outlet parameters of the fan, so that the object to be cleaned can be blown to the cleaning area under the air outlet parameters.

[0039] Step S103: Control the airflow of the fan according to the airflow parameters, so as to control the object to be cleaned to move to the cleaning area through the fan.

[0040] In the embodiments of this application, after obtaining the air outlet parameters, the fan can be controlled according to the air outlet parameters to move the object to be cleaned to the cleaning area through the fan. Then, the cleaning device can sweep the object to be cleaned into the storage box through the cleaning components in the cleaning area, thus completing the cleaning of the object to be cleaned.

[0041] In the embodiments of this application, by acquiring the object information of the object to be cleaned and the obstacle information of the obstacles around the object to be cleaned, the air outlet parameters of the fan can be determined based on the object information, obstacle information, and the cleaning area of ​​the cleaning device. The fan is then controlled according to the air outlet parameters to move the object to be cleaned to the cleaning area. This allows difficult-to-clean garbage to be moved to the cleaning area under the control of the fan and cleaned, thereby improving the cleaning effect of the self-moving device on garbage.

[0042] In some embodiments of this application, the aforementioned self-moving device may also be configured with a detection device. In step S101, the electronic device can control the movement of the self-moving device, and during the movement of the self-moving device, control the detection device to detect a preset area to obtain object information and obstacle information.

[0043] Specifically, the electronic device can move according to a preset task trajectory or a pre-set direction. During the movement of the self-moving device, the detection device can detect a preset area in real time. This preset area can be a designated task area for performing the cleaning task, or a data collection area where the detection device can collect information. Accordingly, based on the detection device, object information of the object to be cleaned and obstacle information of obstacles can be obtained.

[0044] After obtaining information about the object and obstacles, the electronic equipment can determine the airflow parameters.

[0045] like Figure 2 As shown, in some embodiments of this application, when the obstacle and the fan are located on both sides of the object to be cleaned, the above step S102 may include the following steps S201 to S202.

[0046] Step S201: Based on the first position and the second position, determine the first motion trajectory of the object to be cleaned after it hits the obstacle when the fan blows the object to be cleaned toward the obstacle at each candidate angle.

[0047] The candidate angle can be a pre-set angle at which the fan can blow air. At each candidate angle, the fan can blow the object to be cleaned toward the obstacle, causing the object to collide with the obstacle. After impacting the obstacle, the object bounces back, changing its direction of movement, and can then move toward the fan and the cleaning area. The trajectory of the object after colliding with the obstacle is the first trajectory.

[0048] For example, the first motion trajectory can be determined based on kinematic principles or predicted based on deep learning algorithms. The method of determining the first motion trajectory can refer to the motion trajectory algorithm of billiard ball collision in related technologies, which will not be described in detail in this application.

[0049] Step S202: Determine the air outlet angle from the candidate angles based on the first motion trajectory and the cleaning area.

[0050] It is understandable that if the first motion trajectory determined by a certain candidate angle passes through the cleaning area, it means that by controlling the air outlet through the candidate angle, the object to be cleaned can be moved to the cleaning area and cleaned by the cleaning device. In this case, the candidate angle can be used as the air outlet angle.

[0051] by Figure 3 For example, the first trajectory of the object to be cleaned at three candidate angles, A, B, and C, is as follows: Figure 3 As shown by the dashed line in the diagram, when the fan blows air at candidate angle C, it can ensure that the object to be cleaned, upon impact with the obstacle, has its initial trajectory passing through the cleaning area. Therefore, candidate angle C can be used as the air outlet angle. This ensures that the object to be cleaned moves accurately to the cleaning area, improving the cleaning effect.

[0052] In some specific embodiments, the fan may include a first fan located at the front of the fuselage and a second fan located at the rear of the fuselage. The front and rear sides of the fuselage are located on either side of the centerline of the self-moving device, and the centerline may be perpendicular to the direction of movement of the self-moving device.

[0053] Accordingly, determining the first motion trajectory may include: determining, based on the first position and the second position, the first sub-trajectory after the object to be cleaned collides with the obstacle when the first fan blows the object to be cleaned toward the obstacle at each first candidate angle; if the first sub-trajectory passes through the working area of ​​the second fan, then determining the second sub-trajectory of the object to be cleaned after the second fan changes the direction of motion of the object to be cleaned at each second candidate angle; and then determining the first motion trajectory based on the first sub-trajectory and the second sub-trajectory.

[0054] The first candidate angle is the candidate angle used by the first fan. The method for determining the first sub-track can be referred to the previous description, and will not be repeated here. When none of the first sub-tracks pass through the cleaning area, it can be determined whether the first sub-track passes through the working area of ​​the second fan. The working area of ​​the second fan is the area that the airflow from the second fan can reach.

[0055] If the first sub-trajectory passes through the working area of ​​the second fan, it means that the movement direction of the object to be cleaned can be changed by the second fan. Accordingly, the second sub-trajectory of the object to be cleaned can be determined after the second fan changes the movement direction of the object to be cleaned at each second candidate angle. Then, the first sub-trajectory and the second sub-trajectory are combined to obtain the first motion trajectory.

[0056] Similarly, if the first motion trajectory passes through the cleaning area, it means that the object to be cleaned can be blown into the cleaning area by the cooperation of the first fan and the second fan. At this time, the first candidate angle corresponding to the first motion trajectory can be used as the air outlet angle of the first fan, and the second candidate angle corresponding to the first motion trajectory can be used as the air outlet angle of the second fan.

[0057] by Figure 4 For example, the first fan blows air at the first candidate angle. The first sub-trajectory of the object to be cleaned after hitting the obstacle is shown as dotted line 41. It does not pass through the cleaning area. At this time, the second fan can blow air at the second candidate angle to change the direction of movement of the garbage. The changed second sub-trajectory is shown as dotted line 42. At this time, the first motion trajectory composed of dotted lines 41 and 42 passes through the cleaning area. By controlling the air output of the first fan and the second fan according to the first candidate angle and the second candidate angle respectively, the object to be cleaned can be blown to the cleaning area for cleaning.

[0058] In other embodiments of this application, such as Figure 5 As shown, step S102 may also include steps S501 to S502.

[0059] Step S501: Based on the first position and the second position, determine the second motion trajectory of the object to be cleaned after the wind rebounds from the obstacle and blows towards the object to be cleaned when the fan blows towards the obstacle at each candidate angle.

[0060] Specifically, with Figure 2 The difference is that, in this method, the fan can directly deliver air to the obstacle at each candidate angle. The air bounces off the obstacle, changing its direction and thus blowing on the object to be cleaned. The object, affected by the wind, moves towards the fan and the cleaning area. The trajectory of the object after being blown by the wind is the second trajectory.

[0061] Step S502: Determine the air outlet angle from the candidate angles based on the second motion trajectory and the cleaning area.

[0062] Similarly, if the second motion trajectory determined by a certain candidate angle passes through the cleaning area, it means that by controlling the air outlet through the candidate angle, the object to be cleaned can be moved to the cleaning area and swept away by the cleaning device. In this case, the candidate angle can be used as the air outlet angle.

[0063] by Figure 6 For example, the second trajectory of the garbage under the two candidate angles D and E is as follows: Figure 5As shown by the dashed line in the diagram, when the fan outputs air at candidate angle E, the airflow bounces off obstacles and blows the object to be cleaned towards the cleaning area. Therefore, candidate angle E can be used as the air output angle. This ensures that the object to be cleaned is accurately moved to the cleaning area, improving the cleaning effect.

[0064] Similarly, based on the first and second positions, a third sub-trajectory of the object to be cleaned can be determined after the wind rebounds from the obstacle and blows back towards the object at each first candidate angle, according to the first and second positions. If the third sub-trajectory passes through the working area of ​​the second fan, a fourth sub-trajectory of the object to be cleaned can be determined after the second fan changes the direction of movement of the object at each second candidate angle. Then, based on the third and fourth sub-trajectories, the second motion trajectory is determined.

[0065] Specifically, if none of the third sub-trajectories pass through the cleaning area, it can be determined whether the third sub-trajectories pass through the working area of ​​the second fan. If the third sub-trajectories pass through the working area of ​​the second fan, it means that the movement direction of the object to be cleaned can be changed by the second fan. Accordingly, the fourth sub-trajectories of the object to be cleaned after the second fan changes the movement direction of the object to be cleaned at each second candidate angle can be determined. Then, the third and fourth sub-trajectories are combined to obtain the second motion trajectory.

[0066] Similarly, if the second motion trajectory passes through the cleaning area, it means that the object to be cleaned can be blown into the cleaning area by the cooperation of the first fan and the second fan. At this time, the first candidate angle corresponding to the second motion trajectory can be used as the air outlet angle of the first fan, and the second candidate angle corresponding to the second motion trajectory can be used as the air outlet angle of the second fan.

[0067] by Figure 7 For example, the first fan blows air at the first candidate angle. The third sub-trajectory of the object to be cleaned is shown as dotted line 71. It does not pass through the cleaning area. At this time, the second fan blows air at the second candidate angle, which changes the direction of movement of the garbage. The changed fourth sub-trajectory is shown as dotted line 72. At this time, the second motion trajectory composed of dotted lines 71 and 72 passes through the cleaning area. By controlling the air output of the first fan and the second fan according to the first candidate angle and the second candidate angle at this time, the garbage can be blown to the cleaning area for cleaning.

[0068] In other embodiments of this application, both the obstacle and the object to be cleaned are located between the fan and the cleaning area. Accordingly, the electronic device can determine the third trajectory of the object to be cleaned when the fan blows it towards the cleaning area at each candidate angle, based on the first position. If the second position of the obstacle is located on the third trajectory, the candidate angle is discarded until a candidate angle is found whose third trajectory does not pass through the second position; then, the candidate angle is confirmed as the air outlet angle. In this way, the object to be cleaned can avoid the obstacle, move to the cleaning area, and be cleaned.

[0069] It should be noted that the air outlet parameters can also include the air outlet speed. After determining the air outlet angle, the electronic equipment can also determine the distance the fan will travel when the object to be cleaned reaches the cleaning area, based on the first position, the second position, and the air outlet angle. Based on this travel distance, the required airflow force can be determined, and thus the air outlet speed can be determined.

[0070] To avoid dust pollution during airflow, the self-moving equipment can also be equipped with a water outlet device. During the process of controlling the airflow of the fan according to the airflow parameters, the electronic equipment can determine the water outlet direction of the water outlet device based on the airflow parameters, and control the water outlet device to perform a spraying or rinsing operation according to the water outlet direction.

[0071] The water outlet direction can be at a certain angle to the air outlet angle. On the one hand, the water wetness reduces dust, and on the other hand, it prevents the object to be cleaned from getting wet and becoming difficult to move.

[0072] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders.

[0073] like Figure 8 The diagram shown is a structural schematic of a cleaning control device 800 for a self-moving device provided in an embodiment of this application. The cleaning control device 800 for the self-moving device is disposed on an electronic device.

[0074] Specifically, the cleaning control device 800 of the self-moving device may include:

[0075] The acquisition unit 801 is used to acquire object information of the object to be cleaned and obstacle information of the obstacles around the object to be cleaned;

[0076] The determining unit 802 is used to determine the air outlet parameters of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device;

[0077] The control unit 803 is used to control the airflow of the fan according to the airflow parameters, so as to control the object to be cleaned to move to the cleaning area through the fan.

[0078] In some embodiments of this application, the obstacle and the fan are located on opposite sides of the object to be cleaned; the object information includes a first position of the object to be cleaned, and the obstacle information includes a second position of the obstacle; the air outlet parameter includes the air outlet angle; the aforementioned determining unit 802 can be specifically used to: determine, based on the first position and the second position, the first motion trajectory of the object to be cleaned after it hits the obstacle when the fan blows the object to be cleaned toward the obstacle at each candidate angle; and determine the air outlet angle from the candidate angles based on the first motion trajectory and the cleaning area.

[0079] In some embodiments of this application, the obstacle and the fan are located on opposite sides of the object to be cleaned; the object information includes a first position of the object to be cleaned, and the obstacle information includes a second position of the obstacle; the air outlet parameter includes the air outlet angle; the aforementioned determining unit 802 can be specifically used to: determine, based on the first position and the second position, the second motion trajectory of the object to be cleaned after the wind rebounded by the obstacle blows towards the object at each candidate angle; and determine the air outlet angle from the candidate angles based on the second motion trajectory and the cleaning area.

[0080] In some embodiments of this application, the fan includes a first fan located at the front of the fuselage and a second fan located at the rear of the fuselage; the aforementioned determining unit 802 can be specifically used to: determine, based on the first position and the second position, a first sub-trajectory of the object to be cleaned after it hits the obstacle when the first fan blows the object to be cleaned toward the obstacle at each first candidate angle; if the first sub-trajectory passes through the working area of ​​the second fan, then determine a second sub-trajectory of the object to be cleaned after the second fan changes the direction of movement of the object to be cleaned at each second candidate angle; and determine the first motion trajectory based on the first sub-trajectory and the second sub-trajectory.

[0081] In some embodiments of this application, the air outlet parameters also include air outlet speed; the fan includes a first fan located at the front of the unit and a second fan located at the rear of the unit; the aforementioned determining unit 802 can be specifically used to: determine, based on the first position, the second position and the air outlet angle, the moving distance that the object to be cleaned moves when it reaches the cleaning area when the fan outlets air at the air outlet angle; and determine the air outlet speed based on the moving distance.

[0082] In some embodiments of this application, the self-moving device is also equipped with a water outlet device; the control unit 803 can be specifically used to: determine the water outlet direction of the water outlet device according to the air outlet parameters; and control the water outlet device to perform a sprinkling operation or a rinsing operation according to the water outlet direction.

[0083] In some embodiments of this application, the self-moving device is also equipped with a detection device; the acquisition unit 801 described above can be specifically used to: control the movement of the self-moving device; during the movement of the self-moving device, control the detection device to detect a preset area to obtain the object information and the obstacle information.

[0084] It should be noted that, for the sake of convenience and brevity, the specific working process of the cleaning control device 800 of the aforementioned self-moving device can be found in the following reference: Figures 1 to 7 The corresponding process of the method will not be described in detail here.

[0085] like Figure 9 The diagram shown is a schematic representation of an electronic device provided in an embodiment of this application. Specifically, the electronic device 9 may include: a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90, such as a cleaning control program for a self-moving device. When the processor 90 executes the computer program 92, it implements the steps in the various cleaning control method embodiments of the self-moving devices described above, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 90 executes the computer program 92, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 8 The functions of the acquisition unit 801, determination unit 802, and control unit 803 are shown.

[0086] The computer program can be divided into one or more modules / units, which are stored in the memory 91 and executed by the processor 90 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.

[0087] For example, the computer program can be divided into: an acquisition unit, a determination unit, and a control unit. The specific functions of each unit are as follows: the acquisition unit is used to acquire object information of the object to be cleaned and obstacle information of obstacles surrounding the object; the determination unit is used to determine the air outlet parameters of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device; the control unit is used to control the air outlet of the fan according to the air outlet parameters, so as to control the object to be cleaned to move to the cleaning area via the fan.

[0088] The electronic device may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will understand that... Figure 9 This is merely an example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0089] The processor 90 referred to can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0090] The memory 91 can be an internal storage unit of the electronic device, such as a hard drive or memory. The memory 91 can also be an external storage device of the electronic device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 91 can include both internal and external storage units. The memory 91 is used to store the computer program and other programs and data required by the electronic device. The memory 91 can also be used to temporarily store data that has been output or will be output.

[0091] It should be noted that, for the sake of convenience and brevity, the structure of the above-mentioned electronic device can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device 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 couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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 cleaning control method for a self-moving device, characterized in that, The self-moving device is equipped with a fan and a cleaning device, and the cleaning control method includes: Obtain object information of the object to be cleaned and obstacle information of the obstacles surrounding the object; the obstacles and the fan are respectively located on both sides of the object to be cleaned; the object information includes a first position of the object to be cleaned and the obstacle information includes a second position of the obstacles; Based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device, the air outlet parameters of the fan are determined; the air outlet parameters include the air outlet angle. The fan is controlled according to the air outlet parameters so as to move the object to be cleaned to the cleaning area. The step of determining the air outlet parameters of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device includes: determining, based on the first position and the second position, the first motion trajectory of the object to be cleaned after hitting the obstacle when the fan blows the object to be cleaned toward the obstacle at each candidate angle; determining the air outlet angle from the candidate angles based on the first motion trajectory and the cleaning area; the candidate angle is a pre-set angle at which the fan can outlet air; the air outlet angle is the candidate angle at which the determined first motion trajectory passes through the cleaning area.

2. The cleaning control method for a self-moving device as described in claim 1, characterized in that, The fan includes a first fan located at the front of the fuselage and a second fan located at the rear of the fuselage; The step of determining the first trajectory of the object to be cleaned after it collides with the obstacle when the fan blows the object toward the obstacle at each candidate angle, based on the first position and the second position, includes: Based on the first position and the second position, determine the first sub-trajectory of the object to be cleaned after it hits the obstacle when the first fan blows the object to be cleaned toward the obstacle at each first candidate angle; If the first sub-trajectory passes through the working area of ​​the second fan, then the second sub-trajectory of the object to be cleaned is determined after the second fan changes the direction of motion of the object to be cleaned at each second candidate angle; The first motion trajectory is determined based on the first sub-trajectory and the second sub-trajectory.

3. The cleaning control method for a self-moving device as described in claim 1, characterized in that, The air outlet parameters also include the air outlet velocity; After obtaining the air outlet angle, the cleaning control method further includes: Based on the first position, the second position, and the air outlet angle, determine the distance the object to be cleaned will move when it reaches the cleaning area when the fan is blowing air at the air outlet angle. The air outlet speed is determined based on the distance traveled.

4. The cleaning control method for a self-moving device as described in any one of claims 1 to 3, characterized in that, The self-moving device is also equipped with a water dispensing device; In the process of controlling the airflow of the fan according to the airflow parameters to move the object to be cleaned to the cleaning area by controlling the fan, the cleaning control method further includes: The water outlet direction of the water outlet device is determined based on the air outlet parameters. Depending on the direction of water flow, the water outlet device is controlled to perform a sprinkling or rinsing operation.

5. The cleaning control method for a self-moving device as described in any one of claims 1 to 3, characterized in that, The self-moving device is also equipped with a detection device; The process of acquiring object information of the object to be cleaned and obstacle information of obstacles surrounding the object to be cleaned includes: Control the movement of the self-moving device; During the movement of the self-moving device, the detection device is controlled to detect a preset area to obtain object information and obstacle information.

6. A cleaning control device for a self-moving device, characterized in that, The self-moving device is equipped with a fan and a cleaning device, and the cleaning control device includes: An acquisition unit is used to acquire object information of the object to be cleaned and obstacle information of obstacles surrounding the object to be cleaned; the obstacles and the fan are respectively located on both sides of the object to be cleaned; the object information includes a first position of the object to be cleaned and the obstacle information includes a second position of the obstacles; The determining unit is used to determine the air outlet parameters of the fan based on the object information, the obstacle information, and the cleaning area of ​​the cleaning device; the air outlet parameters include the air outlet angle. The control unit is used to control the airflow of the fan according to the airflow parameters, so as to control the object to be cleaned to move to the cleaning area through the fan; The determining unit is configured to: determine, based on the first position and the second position, the first motion trajectory of the object to be cleaned after it hits the obstacle when the fan blows the object to be cleaned toward the obstacle at each candidate angle; determine the air outlet angle from the candidate angles based on the first motion trajectory and the cleaning area; the candidate angle is a pre-set angle at which the fan can outlet air; the air outlet angle is the candidate angle at which the determined first motion trajectory passes through the cleaning area.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the cleaning control method for the self-moving device as described in any one of claims 1 to 5.

8. 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 cleaning control method for the self-moving device as described in any one of claims 1 to 5.

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