Control method and device of self-moving cleaning equipment, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a control method and device of self-moving cleaning equipment, electronic equipment and a storage medium, and the method comprises the steps that when the self-moving cleaning equipment needs to move from the interior of a target room to the exterior of the target room, the opening and closing state of a room door on a moving path is detected, the target room is a room where the self-moving cleaning equipment is located currently; if the door is in the closed state, the self-moving cleaning equipment is controlled to move to a target position in the target room, when the door is in the closed state, the path of the self-moving cleaning equipment moving to the outside of the target room is blocked, and the target position is located outside the path of door opening and closing movement. According to the method, the problem that the equipment can continue the cleaning task only by additional operation of a user due to the fact that the shutdown position of the self-moving cleaning equipment hinders door opening in a room door closing scene can be solved, the manual intervention cost of the user is reduced, and the use experience of the user is improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a control method, apparatus, electronic device, and storage medium for a self-moving cleaning device. Background Technology

[0002] With the development of smart home technology, cleaning robots, relying on synchronous positioning and mapping, global path planning and local obstacle avoidance technology, can achieve autonomous traversal cleaning of multiple rooms and areas and cross-space operations, and have been widely used in indoor automated cleaning scenarios.

[0003] Currently, when a cleaning robot is performing cleaning operations in a separate room (such as a bedroom or study), the user may close the door to that room for reasons such as ensuring air conditioning energy efficiency or noise reduction. After completing the cleaning operation in the target room, the cleaning robot will proceed to the vicinity of the door according to the preset map and navigation path. If it detects that the door is closed or the exit path is blocked, it will stop operating and trigger a trapped alarm to notify the user.

[0004] However, when the cleaning robot detects that it is trapped, the device is already near the door, and its stopping position may fall within the door's opening and closing path, obstructing the door from opening. In this case, the user needs to manually move the cleaning robot out of the door's opening path, then open the door and restart the device, which is a cumbersome process and affects the user experience. Summary of the Invention

[0005] In view of the above, embodiments of this disclosure provide a control method, apparatus, electronic device, and computer storage medium for a self-moving cleaning device to at least partially solve the above-mentioned problems.

[0006] According to a first aspect of the present disclosure, a control method for a self-moving cleaning device is provided. The method includes: when the self-moving cleaning device needs to move from the interior of a target room to the exterior of the target room, detecting the open / closed state of a door on the movement path, wherein the target room is the room where the self-moving cleaning device is currently located; if the door is closed, controlling the self-moving cleaning device to move to a target position in the target room, wherein when the door is closed, the path for the self-moving cleaning device to move to the exterior of the target room is blocked, and the target position is located outside the path of the door's opening / closing movement.

[0007] In one possible implementation, detecting the open / closed status of doors along the movement path when the self-moving cleaning device needs to move from inside the target room to outside the target room includes: collecting first door open / closed information of the target room when the self-moving cleaning device completes the cleaning task of the target room; and detecting the open / closed status of doors along the movement path based on the first door open / closed information when the self-moving cleaning device needs to move from inside the target room to outside the target room.

[0008] In one possible implementation, detecting the open / closed status of doors along the movement path when the self-moving cleaning device needs to move from inside the target room to outside the target room includes: collecting second door open / closed information of the target room when the self-moving cleaning device performs a cleaning task in the target room; and detecting the open / closed status of doors along the movement path based on the second door open / closed information when the self-moving cleaning device needs to move from inside the target room to outside the target room.

[0009] In one possible implementation, during the mapping process of the self-moving cleaning device, the opening direction and door size of the door in the target room are obtained; the path of the door opening and closing movement is determined based on the opening direction and the door size; and the target location is determined based on the path of the door opening and closing movement and the size of the self-moving cleaning device.

[0010] In one possible implementation, upon receiving a door opening command, the self-moving cleaning device is controlled to move to the outside of the target room.

[0011] In one possible implementation, after the self-moving cleaning device moves to the target location, the opening and closing status of the door is detected periodically; when the door is open, the self-moving cleaning device is controlled to move to the outside of the target room.

[0012] In one possible implementation, controlling the self-moving cleaning device to move to a target location in the target room includes: acquiring position information and attitude information of the self-moving cleaning device; determining the shortest path for the self-moving cleaning device to move to the target location based on the position information and the attitude information; and controlling the self-moving cleaning device to move to the target location based on the shortest path.

[0013] In one possible implementation, when the self-moving cleaning device moves to the target location, it issues an alarm message, wherein the alarm message is used to indicate that the door is closed.

[0014] According to a second aspect of the present disclosure, a control device for a self-moving cleaning device is provided, comprising: a detection unit, configured to detect the open / closed state of a door on a movement path when the self-moving cleaning device needs to move from the interior of a target room to the exterior of the target room, wherein the target room is the room where the self-moving cleaning device is currently located; and a control unit, configured to control the self-moving cleaning device to move to a target position in the target room if the door is closed, wherein when the door is closed, the path for the self-moving cleaning device to move to the exterior of the target room is blocked, and the target position is located outside the path of the door's opening / closing movement.

[0015] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, the executable instruction causing the processor to execute the control method for the self-moving cleaning device as described in the first aspect.

[0016] According to a fourth aspect of the present disclosure, a computer storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the control method for a self-moving cleaning device as described in the first aspect.

[0017] According to the control method for a self-moving cleaning device provided in this disclosure, when the self-moving cleaning device needs to move from the inside of a target room to the outside of the target room, the opening and closing status of the door on the movement path is detected. If the door is closed, the self-moving cleaning device is controlled to move to the target position in the target room. This allows the self-moving cleaning device to actively move outside the door's opening and closing path when the door is closed and it cannot exit the target room, thus avoiding obstructing the door from opening. Compared with the prior art, the solution provided in this disclosure can solve the problem that in the scenario where the self-moving cleaning device's stopping position obstructs the opening of the door, requiring additional user operation to continue the cleaning task, allowing users to open the door smoothly without manually moving the device, reducing user intervention costs, simplifying the device's operation process, and thus improving the user experience. It also enhances the autonomous operation capability and intelligence level of the self-moving cleaning device in complex indoor scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, 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 recorded in the embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a flowchart of a control method for a self-moving cleaning device provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of a control device for a self-moving cleaning device provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in the embodiments of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art should fall within the protection scope of this disclosure.

[0021] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0023] As mentioned earlier, with the development of smart home technology, cleaning robots, relying on simultaneous localization and mapping (SMR), global path planning, and local obstacle avoidance technologies, can autonomously traverse and clean multiple rooms and areas, and perform cross-space operations. They have been widely applied in indoor automated cleaning scenarios. Currently, when a cleaning robot is performing cleaning operations in an independent room (such as a bedroom or study), the user may close the door for reasons such as ensuring air conditioning energy efficiency or noise reduction. After completing the cleaning of the target room, the cleaning robot travels to the vicinity of the door according to a preset map and navigation path. If it detects that the door is closed or its exit path is blocked, it stops operating and triggers a trapped alarm to notify the user. However, when the cleaning robot detects that it is trapped, the device is already in the vicinity of the door, and its stopping position may fall within the door's opening and closing path, obstructing the door from opening. In this case, the user needs to manually move the cleaning robot out of the door's opening path, then open the door and restart the device, a cumbersome process that negatively impacts the user experience.

[0024] This disclosure provides a control method for a self-moving cleaning device. When the self-moving cleaning device needs to move from inside to outside a target room, the opening and closing status of the door along the movement path is detected. If the door is closed, the self-moving cleaning device is controlled to move to the target position within the target room. This allows the self-moving cleaning device to actively move outside the door's opening and closing path when the door is closed and it cannot exit the target room, thus avoiding obstructing door opening. Compared with existing technologies, the solution provided by this disclosure solves the problem that in scenarios where the self-moving cleaning device's stopping position obstructs door opening and requires additional user operation to continue cleaning, allowing users to open doors smoothly without manually moving the device. This reduces user intervention costs, simplifies the device's operation process, and improves the user experience. It also enhances the self-moving cleaning device's autonomous operation capability and intelligence level in complex indoor environments.

[0025] The following examples illustrate the control method for the self-moving cleaning equipment provided in this disclosure.

[0026] The self-moving cleaning equipment disclosed herein is an intelligent device integrating modules such as autonomous walking, environmental perception, and cleaning execution, capable of autonomous movement and cleaning operations in indoor settings without human intervention. Specifically, self-moving cleaning equipment includes, but is not limited to, cleaning robots, sweeping robots, sweeping and mopping robots, and automatic vacuuming robots.

[0027] Before starting a cleaning operation, the self-propelled cleaning equipment pre-builds an environmental map of the entire indoor work space and plans and stores the global driving path based on the environmental map. After the self-propelled cleaning equipment starts the cleaning operation, it can autonomously drive from the initial position to the designated target room according to the built environmental map and the preset navigation path, and complete multiple cleaning tasks such as sweeping, vacuuming, mopping, and fine cleaning of corners in the target room according to the preset program.

[0028] Figure 1 This is a flowchart of a control method for a self-moving cleaning device provided in an embodiment of this disclosure, such as... Figure 1 As shown, the control method for the self-propelled cleaning device includes the following steps 101 to 102: Step 101: When the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, detect the open / closed status of the doors along the movement path.

[0029] When a self-propelled cleaning device needs to move from its current target room to the outside space due to job scheduling, area switching, power replenishment, path adjustment, or other autonomous operation requirements, it can detect and determine the open / closed status of doors along its movement path using its environmental sensing module, image recognition module, or distance detection module. The target room is the room where the self-propelled cleaning device is currently performing cleaning operations, temporarily stopping, or residing. It may contain one or more doors leading to the outside. The interior of the target room is its physical boundary, and the exterior is the area outside its physical boundary, with the entrance / exit of a door serving as the boundary. If the target room has multiple doors leading to the outside, the doors along the movement path are the doors that the device has preset priority to pass through. If there are no preset priority doors, the doors along the movement path can be the nearest accessible door determined by the device based on global path planning, or the accessible door selected after the device has traversed and detected all available doors.

[0030] Step 102: If the door is closed, control the self-moving cleaning device to move to the target location in the target room.

[0031] If detection confirms that a door on the movement path is closed, the closed door will physically block the self-propelled cleaning device's movement from inside the target room to the outside, preventing the device from directly moving out. In this case, the self-propelled cleaning device is controlled to move to a preset target position within the target room. The target position is located outside the path of the door's opening and closing movement. It is understood that when the self-propelled cleaning device is at the target position, its body is outside the trajectory range of the door's reciprocating movement, thus avoiding interference between the self-propelled cleaning device and the door's movement trajectory.

[0032] In one example, if the target room has multiple doors leading to the outside, and it is detected that all doors leading to the outside of the target room are closed (meaning all doors on the selectable movement path from the mobile cleaning device to the outside of the target room are closed), then the mobile cleaning device is controlled to move to the target position in the target room. In this scenario, the target position is simultaneously outside the opening and closing paths of all doors in the target room, ensuring that the device's stopping does not affect the normal opening and closing of any door.

[0033] If the detection determines that the door on the moving path is open, the self-propelled cleaning equipment is controlled to move to the outside of the target room to perform subsequent operations.

[0034] In this embodiment, when the self-moving cleaning device needs to move from inside to outside a target room, the open / closed status of the door along the movement path is detected. If the door is closed, the self-moving cleaning device is controlled to move to the target position within the target room. This allows the self-moving cleaning device to actively move outside the door's opening / closing path when the door is closed and it cannot exit the target room, thus avoiding obstructing door opening. Compared to existing technologies, the solution provided in this embodiment solves the problem that in scenarios where the self-moving cleaning device's stopping position obstructs door opening and requires additional user intervention to continue cleaning, allowing users to open doors smoothly without manually moving the device. This reduces user intervention costs, simplifies the device's operation process, and improves the user experience. It also enhances the self-moving cleaning device's autonomous operation capability and intelligence level in complex indoor environments.

[0035] In one possible implementation, when the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, the opening and closing status of the doors along the movement path can be detected by collecting the opening and closing information of the first door of the target room when the self-moving cleaning device completes the cleaning task of the target room, and then detecting the opening and closing status of the doors along the movement path based on the opening and closing information of the first door when the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room.

[0036] When the self-propelled cleaning device completes the cleaning task of the target room, it activates the environmental sensing device configured on the device to collect the status of the corresponding doors along its movement path away from the target room, obtains the first door opening / closing information of the target room, and stores this information in the device's local storage module or cloud storage unit. The first door opening / closing information includes at least an indicator of the door's current open / closed status.

[0037] When the command to move the self-propelled cleaning device from inside the target room to the outside is triggered, i.e., when the self-propelled cleaning device is preparing to leave the target room, the device will enter an adaptive departure driving state (in which actions such as reducing the roller brush speed and raising the mop can be performed simultaneously). Based on the collected first door opening and closing information, the device will detect the opening and closing status of the doors along the movement path. Based on the door opening and closing status, the device will be controlled to move to the target location or leave the target room.

[0038] It should be noted that the order of the two time points, when the cleaning task is completed and when the equipment needs to be moved outward, is fixed. That is, when the cleaning task is completed, the equipment needs to be moved outward. There may be a short time interval between the two, such as the time for the equipment to pause briefly after cleaning and tidy up the cleaning parts. Or there may be no obvious time interval, such as the equipment triggering the move-out command immediately after cleaning.

[0039] It should be noted that this embodiment uses the self-moving cleaning device performing cleaning tasks in the target room as a specific application scenario example. It is also applicable to non-cleaning scenarios such as the self-moving cleaning device temporarily staying or remaining in the target room.

[0040] In this embodiment of the disclosure, when the self-moving cleaning device completes the cleaning task of the target room, it collects the opening and closing information of the first door of the target room. When the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, it detects the opening and closing status of the doors on the movement path based on the opening and closing information of the first door. This allows the device to collect door status information in real time when cleaning is completed and it is ready to leave the target room, ensuring that the obtained door status information is consistent with the current actual status, improving the accuracy and reliability of door opening and closing status detection. Based on the collected door status information, decisions are made, which, together with the control logic for the device to move to the target location or leave the room, can ensure the continuity of the device's autonomous operation and improve the overall operating efficiency and reliability of the device.

[0041] In one possible implementation, when the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, the opening and closing status of the doors along the movement path can be detected by periodically collecting the opening and closing information of the second door of the target room when the self-moving cleaning device is performing the cleaning task of the target room, and detecting the opening and closing status of the doors along the movement path based on the opening and closing information of the second door when the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room.

[0042] After the self-propelled cleaning equipment enters the target room and starts cleaning, the environmental sensing device configured on the self-propelled cleaning equipment is activated simultaneously. It continuously collects data on the status of the corresponding doors along its movement path from the target room, either in real-time or at preset intervals. After each data collection, it generates information on the opening / closing of the second door of the target room and updates and stores it in real-time to the device's local storage module or cloud storage unit, overwriting old information collected in the previous cycle (if periodic collection) or at the previous moment (if real-time collection). The preset interval can be flexibly set according to the actual application scenario; for example, it can be set to a fixed duration such as 30 seconds or 1 minute, or the interval can be dynamically adjusted based on factors such as the cleaning area and complexity of the target room. The second door opening / closing information includes at least an indication of the door's current open / closed status.

[0043] When a command is triggered to move the self-moving cleaning device from inside the target room to the outside, i.e., when the self-moving cleaning device is preparing to leave the target room, the latest stored second door opening / closing information is retrieved from the device's local storage module or cloud storage unit. Based on this latest second door opening / closing information, the opening / closing status of the doors along the movement path leaving the target room is detected. Based on the door opening / closing status, the device is controlled to move to the target location or leave the target room.

[0044] In this embodiment, when the self-propelled cleaning device performs a cleaning task in a target room, it periodically collects the opening and closing information of the second door of the target room. When the self-propelled cleaning device needs to move from the inside to the outside of the target room, it detects the opening and closing status of the doors along the movement path based on the second door opening and closing information. By continuously collecting and updating door status information in real time throughout the cleaning process, the device can detect the latest door status when preparing to leave the target room, improving the real-time performance and accuracy of door opening and closing status detection. This, combined with the control logic for the device's subsequent movement to the target location or out of the room, ensures the stability and reliability of the device's autonomous operation and improves the overall operational efficiency of the device.

[0045] In one possible implementation, the control method for the self-moving cleaning device can also obtain the opening direction and door size of the door in the target room during the mapping process of the self-moving cleaning device, determine the path of the door opening and closing movement based on the opening direction and door size, and determine the target position based on the path of the door opening and closing movement and the size of the self-moving cleaning device.

[0046] During the process of constructing an environmental map of the entire indoor work space using the self-propelled cleaning equipment, the image recognition module, LiDAR module, or contour detection module on the equipment are simultaneously activated to collect parameters for each door in the target room, obtaining the opening direction and dimensions of each door. The opening direction includes, but is not limited to, inward opening, outward opening, left-side opening, and right-side opening. Door dimensions include parameters such as door width and thickness. Optionally, the opening direction and dimensions of the doors can also be determined based on previously acquired environmental map and door dimension information.

[0047] Based on the opening direction and dimensions of each door, the motion path of the corresponding door during its opening and closing reciprocating motion is determined through geometric trajectory deduction and motion simulation calculations. Specifically, combining the door opening direction and dimensional parameters such as door width and thickness, the motion trajectory of the door switching from a fully closed state to a fully open state and then from a fully open state to a fully closed state is calculated. This trajectory is the path of the corresponding door's opening and closing motion.

[0048] Based on the movement paths of each door and the dimensions of the self-moving cleaning device, an area within the target room is identified that does not intersect with the movement paths of each door and is compatible with the device's dimensions (ensuring the device does not exceed the path range after parking and does not affect the opening or closing of any door). This area is designated as the target location within the target room. The dimensions of the self-moving cleaning device include core external parameters such as body diameter and body thickness. Methods for obtaining the dimensions of the self-moving cleaning device include, but are not limited to, retrieving factory-preset fixed parameters from local storage modules or cloud storage, and obtaining real-time dimension parameters through contour scanning detection using the device's onboard LiDAR and image recognition modules.

[0049] The target location can be associated with the corresponding target room and stored in the device's local storage module or cloud storage unit, so that the self-moving cleaning device can access it during operation when it detects that a door on its movement path is closed. In addition, the device can also synchronously mark information such as the door opening direction, door size, door opening and closing path, as well as the size of the self-moving cleaning device and the determined target location, collected during the mapping process, onto the constructed environmental map. Furthermore, users can manually correct and modify the marked information through terminal operation or local device interaction.

[0050] In this embodiment of the disclosure, during the mapping process of the self-moving cleaning device, the opening direction and dimensions of the door in the target room are acquired. Based on the opening direction and door dimensions, the path of the door's opening and closing movement is determined. Based on the path of the door's opening and closing movement and the dimensions of the self-moving cleaning device, the target position is determined. By simultaneously acquiring door parameters and determining the path of the door's opening and closing movement during the mapping stage, and thus determining a target position that does not interfere with the door's movement trajectory, the planning of the target position can better fit the actual structure and movement range of the door. This effectively avoids the device stopping position from blocking the door's opening, thereby improving the accuracy and adaptability of the target position planning and the overall intelligent operation level of the device.

[0051] In one possible implementation, the control method for the self-moving cleaning device can also control the self-moving cleaning device to move to the outside of the target room after receiving a door opening command.

[0052] When the doors along the moving path are closed, and the self-propelled cleaning device has moved to the target location in the target room and is waiting, the self-propelled cleaning device can activate its onboard signal receiving module, communication module, or human-machine interaction module to receive a door opening command. This door opening command instructs the door along the moving path to open. In one example, the door opening command is a signal sent by the user after reopening the door, indicating that the door is open, via voice control, a mobile terminal, a smart control panel, or a smart home linkage system.

[0053] After receiving a door opening command, the self-propelled cleaning device is driven to move autonomously by the motion control unit, and moves to the outside of the target room according to the preset navigation path to continue to perform the work task.

[0054] In this embodiment of the disclosure, upon receiving a door opening command, the self-propelled cleaning device is controlled to move to the outside of the target room. By automatically responding to the door opening command and controlling the device to autonomously move out of the target room after the door is opened, the device can continue to perform subsequent tasks without manual operation by the user, achieving seamless connection of the cleaning operation process. This reduces the cost of manual intervention by the user, ensures the integrity and continuity of the device's autonomous operation, and improves the device's intelligent interaction level and user experience.

[0055] In one possible implementation, the control method for the self-moving cleaning device can also periodically detect the open / closed state of the door after the self-moving cleaning device moves to the target location. When the door is open, the self-moving cleaning device is controlled to move to the outside of the target room.

[0056] When the doors along the moving path are closed, and the self-propelled cleaning equipment has moved to the target location within the target room and is waiting, the self-propelled cleaning equipment can activate its environmental sensing device. This device continuously collects data at preset intervals to monitor the status of the corresponding doors along the moving path leading away from the target room. During periodic monitoring, if the detection determines that the door is open, the self-propelled cleaning equipment moves according to the preset navigation path to the outside of the target room to continue performing its work.

[0057] In this embodiment, after the self-propelled cleaning device moves to the target location, the opening and closing status of the door is periodically detected. When the door is open, the self-propelled cleaning device is controlled to move to the outside of the target room. By periodically detecting the door's opening and closing status during the device's waiting period and automatically controlling the device to move out of the target room when the door is detected to be open, the device can autonomously continue to perform subsequent tasks without relying on external commands or user operation. This achieves seamless operation of the device, thereby improving the intelligence level and continuity of the device's autonomous operation and ensuring the continuous execution of the overall cleaning task.

[0058] In one possible implementation, when controlling the self-moving cleaning device to move to the target location in the target room, the position information and attitude information of the self-moving cleaning device can be obtained. Based on the position information and attitude information, the shortest path for the self-moving cleaning device to move to the target location can be determined. Based on the shortest path, the self-moving cleaning device can be controlled to move to the target location.

[0059] Self-propelled cleaning devices can obtain their current location information within the target room through their onboard positioning module. This location information is the device's current coordinates on the environmental map. Furthermore, the self-propelled cleaning device can obtain its current body posture information through its onboard attitude detection module. This posture information includes parameters such as the device's current orientation and driving posture.

[0060] Based on the acquired location and attitude information, combined with the environmental map data of the target room, the range parameters of the target location, and the real-time obstacle distribution within the target room, a path planning strategy is used to calculate and determine the shortest feasible path for the self-propelled cleaning device to travel from its current location to the target location. Based on this shortest feasible path, the self-propelled cleaning device is controlled to move to the target location within the target room.

[0061] In this embodiment, the location and attitude information of the self-propelled cleaning device are acquired. Based on the location and attitude information, the shortest path for the self-propelled cleaning device to move to the target location is determined. Then, based on the shortest path, the self-propelled cleaning device is controlled to move to the target location. By combining the device's current location and attitude information to plan the shortest path to the target location, the device can move along the optimal path to the target location, reducing the device's movement time and distance, and improving the accuracy and efficiency of device movement control.

[0062] In one possible implementation, the control method for the self-moving cleaning device can also issue an alarm message when the self-moving cleaning device moves to the target location, wherein the alarm message is used to indicate that the door is closed.

[0063] Once the self-contained cleaning device reaches its target location within the room, it can automatically generate and issue an alarm message. This alarm message serves as a notification to the user that doors along the user's path are currently closed. Alarm messages can be issued in various ways, including but not limited to voice announcements via the device's built-in voice broadcast module, flashing lights via the device's built-in light display module, or by establishing communication connections with mobile terminals, smart control panels, smart home systems, and other interactive platforms to push alarm information.

[0064] In this embodiment, when the self-propelled cleaning device moves to the target location, an alarm message is issued, indicating that the door is closed. By issuing an alarm message indicating that the door is closed after the device moves to the target location, the user can be promptly informed of the device's current waiting status and the door's status, thus prompting the user to open the door, shortening the device's waiting time, and ensuring the smooth progress of the device's operation. Furthermore, users can obtain device requests promptly without actively checking the device's operating status, reducing user operating costs, improving the convenience of human-computer interaction, and optimizing the user experience.

[0065] Figure 2 This is a schematic diagram of a control device for a self-moving cleaning equipment provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, the control device 200 of the self-propelled cleaning equipment includes: The detection unit 201 is used to detect the open / closed status of doors along the movement path when the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, wherein the target room is the room where the self-moving cleaning device is currently located.

[0066] Control unit 202 is used to control the self-cleaning device to move to a target position in the target room if the door is closed, wherein the path for the self-cleaning device to move to the outside of the target room is blocked when the door is closed, and the target position is outside the path of the door opening and closing movement.

[0067] In this embodiment of the disclosure, the detection unit 201 can be used to execute step 101 in the above method embodiment, and the control unit 202 can be used to execute step 102 in the above method embodiment.

[0068] In one possible implementation, the detection unit 201 can also collect the first door opening / closing information of the target room when the self-moving cleaning device completes the cleaning task of the target room; and when the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, it can detect the opening / closing status of the doors on the movement path based on the first door opening / closing information.

[0069] In one possible implementation, the detection unit 201 can also collect the second door opening / closing information of the target room when the self-moving cleaning device is performing the cleaning task of the target room; and when the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, it can detect the opening / closing status of the doors on the movement path based on the second door opening / closing information.

[0070] In one possible implementation, the control device 200 may also acquire the opening direction and door size of the door in the target room during the mapping process of the self-moving cleaning device; determine the path of the door opening and closing movement based on the opening direction and door size; and determine the target position based on the path of the door opening and closing movement and the size of the self-moving cleaning device.

[0071] In one possible implementation, the control device 200 can also control the self-moving cleaning equipment to move to the outside of the target room after receiving a door opening command.

[0072] In one possible implementation, the control device 200 may also periodically detect the opening and closing status of the door after the self-moving cleaning device moves to the target location; when the door is open, it controls the self-moving cleaning device to move to the outside of the target room.

[0073] In one possible implementation, the control unit 202 may also acquire the position and attitude information of the self-moving cleaning device; determine the shortest path for the self-moving cleaning device to move to the target position based on the position and attitude information; and control the self-moving cleaning device to move to the target position based on the shortest path.

[0074] In one possible implementation, the control device 200 may also issue an alarm message when the self-moving cleaning equipment moves to the target location, wherein the alarm message is used to indicate that the door is closed.

[0075] Reference Figure 3This diagram illustrates the structure of an electronic device according to an embodiment of the present disclosure. The specific embodiments of the present disclosure do not limit the specific implementation of the electronic device.

[0076] like Figure 3 As shown, the electronic device may include: a processor 302, a communications interface 304, a memory 306, and a communications bus 308.

[0077] in: The processor 302, communication interface 304, and memory 306 communicate with each other via communication bus 308.

[0078] Communication interface 304 is used to communicate with other electronic devices or servers.

[0079] The processor 302 is used to execute program 310, specifically to execute the relevant steps in the above-described embodiment of the control method for the self-moving cleaning device.

[0080] Specifically, program 310 may include program code that includes computer operation instructions.

[0081] Processor 302 may be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; one or more GPUs; or they may be processors of different types, such as one or more CPUs, one or more GPUs, and one or more ASICs.

[0082] Memory 306 is used to store program 310. Memory 306 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0083] Specifically, program 310 can be used to cause processor 302 to execute the control method of the self-moving cleaning device in any of the foregoing embodiments.

[0084] The specific implementation of each step in program 310 can be found in the corresponding steps and units described in any of the aforementioned embodiments of the control method for self-moving cleaning equipment, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the equipment and modules described above can be referred to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0085] In this embodiment, when the self-moving cleaning device needs to move from inside to outside a target room, the open / closed status of the door along the movement path is detected. If the door is closed, the self-moving cleaning device is controlled to move to the target position within the target room. This allows the self-moving cleaning device to actively move outside the door's opening / closing path when the door is closed and it cannot exit the target room, thus avoiding obstructing door opening. Compared to existing technologies, the solution provided in this embodiment solves the problem that in scenarios where the self-moving cleaning device's stopping position obstructs door opening and requires additional user intervention to continue cleaning, allowing users to open doors smoothly without manually moving the device. This reduces user intervention costs, simplifies the device's operation process, and improves the user experience. It also enhances the self-moving cleaning device's autonomous operation capability and intelligence level in complex indoor environments.

[0086] This disclosure also provides a computer program product, including computer instructions that instruct a computing device to perform an operation corresponding to any of the methods in the above-described plurality of method embodiments.

[0087] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this disclosure can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this disclosure.

[0088] The methods described above according to embodiments of this disclosure can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code originally stored on a remote recording medium or a non-transitory machine-readable medium and subsequently stored on a local recording medium, downloaded via a network. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the control methods of the self-moving cleaning device described herein. Furthermore, when a general-purpose computer accesses code for implementing the control methods of the self-moving cleaning device shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the control methods of the self-moving cleaning device shown herein.

[0089] Those skilled in the art will recognize that the units and method 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 each specific application, but such implementation should not be considered beyond the scope of the embodiments disclosed herein.

[0090] The above embodiments are only used to illustrate the embodiments of this disclosure, and are not intended to limit the embodiments of this disclosure. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this disclosure. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this disclosure, and the patent protection scope of the embodiments of this disclosure should be defined by the claims.

Claims

1. A control method for a self-moving cleaning device, characterized in that, include: When the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, the open / closed status of the doors along the movement path is detected, wherein the target room is the room where the self-moving cleaning device is currently located; If the door is closed, the self-moving cleaning device is controlled to move to the target location in the target room. When the door is closed, the path for the self-moving cleaning device to move to the outside of the target room is blocked, and the target location is outside the path of the door's opening and closing movement.

2. The method according to claim 1, characterized in that, The step of detecting the open / closed status of doors along the movement path when the self-moving cleaning device needs to move from inside the target room to outside the target room includes: When the self-moving cleaning device completes the cleaning task of the target room, it collects the opening and closing information of the first door of the target room; When the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, the opening and closing status of the doors on the movement path is detected based on the first door opening and closing information.

3. The method according to claim 1, characterized in that, The step of detecting the open / closed status of doors along the movement path when the self-moving cleaning device needs to move from inside the target room to outside the target room includes: When the self-moving cleaning device performs the cleaning task of the target room, it collects the opening and closing information of the second door of the target room; When the self-moving cleaning device needs to move from the inside of the target room to the outside of the target room, the opening and closing status of the doors on the movement path is detected according to the second door opening and closing information.

4. The method according to claim 1, characterized in that, The method further includes: During the mapping process of the self-moving cleaning device, the opening direction and door size of the door in the target room are obtained; The path of the door opening and closing movement is determined based on the opening direction and the door size; The target location is determined based on the path of the door opening and closing movement and the dimensions of the self-moving cleaning device.

5. The method according to claim 1, characterized in that, The method further includes: Upon receiving a door opening command, the self-moving cleaning device is controlled to move to the outside of the target room.

6. The method according to claim 1, characterized in that, The method further includes: After the self-moving cleaning device moves to the target location, the opening and closing status of the door is checked periodically. When the door is open, the self-moving cleaning device is controlled to move to the outside of the target room.

7. The method according to any one of claims 1-6, characterized in that, The control of the self-moving cleaning device to move to the target location in the target room includes: Obtain the position and attitude information of the self-moving cleaning device; Based on the location information and the attitude information, determine the shortest path for the self-moving cleaning device to move to the target location; Based on the shortest path, control the self-moving cleaning device to move to the target location.

8. The method according to any one of claims 1-6, characterized in that, The method further includes: When the self-moving cleaning device moves to the target location, it issues an alarm message, wherein the alarm message is used to indicate that the door is closed.

9. A control device for a self-moving cleaning equipment, characterized in that, include: The detection unit is used to detect the open / closed status of doors along the movement path when the self-moving cleaning device needs to move from the interior of the target room to the exterior of the target room, wherein the target room is the room where the self-moving cleaning device is currently located; A control unit is configured to control the self-moving cleaning device to move to a target position in the target room if the door is closed, wherein the path for the self-moving cleaning device to move to the outside of the target room is blocked when the door is closed, and the target position is located outside the path of the door's opening and closing movement.

10. An electronic device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the control method for the self-moving cleaning device as described in any one of claims 1-8.

11. A computer storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the control method for the self-moving cleaning device as described in any one of claims 1-8.

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