Control method and device of self-moving device, self-moving device and storage medium

Abstract

This application discloses a control method, apparatus, self-moving device, and storage medium for a self-moving device. It includes: during the movement of the self-moving device, if a target threshold is detected, acquiring spatial information around the target threshold; determining the validity of the target threshold based on the spatial information; wherein validity characterizes whether the target threshold is a valid or invalid threshold, a valid threshold requires crossing based on an obstacle-crossing mode, and an invalid threshold does not require crossing based on an obstacle-crossing mode; and determining the movement mode of the self-moving device based on the validity. The technical solution provided by this application can determine the validity of a threshold based on its surrounding environment, preventing the self-moving device from crossing obstacles in the wrong location, thereby improving the working efficiency of the self-moving device.

Description

Technical Field

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

[0002] Self-moving devices refer to intelligent devices that can move autonomously. As a typical indoor self-moving device, a robotic vacuum cleaner often needs to cross obstacles of a certain height, such as thresholds, when performing cleaning tasks. To cope with such scenarios, the device is equipped with a liftable servo system or a rotatable swing arm mechanism. After detecting a threshold, it can cross the obstacle by raising the body or adjusting the wheel posture.

[0003] The obstacle-crossing process relies on the device's accurate identification and positioning of thresholds. Therefore, it is necessary to provide a method for accurately identifying thresholds in order to control the self-moving device to perform corresponding actions. Summary of the Invention

[0004] The embodiments of this application provide a control method, device, self-moving device, and storage medium for a self-moving device. This method can determine the validity of a threshold based on the surrounding environment, preventing the self-moving device from crossing obstacles in the wrong location and thus improving the working efficiency of the self-moving device.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of the embodiments of this application, a control method for a self-moving device is provided, comprising: During the movement of the self-moving device, if a target threshold is detected, spatial information around the target threshold is acquired; The validity of the target threshold is determined based on spatial information; where validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold. A valid threshold needs to be crossed based on an obstacle crossing mode, while an invalid threshold does not need to be crossed based on an obstacle crossing mode. The mobility pattern of the self-moving device is determined based on its effectiveness.

[0007] In some embodiments of this application, based on the foregoing scheme, the spatial information includes first spatial information and second spatial information, and obtaining the spatial information around the target threshold includes: Along the first direction, first spatial information of the first region on both sides of the target threshold is collected respectively; wherein, the first direction is the length direction of the target threshold; Along the second direction, second spatial information of the second region on both sides of the target threshold is collected respectively; wherein, the second direction is the width direction of the target threshold.

[0008] In some embodiments of this application, the effectiveness of determining the target threshold based on spatial information, based on the aforementioned scheme, includes: If there are wall-type obstacles in both first regions and no obstacles in either of the second regions, then the target threshold is determined to be a valid threshold.

[0009] In some embodiments of this application, based on the aforementioned scheme, the second region satisfies the space required for the self-moving device to perform obstacle-crossing mode.

[0010] In some embodiments of this application, based on the foregoing scheme, the mobility mode of the self-moving device is determined based on effectiveness, including: If the target threshold is a valid threshold, then control the self-moving device to pass through the target threshold based on the obstacle-crossing mode; If the target threshold is invalid, then control the self-moving device to maintain the current movement mode.

[0011] In some embodiments of this application, based on the foregoing scheme, the method further includes: If a wall-type obstacle exists in any of the first regions, the threshold length of the target threshold is extended along the first direction to the corresponding wall-type obstacle.

[0012] In some embodiments of this application, based on the foregoing scheme, the length of the emcee area in the first direction is greater than the size of the self-moving device body; If there are no wall-type obstacles in any of the first areas, after controlling the self-moving device to maintain the current movement mode, the method further includes: Control the self-moving device to pass through the target threshold from the first area where there are no wall-type obstacles.

[0013] In some embodiments of this application, based on the foregoing scheme, controlling the self-moving device to pass through a target threshold from a first area where there are no wall-type obstacles includes: If there are no wall-type obstacles in either of the two first regions, then determine the first region that is closer to the self-moving device from the two first regions; Control the self-moving device to move from the defined first area through the target threshold.

[0014] In some embodiments of this application, based on the foregoing scheme, the method further includes: When the self-moving device fails to pass the target threshold from the first area, control the self-moving device to pass the target threshold based on the obstacle-crossing mode.

[0015] In some embodiments of this application, based on the foregoing scheme, the method further includes: When a self-moving device fails to pass the target threshold from the first area, the target threshold is marked as an invalid threshold in the map information associated with the self-moving device.

[0016] In some embodiments of this application, based on the foregoing scheme, detecting wall-type obstacles includes the following steps: Detect a first obstacle whose height is greater than a first preset height; Based on the first location information of the first obstacle, adjacent first obstacles are integrated into a second obstacle to obtain the second location information of the second obstacle; Based on the second location information, determine the area occupied by the second obstacle; If the area occupied is larger than the preset area, then the second obstacle is determined to be a wall-type obstacle.

[0017] In some embodiments of this application, based on the aforementioned scheme, spatial information around the target threshold is obtained, including: In the map information associated with the mobile device, if the target threshold is not marked as a valid threshold, obtain the spatial information around the target threshold.

[0018] In some embodiments of this application, based on the foregoing scheme, controlling the self-moving device to pass through the target threshold in obstacle-crossing mode includes: If the height of the target threshold is less than the second preset height, the self-moving device is controlled to pass through the target threshold based on the obstacle-crossing mode; wherein, the second preset height is the crossable height of the self-moving device.

[0019] In some embodiments of this application, based on the foregoing scheme, the target threshold is detected, including: The target threshold is detected in real time using sensors installed on the self-moving device; or... Based on map information associated with the mobile device, pre-marked target thresholds were detected.

[0020] According to a second aspect of the embodiments of this application, a control device for a self-moving device is provided, comprising: The information acquisition module is used to acquire spatial information around the target threshold if the target threshold is detected during the movement of the self-moving device. The threshold detection module is used to determine the validity of the target threshold based on spatial information. Validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold. A valid threshold needs to be crossed based on an obstacle crossing mode, while an invalid threshold does not need to be crossed based on an obstacle crossing mode. The device control module is used to determine the movement mode of the self-moving device based on validity.

[0021] In some embodiments of this application, based on the foregoing scheme, the information acquisition module includes: The first acquisition unit is used to acquire first spatial information of the first region on both sides of the target threshold along the first direction; wherein, the first direction is the length direction of the target threshold; The second acquisition unit is used to acquire second spatial information of the second region on both sides of the target threshold along the second direction; wherein, the second direction is the width direction of the target threshold.

[0022] In some embodiments of this application, based on the aforementioned scheme, the threshold detection module is specifically used to determine the target threshold as a valid threshold if there are wall-type obstacles in both first areas and no obstacles in both second areas.

[0023] In some embodiments of this application, based on the aforementioned scheme, the second region satisfies the space required for the self-moving device to perform obstacle-crossing mode.

[0024] In some embodiments of this application, based on the aforementioned scheme, the device control module is specifically used to control the self-moving device to pass through the target threshold in obstacle-crossing mode if the target threshold is a valid threshold; and to control the self-moving device to maintain the current movement mode if the target threshold is an invalid threshold.

[0025] In some embodiments of this application, based on the foregoing scheme, the control device for the self-moving device further includes: The threshold correction module is used to extend the threshold length of the target threshold along the first direction to the corresponding wall type obstacle if there is a wall-type obstacle in any of the first areas.

[0026] In some embodiments of this application, based on the foregoing scheme, the length of the first region in the first direction is greater than the size of the self-moving device body; If there are no wall-type obstacles in any of the first areas, the control device for the self-moving device further includes: The priority module controls the self-moving device to pass through the target threshold from the first area where there are no wall-type obstacles.

[0027] In some embodiments of this application, based on the foregoing scheme, the preferred module includes: The region selection unit is used to determine the first region that is closer to the self-moving device from the two first regions if there are no wall-type obstacles in either of the two first regions. Priority access unit, used to control the self-moving device to pass through the target threshold from the determined first area.

[0028] In some embodiments of this application, based on the foregoing scheme, the control device for the self-moving device further includes: The obstacle crossing module is used to control the self-moving device to pass the target threshold based on the obstacle crossing mode when the self-moving device fails to pass the target threshold from the first area.

[0029] In some embodiments of this application, based on the foregoing scheme, the control device for the self-moving device further includes: The threshold marking module is used to mark the target threshold as invalid in the map information associated with the self-moving device when the self-moving device fails to pass the target threshold from the first area.

[0030] In some embodiments of this application, based on the foregoing solution, the control device for the self-moving device further includes a wall detection module, which includes: The first detection unit is used to detect a first obstacle whose height is greater than a first preset height; The location determination unit is used to integrate adjacent first obstacles into a second obstacle based on the first location information of the first obstacle, thereby obtaining the second location information of the second obstacle; An area determination unit is used to determine the area occupied by the second obstacle based on the second location information; The wall determination unit is used to determine that the second obstacle is a wall-type obstacle if the area occupied is greater than the preset area.

[0031] In some embodiments of this application, based on the aforementioned scheme, the information acquisition module is specifically used to acquire spatial information around the target threshold in the map information associated with the mobile device when the target threshold is not marked as a valid threshold.

[0032] In some embodiments of this application, based on the aforementioned scheme, the obstacle crossing module is specifically used to control the self-moving device to pass through the target threshold in obstacle crossing mode when the threshold height of the target threshold is less than a second preset height; wherein, the second preset height is the traversable height of the self-moving device.

[0033] In some embodiments of this application, based on the foregoing scheme, the information acquisition module includes: The threshold detection unit is used to detect target thresholds in real time using sensors installed on the self-moving device; or, based on map information associated with the self-moving device, to detect pre-marked target thresholds.

[0034] According to a third aspect of the embodiments of this application, a self-moving device is provided, comprising: Organism; Cleaning components are installed on the machine body and are used to perform cleaning tasks; The walking component is installed on the machine body and is used to drive the self-moving device to move based on the movement mode of the self-moving device; A controller, disposed on the body, is used to execute the steps of a control method for a self-moving device as described in any of the first aspects.

[0035] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, which stores computer program instructions that, when loaded and executed by a processor, implement the steps of the control method for a self-moving device as described in any of the first aspects.

[0036] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of a control method for a self-moving device as described in any of the first aspects.

[0037] In this application, during the movement of the self-moving device, if a target threshold is detected, spatial information around the target threshold is acquired; the validity of the target threshold is determined based on the spatial information; wherein, validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold; and the movement mode of the self-moving device is determined based on the validity. The technical solution provided by this application can determine whether a threshold is valid based on the surrounding environment, preventing the self-moving device from crossing obstacles in the wrong location, thereby improving the working efficiency of the self-moving device.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 An application scenario diagram illustrating the control method for a self-moving device according to an embodiment of this application is shown. Figure 2 A flowchart of a control method for a self-moving device according to an embodiment of this application is shown; Figure 3 A flowchart illustrating the acquisition of spatial information in an embodiment of this application is shown; Figure 4 The distribution diagrams of the first and second regions in the embodiments of this application are shown; Figure 5 A schematic diagram of the extended target threshold in an embodiment of this application is shown; Figure 6 A schematic diagram illustrating passing through a target threshold from a first region in an embodiment of this application is shown; Figure 7 A schematic diagram illustrating the passage from a closer first region to the target threshold in an embodiment of this application is shown; Figure 8 A flowchart illustrating the detection of wall-type obstacles in an embodiment of this application is shown; Figure 9 Another flowchart of the control method for the self-moving device in an embodiment of this application is shown; Figure 10 A block diagram of a control device for a self-moving device according to an embodiment of this application is shown; Figure 11 A schematic diagram of the structure of an electronic device in an embodiment of this application is shown. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0042] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0043] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0044] To enable those skilled in the art to better understand this application, firstly, in conjunction with Figure 1 A brief description of the application scenarios involved in this application is provided.

[0045] See Figure 1 The diagram illustrates an application scenario of the control method for a self-moving device according to an embodiment of this application.

[0046] When the self-moving device 100 moves in an indoor environment, it can identify thresholds in real time through its equipped sensors, or it can identify marked thresholds from associated map information. If the self-moving device 100 detects a target threshold to be crossed in the path ahead using either of the aforementioned methods, it can acquire spatial information around the target threshold in real time through its equipped sensors, such as spatial information of position 1a on the left and right sides of the target threshold and spatial information of position 1b in front of and behind the target threshold.

[0047] The self-moving device 100 can determine the validity of the target threshold based on spatial information through its processor. That is, it determines whether the target threshold is a valid threshold or an invalid threshold. A valid threshold needs to be crossed using an obstacle-crossing mode, while an invalid threshold does not require such a mode. The self-moving device 100 can determine its movement mode based on the validity of the threshold. If the target threshold is valid, it crosses the target threshold using an obstacle-crossing mode. If the target threshold is invalid, it maintains the current movement mode and determines whether it can cross the target threshold from positions 1a on either side of the threshold.

[0048] In one exemplary embodiment, refer to Figure 2 The flowchart of the control method for the self-moving device in the embodiments of this application is shown below in detail: Step 201: If a target threshold is detected during the movement of the self-moving device, spatial information around the target threshold is obtained.

[0049] Self-moving devices refer to intelligent devices with autonomous movement capabilities. Common indoor self-moving devices include robotic vacuum cleaners, food delivery robots, and inspection robots, which can perform obstacle-crossing operations in front of thresholds. Taking a robotic vacuum cleaner as an example, when performing cleaning tasks, the robotic vacuum cleaner moves in the indoor environment. During its movement, it can detect whether there is a threshold to be crossed, i.e., a target threshold. Then, when the target threshold is detected, it can acquire spatial information around the target threshold in real time.

[0050] Among them, the target threshold refers to a threshold-type obstacle with a certain height, usually located between two adjacent rooms. The self-moving device needs to use a lifting servo system or a rotating swing arm mechanism to cross the target threshold. In special cases, the target threshold is not a real threshold, but an obstacle that is shaped like a threshold, such as a sliding door track, the edge of a thick carpet, or an electrical cable tray, which needs to be crossed.

[0051] Optionally, the target threshold can be detected in real time using sensors installed on the self-moving device; or, a pre-marked target threshold can be detected based on map information associated with the self-moving device. For example, when the self-moving device moves a certain distance in front of the target threshold, the target threshold can be identified in real time using visual sensors, LiDAR, or infrared ranging; and when the self-moving device moves along a preset trajectory, a pre-marked target threshold on the trajectory ahead can be identified in the associated indoor map.

[0052] Once the mobile device detects the target threshold, it can use the equipped visual sensor to collect spatial information around the target threshold in real time. This spatial information is used to characterize the environmental state around the target threshold, including but not limited to objects in the surrounding area, as well as the size and position of those objects.

[0053] Step 202: Determine the effectiveness of the target threshold based on spatial information.

[0054] Since the target threshold is identified or marked, it may not be accurate. In order to prevent the self-moving device from performing obstacle crossing operations in places where there is no real threshold, it is necessary to further analyze the target threshold based on spatial information to determine the validity of the target threshold. Validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold. A valid threshold needs to be crossed based on the obstacle crossing mode, while an invalid threshold does not need to be crossed based on the obstacle crossing mode.

[0055] Optionally, based on spatial information, determine whether a target threshold exists and verify its actual location. If it exists, the target threshold is considered a valid threshold; otherwise, it is considered an invalid threshold. For example, based on spatial information, determine that the target threshold is located directly below the door frame of a room, between two adjacent rooms, and that the target threshold is parallel or perpendicular to the wall. In this case, the target threshold is considered a valid threshold.

[0056] Optionally, based on spatial information, it can be determined whether there is a passageway that the mobile device can cross in front of and behind the target threshold (i.e., in adjacent rooms). If such a passageway exists, the target threshold is determined to be a valid threshold; otherwise, it is determined to be an invalid threshold. For example, if the door corresponding to the target threshold is closed, or if there is a large obstacle in front of or behind the target threshold, or if there is a low obstacle directly above the target threshold, the mobile device cannot cross the target threshold normally, and in this case, the target threshold is determined to be an invalid threshold.

[0057] Step 203: Determine the mobility mode of the self-moving device based on validity.

[0058] For valid and invalid thresholds, the self-moving device uses different movement modes. Specifically, when the target threshold is a valid threshold, the self-moving device switches to obstacle-crossing mode before crossing the target threshold and switches back to movement mode after crossing the target threshold; when the target threshold is an invalid threshold, the self-moving device maintains the current movement mode and determines whether it needs to move through a passage outside the target threshold, such as going around the sides of the target threshold, and then switches the self-moving device's movement mode.

[0059] Optionally, if the target threshold is a valid threshold, the self-moving device is controlled to pass through the target threshold in obstacle-crossing mode; if the target threshold is an invalid threshold, the self-moving device is controlled to maintain the current movement mode. For example, when the target threshold is determined to be valid, the self-moving device moves to a preset position a certain distance before the target threshold, switches from the current movement mode to obstacle-crossing mode, and crosses the target threshold using a liftable servo system or a rotatable swing arm mechanism. After successfully crossing the target threshold, it switches back to the previous movement mode and continues working. When the target threshold is determined to be invalid, the self-moving device maintains the current movement mode. The target threshold may be a non-existent invalid threshold, in which case it can continue working. The target threshold may also be an inaccurate invalid threshold; in this case, the decision to switch to obstacle-crossing mode or continue maintaining the current movement mode can be made based on actual needs.

[0060] In this application, during the movement of the self-moving device, if a target threshold is detected, spatial information around the target threshold is acquired; the validity of the target threshold is determined based on the spatial information; wherein, validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold; and the movement mode of the self-moving device is determined based on the validity. The technical solution provided by this application can determine whether a threshold is valid based on the surrounding environment, preventing the self-moving device from crossing obstacles in the wrong location, thereby improving the working efficiency of the self-moving device.

[0061] Based on the above embodiments, in an exemplary embodiment, the spatial information includes first spatial information and second spatial information, see [link to example]. Figure 3 This illustrates the method of obtaining spatial information in embodiments of this application, specifically including: Step 301: Along the first direction, collect the first spatial information of the first region on both sides of the target threshold.

[0062] The first direction refers to the length of the target threshold. There is a first region adjacent to the target threshold on both the left and right sides. Spatial information of these two first regions is collected to obtain the first spatial information. When the target threshold is a valid threshold, there should be corresponding walls in the first regions on both sides of the target threshold.

[0063] For example, such as Figure 4 As shown, the first region is a rectangular region, and two first regions are distributed on the left and right sides of the target threshold along the first direction. The length of the first region is a preset length, and the width of the first region is the threshold width of the target threshold. The two first regions are flush with the target threshold.

[0064] Step 302: Along the second direction, collect the second spatial information of the second region on both sides of the target threshold.

[0065] The second direction refers to the width of the target threshold. There is a second region adjacent to the target threshold both in front of and behind it. Spatial information from these two second regions is collected to obtain the second spatial information. When the target threshold is valid, there should be no obstacles in the second regions on either side of the target threshold.

[0066] For example, such as Figure 4 As shown, the second region is a rectangular region. Two second regions are distributed in front of and behind the target threshold along the second direction. The length of the second region is the threshold length of the target threshold, and the width of the second region is a preset width. The second region provides the space required for the self-moving device to perform obstacle crossing mode.

[0067] The target threshold has a certain height. When the self-moving device crosses the target threshold, it needs to leave a preparation distance. When the self-moving device crosses the target threshold, it will also move forward a certain distance due to inertia. The width of the second area in the second direction should be able to leave enough preparation distance and forward movement distance for the self-moving device. That is, the second area should meet the space required for the self-moving device to execute the obstacle crossing mode.

[0068] Optionally, the width of the second area is proportional to the height of the target threshold. For example, when the threshold height is less than 3cm, the width of the second area is 40cm, and when the threshold height is 3cm, the width of the second area is 50cm.

[0069] It should be noted that the shapes of the first and second regions are not limited to the rectangular regions in the above examples, but can also be other regions that can be accessed by self-moving devices, such as semi-circular regions, etc. This embodiment does not impose any restrictions on this.

[0070] As an optional implementation method in this embodiment, if there are wall-type obstacles in both first areas and no obstacles in both second areas, then the target threshold is determined to be a valid threshold.

[0071] A true threshold in an indoor environment possesses at least two characteristics: corresponding walls on the left and right sides, and a passageway that can be crossed in front and behind. A target threshold is considered valid when there are wall-type obstacles in the first area on both sides and no obstacles in the second area in front of and behind it. Conversely, a target threshold is invalid when there are no wall-type obstacles in either of the first areas on either side or when there are obstacles in either of the second areas in front of or behind it.

[0072] This application provides a specific method for collecting spatial information around a target threshold. Spatial information is collected in a first region and a second region respectively, comprehensively considering the characteristics required for a real threshold to ensure the accuracy and reliability of the determination based on spatial information. Furthermore, the second region provides sufficient space for the self-moving device to execute obstacle-crossing mode, reserving the necessary preparation distance for crossing the target threshold, as well as the distance for forward momentum due to inertia. This prevents the self-moving device from failing to cross the threshold and returning, or from colliding due to inertia, thereby ensuring the safe and reliable movement of the self-moving device.

[0073] Based on the above embodiments, in an exemplary embodiment, if there is a wall-type obstacle in any first area, the threshold length of the target threshold is extended along the first direction to the corresponding wall-type obstacle.

[0074] like Figure 5 As shown, in the first area to the left of the target threshold, there is a wall-type obstacle perpendicular to the length direction of the target threshold (second direction) and at a certain distance from the target threshold. The left side of the target threshold can be extended along the first direction to connect with the wall-type obstacle. In the first area to the right of the target threshold, there is a wall-type obstacle parallel to the length direction of the target threshold (first direction) and at a certain distance from the target threshold. The right side of the target threshold can be extended along the first direction to connect with the wall-type obstacle.

[0075] Optionally, the target threshold can be modified in the map information associated with the mobile device by extending its length so that the modified target threshold matches the actual threshold.

[0076] Optionally, after the target threshold is modified, it can be marked as a valid threshold in the map information associated with the mobile device.

[0077] In this application, inaccurate target thresholds can be corrected in real time based on the collected spatial information. This allows the self-moving device to detect a more accurate target threshold the next time it needs to cross it, which is beneficial to improving the information processing efficiency of the self-moving device.

[0078] Based on the above embodiments, in an exemplary embodiment, the length of the first region in the first direction is greater than the size of the self-moving device. If there is no wall-type obstacle in any of the first regions, the self-moving device is controlled to maintain the current movement mode and then controlled to pass through the target threshold from the first region where there is no wall-type obstacle.

[0079] like Figure 6 As shown, the length of the first area needs to be slightly larger than the size of the self-moving device. It can be set to the sum of the diameter of the device and a small preset error value, such as 40cm. There are wall-type obstacles in the first area to the left of the target threshold, but no wall-type obstacles in the first area to the right of the target threshold. Since the length of the first area is larger than the size of the self-moving device, the self-moving device does not need to switch to obstacle crossing mode and can directly pass through the target threshold from the first area on the right based on the current movement mode.

[0080] Optionally, after obtaining the spatial information around the target threshold, it can directly determine whether there are obstacles in the first area on both sides of the target threshold, without distinguishing whether the obstacles are wall-type obstacles. If there are no obstacles in either of the first areas, the self-moving device can be controlled to pass through the target threshold from the first area where there are no obstacles.

[0081] Optionally, if there are no wall-type obstacles in either of the two first regions, then determine the first region that is closer to the self-moving device from the two first regions; control the self-moving device to pass through the target threshold from the determined first region.

[0082] like Figure 7 As shown, there are no wall-type obstacles in the first area on both sides of the target threshold. The current center position of the self-moving device can be determined by infrared ranging and other methods. It is 35cm away from the left end of the target threshold (the right boundary of the first area on the left) and 55cm away from the right end of the target threshold (the left boundary of the first area on the right). The self-moving device is closer to the first area on the left, so it can be controlled to pass through the target threshold from the first area on the left.

[0083] In this application, the length of the first region is slightly larger than the size of the self-moving device's body. When there are no wall-type obstacles in any of the first regions, it can be determined whether to control the self-moving device to bypass the open area. Specifically, for invalid thresholds where there are no wall-type obstacles in any of the first regions, the self-moving device's movement mode can be left unchanged, prioritizing its passage through the open area (i.e., the first region without wall-type obstacles), avoiding additional obstacle-crossing operations and thus improving the self-moving device's efficiency. Furthermore, when there are no wall-type obstacles in either of the two first regions, a closer first region can be identified, and the self-moving device can be prioritized to pass through the closer first region, optimizing the self-moving device's intelligent effect and improving its movement efficiency.

[0084] Based on the above embodiments, in an exemplary embodiment, when the self-moving device fails to pass the target threshold from the first area, the self-moving device is controlled to pass the target threshold based on the obstacle-crossing mode.

[0085] When there are no wall-type obstacles in the first area, the self-moving device can pass through the first area based on the current movement mode. However, there is still a possibility of failure. If the self-moving device fails to pass the target threshold in the first area, it is controlled to return to a preset position a certain distance in front of the first area and switch from the current movement mode to the obstacle crossing mode. In the obstacle crossing mode, the self-moving device can cross the first area through the lifting servo system or the rotating swing arm mechanism to pass the target threshold. After successfully passing the target threshold, it switches from the obstacle crossing mode to the previous movement mode and continues to work.

[0086] In this application, the self-moving device can first be controlled to pass through an open area (i.e., a first area without wall-type obstacles), and then, if the passage fails, the self-moving device can be controlled to switch to obstacle-crossing mode, thereby minimizing the steps of switching movement modes and improving the working efficiency of the self-moving device.

[0087] Based on the above embodiments, in an exemplary embodiment, when the self-mobile device fails to pass the target threshold from the first area, the target threshold is marked as an invalid threshold in the map information associated with the self-mobile device.

[0088] The map information associated with the self-moving device refers to the map information of the indoor environment in which the self-moving device is located. It can be stored on the self-moving device's memory or on the corresponding server so that the self-moving device can access it in a timely manner when it is working.

[0089] For example, a user can use a client application associated with their self-moving device through a smart device. The client application can bind the self-moving device to the surrounding indoor environment and mark target thresholds in the associated map information. The self-moving device can also automatically identify target thresholds using visual sensors, LiDAR, or infrared ranging, and after passing the target threshold using an obstacle-crossing mode, mark the target threshold in the associated map information.

[0090] When a self-moving device fails to pass the target threshold from an open area (i.e., the first area without wall-type obstacles), the target threshold can be marked as invalid in the map information associated with the self-moving device, and the user can be prompted through the client application to choose to delete or update the target threshold.

[0091] Optionally, when the target threshold is a valid threshold and the self-moving device successfully passes the target threshold based on obstacle-crossing mode, the target threshold can be marked as a valid threshold in the map information associated with the self-moving device, and the user can be prompted for confirmation through the client application.

[0092] In this application, target thresholds can be further marked in the map information associated with the self-mounted device, thereby avoiding the same erroneous operation when the target threshold needs to be crossed again. Furthermore, prompting the user to delete or update invalid thresholds, and prompting the user to confirm valid thresholds, can further improve the reliability of the self-mounted device's movement process.

[0093] Based on the above embodiments, in an exemplary embodiment, if the target threshold is not marked as a valid threshold in the map information associated with the mobile device, the spatial information around the target threshold is obtained.

[0094] During the movement of the self-moving device, if a target threshold is detected, it is determined whether the target threshold is marked as valid in the map information associated with the self-moving device. If the target threshold is marked as valid, the movement mode of the self-moving device is directly determined. If the target threshold is marked as invalid, or the target threshold is not marked as valid, the spatial information around the target threshold is obtained, and the validity of the target threshold is determined based on the spatial information. Then, the movement mode of the self-moving device is determined based on the validity.

[0095] In this application, it is possible to first determine whether the map information associated with the self-mobile device marks the validity of the target threshold, thereby eliminating the step of determining the validity of the target threshold based on the spatial information around the target threshold, shortening the information processing time of the self-mobile device, and improving the working efficiency of the self-mobile device.

[0096] Based on the above embodiments, in an exemplary embodiment, see [link to example]. Figure 8This illustrates a method for detecting wall-type obstacles in an embodiment of this application, specifically including: Step 801: Detect a first obstacle with a height greater than a first preset height.

[0097] Compared to regular obstacles, wall-type obstacles are taller. To distinguish wall-type obstacles, we can first select the first obstacle whose height meets certain requirements. The first preset height can be set to 10cm.

[0098] For any given first region, traverse the first region, identify the first obstacle whose height is greater than the first preset height, and obtain the first position information of the first obstacle, wherein the first position information includes the coordinates of each corner vertex of the bounding box to which the first obstacle belongs.

[0099] Step 802: Based on the first location information of the first obstacle, the adjacent first obstacles are integrated into the second obstacle to obtain the second location information of the second obstacle.

[0100] The adjacent first obstacles are integrated into a whole to obtain the second obstacle. Based on the first position information of the first obstacle, the second position information of the second obstacle can be determined. The bounding box to which the second obstacle belongs is shaped like a connected component. The second position information includes the coordinates of each corner vertex of the bounding box to which the second obstacle belongs, that is, the coordinates of each corner vertex of the connected component.

[0101] Optionally, based on the first location information of the first obstacle, the BFS (Breadth First Search) algorithm is used to search around the first obstacle to determine other adjacent first obstacles, obtain the second obstacle, and determine the second location information of the second obstacle.

[0102] Step 803: Determine the area occupied by the second obstacle based on the second location information.

[0103] The bounding box to which the second obstacle belongs is shaped like a connected component. The second location information includes the coordinates of each corner vertex of the connected component, and the area occupied by the second obstacle can be calculated.

[0104] Step 804: If the area occupied is greater than the preset area, then the second obstacle is determined to be a wall-type obstacle.

[0105] Compared to conventional obstacles, wall-type obstacles occupy a larger area. To differentiate between wall-type obstacles, a second obstacle that meets certain area requirements can be selected, where the preset area can be set to 300cm². 2 .

[0106] The area occupied by the second obstacle is compared with the preset area. When the area occupied is greater than the preset area, the second obstacle is regarded as a wall and the second obstacle is determined to be a wall-type obstacle.

[0107] This application provides an optional method for detecting wall-type obstacles, which identifies obstacles from three spatial dimensions: height and floor area, distinguishing wall-type obstacles from conventional obstacles, thereby more accurately determining the effectiveness of the target threshold.

[0108] Based on the above embodiments, in an exemplary embodiment, controlling the self-moving device to pass through a target threshold based on an obstacle-crossing mode includes: controlling the self-moving device to pass through the target threshold based on an obstacle-crossing mode when the threshold height of the target threshold is less than a second preset height; wherein, the second preset height is the traversable height of the self-moving device.

[0109] When the target threshold is a valid threshold, controlling the self-moving device to pass through the target threshold based on the obstacle-crossing mode requires first determining whether the self-moving device can cross the target threshold based on the threshold height.

[0110] Specifically, the threshold height of the target threshold is compared with the second preset height. When the threshold height is less than the second preset height, it is determined that the self-moving device can cross the target threshold based on the servo system or the swing arm mechanism. The self-moving device is then switched to obstacle crossing mode and controlled to pass through the target threshold based on obstacle crossing mode.

[0111] Optionally, if the target threshold is invalid, the self-moving device is controlled to move from the first area where there are no wall-type obstacles based on the current movement mode. If it fails to pass the target threshold, the height of the obstacles in the first area is obtained and compared with a second preset height. If the obstacle height is less than the second preset height, the self-moving device is switched to obstacle crossing mode and controlled to cross the obstacles in the first area based on obstacle crossing mode to pass the target threshold.

[0112] In this application, in order to ensure that the self-moving device successfully passes the target threshold, it can be determined whether the height to be crossed is within the capability range of the self-moving device before switching to obstacle crossing mode, thereby improving the safety and reliability of the self-moving device.

[0113] Based on the above embodiments, in an exemplary embodiment, see [link to example]. Figure 9 Another flowchart of the control method for the self-moving device in this application embodiment is shown below, and is described in detail below: Step 901: During the movement of the self-moving device, the target threshold is detected in real time by sensors set on the self-moving device, and the pre-marked target threshold is detected based on the map information associated with the self-moving device.

[0114] Step 902: Determine whether the target threshold has been detected.

[0115] If yes, proceed to step 903; otherwise, return to step 901.

[0116] Step 903: Along the first direction, collect the first spatial information of the first region on both sides of the target threshold, and along the second direction, collect the second spatial information of the second region on both sides of the target threshold.

[0117] The first direction is the length direction of the target threshold, the second direction is the width direction of the target threshold, the preset length of the first region is greater than the size of the self-moving device, and the second region meets the space required for the self-moving device to perform obstacle crossing mode.

[0118] Step 904: Determine whether the target threshold is a valid threshold based on the first spatial information and the second spatial information.

[0119] Among them, a valid threshold needs to be crossed based on the obstacle crossing mode, while an invalid threshold does not need to be crossed based on the obstacle crossing mode. When there are wall-type obstacles in both first areas and no obstacles in both second areas, the target threshold is a valid threshold.

[0120] If yes, proceed to step 905; otherwise, proceed to step 906.

[0121] Step 905: Control the self-moving device to pass through the target threshold based on the obstacle-crossing mode.

[0122] Step 906: Control the self-moving device to maintain the current movement mode.

[0123] In this application, the validity of a threshold can be determined based on the surrounding environment, preventing the self-moving device from crossing obstacles in the wrong location, thereby improving the working efficiency of the self-moving device.

[0124] The following describes an apparatus embodiment of this application, which can be used to execute the self-moving device control method in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the self-moving device control method described above.

[0125] See Figure 10 A block diagram of a control device 1000 for a self-moving device according to an embodiment of this application is shown, specifically including: The information acquisition module 1001 is used to acquire spatial information around the target threshold if the target threshold is detected during the movement of the self-moving device. The threshold detection module 1002 is used to determine the validity of the target threshold based on spatial information. The validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold. A valid threshold needs to be crossed based on an obstacle crossing mode, while an invalid threshold does not need to be crossed based on an obstacle crossing mode. The device control module 1003 is used to determine the movement mode of the self-moving device based on validity.

[0126] In an exemplary embodiment, based on the above embodiments, the information acquisition module 1001 includes: The first acquisition unit is used to acquire first spatial information of the first region on both sides of the target threshold along the first direction; wherein, the first direction is the length direction of the target threshold; The second acquisition unit is used to acquire second spatial information of the second region on both sides of the target threshold along the second direction; wherein, the second direction is the width direction of the target threshold.

[0127] In an exemplary embodiment, based on the above embodiment, the threshold detection module 1002 is specifically used to determine the target threshold as a valid threshold if there are wall-type obstacles in both first areas and no obstacles in both second areas.

[0128] In one exemplary embodiment, based on the above embodiments, the second region satisfies the space required for the mobile device to perform obstacle-crossing mode.

[0129] In an exemplary embodiment, based on the above embodiments, the device control module 1003 is specifically configured to control the self-moving device to pass through the target threshold based on the obstacle-crossing mode if the target threshold is a valid threshold; and to control the self-moving device to maintain the current movement mode if the target threshold is an invalid threshold.

[0130] In one exemplary embodiment, based on the above embodiments, the control device 1000 of the self-moving device further includes: The threshold correction module is used to extend the threshold length of the target threshold along the first direction to the corresponding wall type obstacle if there is a wall-type obstacle in any of the first areas.

[0131] In one exemplary embodiment, based on the above embodiments, the length of the first region in the first direction is greater than the size of the self-moving device body; If there are no wall-type obstacles in any of the first areas, the control device 1000 of the aforementioned self-moving device further includes: The priority module controls the self-moving device to pass through the target threshold from the first area where there are no wall-type obstacles.

[0132] In an exemplary embodiment, based on the above embodiments, the aforementioned preferred access module includes: The region selection unit is used to determine the first region that is closer to the self-moving device from the two first regions if there are no wall-type obstacles in either of the two first regions. Priority access unit, used to control the self-moving device to pass through the target threshold from the determined first area.

[0133] In one exemplary embodiment, based on the above embodiments, the control device 1000 of the self-moving device further includes: The obstacle crossing module is used to control the self-moving device to pass the target threshold based on the obstacle crossing mode when the self-moving device fails to pass the target threshold from the first area.

[0134] In one exemplary embodiment, based on the above embodiments, the control device 1000 of the self-moving device further includes: The threshold marking module is used to mark the target threshold as invalid in the map information associated with the self-moving device when the self-moving device fails to pass the target threshold from the first area.

[0135] In an exemplary embodiment, based on the above embodiments, the control device 1000 of the self-moving device further includes a wall detection module, which includes: The first detection unit is used to detect a first obstacle whose height is greater than a first preset height; The location determination unit is used to integrate adjacent first obstacles into a second obstacle based on the first location information of the first obstacle, thereby obtaining the second location information of the second obstacle; An area determination unit is used to determine the area occupied by the second obstacle based on the second location information; The wall determination unit is used to determine that the second obstacle is a wall-type obstacle if the area occupied is greater than the preset area.

[0136] In an exemplary embodiment, based on the above embodiments, the information acquisition module 1001 is specifically used to acquire spatial information around the target threshold in the map information associated with the mobile device when the target threshold is not marked as a valid threshold.

[0137] In an exemplary embodiment, based on the above embodiments, the obstacle crossing module is specifically used to control the self-moving device to pass through the target threshold based on the obstacle crossing mode when the threshold height of the target threshold is less than the second preset height; wherein, the second preset height is the traversable height of the self-moving device.

[0138] In an exemplary embodiment, based on the above embodiments, the information acquisition module 1001 includes: The threshold detection unit is used to detect target thresholds in real time using sensors installed on the self-moving device; or, based on map information associated with the self-moving device, to detect pre-marked target thresholds.

[0139] Based on the same inventive concept, this application provides a self-moving device, including a body; a cleaning component disposed on the body for performing cleaning tasks; a walking component disposed on the body for driving the self-moving device to move based on the self-moving device's movement mode; and a controller disposed on the body for executing the steps of the self-moving device control method described above.

[0140] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing computer program instructions. When the computer program instructions are loaded and executed by a processor, they implement the steps of the control method for the self-moving device described above.

[0141] Based on the same inventive concept, this application provides an electronic device, see [link to relevant documentation]. Figure 11 The diagram shows a schematic of the structure of an electronic device in an embodiment of this application. The electronic device includes one or more memories 1104, one or more processors 1102, and at least one computer program stored in the memory 1104 and executable on the processor 1102. When the processor 1102 executes the computer program, it implements the steps of the self-moving device control method described above.

[0142] The bus architecture (represented by bus 1100) may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 1102 and memory represented by memory 1104. Bus 1100 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 1105 provides an interface between bus 1100 and receiver 1101 and transmitter 1103. Receiver 1101 and transmitter 1103 may be the same element, a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 1102 is responsible for managing bus 1100 and general processing, while memory 1104 may be used to store data used by processor 1102 during operation.

[0143] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0144] Based on the same inventive concept, this application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the self-moving device control method described above.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0146] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0147] If the integrated 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, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0148] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a self-moving device, characterized in that, The method includes: If a target threshold is detected during the movement of the self-moving device, spatial information around the target threshold is acquired. The validity of the target threshold is determined based on the spatial information; wherein, the validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold, the valid threshold needs to be crossed based on the obstacle crossing mode, and the invalid threshold does not need to be crossed based on the obstacle crossing mode. The mobility mode of the self-moving device is determined based on the validity.

2. The method according to claim 1, characterized in that, The spatial information includes first spatial information and second spatial information, and the step of obtaining the spatial information around the target threshold includes: Along a first direction, first spatial information of the first regions on both sides of the target threshold is collected respectively; wherein, the first direction is the length direction of the target threshold; Along the second direction, second spatial information of the second regions on both sides of the target threshold is collected respectively; wherein, the second direction is the width direction of the target threshold.

3. The method according to claim 2, characterized in that, The determination of the effectiveness of the target threshold based on the spatial information includes: If there are wall-type obstacles in both of the first regions and no obstacles in either of the second regions, then the target threshold is determined to be a valid threshold.

4. The method according to claim 2, characterized in that, The second region provides the space required for the self-moving device to execute obstacle-crossing mode.

5. The method according to claim 3, characterized in that, Determining the mobility mode of the self-mobile device based on the validity includes: If the target threshold is a valid threshold, then the self-moving device is controlled to pass through the target threshold based on the obstacle-crossing mode; If the target threshold is invalid, then the self-moving device is controlled to maintain the current movement mode.

6. The method according to claim 3, characterized in that, The method further includes: If a wall-type obstacle exists in any of the first areas, the threshold length of the target threshold is extended along the first direction to the corresponding wall-type obstacle.

7. The method according to claim 5, characterized in that, The length of the first region in the first direction is greater than the size of the self-moving device body; If there are no wall-type obstacles in any of the first areas, after controlling the self-moving device to maintain the current movement mode, the method further includes: Control the self-moving device to pass through the target threshold from a first area where there are no wall-type obstacles.

8. The method according to claim 7, characterized in that, Controlling the self-moving device to pass through the target threshold from a first area where there are no wall-type obstacles includes: If there are no wall-type obstacles in either of the two first regions, then determine the first region that is closer to the self-moving device from the two first regions; Control the self-moving device to pass through the target threshold from the determined first area.

9. The method according to claim 7 or 8, characterized in that, The method further includes: When the self-moving device fails to pass the target threshold from the first area, the self-moving device is controlled to pass the target threshold based on the obstacle-crossing mode.

10. The method according to claim 7 or 8, characterized in that, The method further includes: When the self-moving device fails to pass the target threshold from the first area, the target threshold is marked as an invalid threshold in the map information associated with the self-moving device.

11. The method according to claim 3, characterized in that, Detecting obstacles of wall type involves the following steps: Detect a first obstacle whose height is greater than a first preset height; Based on the first location information of the first obstacle, adjacent first obstacles are integrated into a second obstacle to obtain the second location information of the second obstacle; Based on the second location information, determine the area occupied by the second obstacle; If the area occupied is greater than the preset area, then the second obstacle is determined to be a wall-type obstacle.

12. The method according to claim 1, characterized in that, The step of obtaining the spatial information around the target threshold includes: If the target threshold is not marked as a valid threshold in the map information associated with the self-mobile device, the spatial information around the target threshold is obtained.

13. The method according to claim 5, characterized in that, The control of the self-moving device to pass through the target threshold based on an obstacle-crossing mode includes: If the height of the target threshold is less than the second preset height, the self-moving device is controlled to pass through the target threshold based on the obstacle-crossing mode; wherein, the second preset height is the traversable height of the self-moving device.

14. The method according to claim 1, characterized in that, The detection of the target threshold includes: The target threshold is detected in real time using sensors installed on the self-moving device; or... Based on the map information associated with the self-mobile device, a pre-marked target threshold was detected.

15. A control device for a self-moving device, characterized in that, The device includes: The information acquisition module is used to acquire spatial information around the target threshold if a target threshold is detected during the movement of the self-moving device. A threshold detection module is used to determine the validity of the target threshold based on the spatial information; wherein, the validity is used to characterize whether the target threshold is a valid threshold or an invalid threshold, the valid threshold needs to be crossed based on an obstacle crossing mode, and the invalid threshold does not need to be crossed based on an obstacle crossing mode; The device control module is used to determine the movement mode of the self-moving device based on the validity.

16. The apparatus according to claim 15, characterized in that, The information acquisition module includes: The first acquisition unit is used to acquire first spatial information of first regions on both sides of the target threshold along a first direction; wherein, the first direction is the length direction of the target threshold; The second acquisition unit is used to acquire second spatial information of the second regions on both sides of the target threshold along the second direction; wherein the second direction is the width direction of the target threshold.

17. The apparatus according to claim 16, characterized in that, The threshold detection module is specifically used to determine the target threshold as a valid threshold if there are wall-type obstacles in both of the first areas and no obstacles in either of the second areas.

18. The apparatus according to claim 16, characterized in that, The second region provides the space required for the self-moving device to execute obstacle-crossing mode.

19. The apparatus according to claim 17, characterized in that, The device control module is specifically used to control the self-moving device to pass through the target threshold in obstacle-crossing mode if the target threshold is a valid threshold; and to control the self-moving device to maintain the current movement mode if the target threshold is an invalid threshold.

20. The apparatus according to claim 17, characterized in that, The control device for the self-moving device also includes: The threshold correction module is used to extend the threshold length of the target threshold along the first direction to the corresponding wall type obstacle if there is a wall-type obstacle in any of the first areas.

21. The apparatus according to claim 19, characterized in that, The length of the first region in the first direction is greater than the size of the self-moving device body; If there are no wall-type obstacles in any of the first areas, the control device for the self-moving device further includes: The priority access module is used to control the self-moving device to pass through the target threshold from a first area where there are no wall-type obstacles.

22. The apparatus according to claim 21, characterized in that, The priority passage module includes: The region selection unit is used to determine the first region that is closer to the self-moving device from the two first regions if there are no wall-type obstacles in either of the two first regions. A priority passage unit is used to control the self-moving device to pass through the target threshold from the determined first area.

23. The apparatus according to claim 21 or 22, characterized in that, The control device for the self-moving device also includes: The obstacle-crossing module is used to control the self-moving device to cross the target threshold based on the obstacle-crossing mode when the self-moving device fails to cross the target threshold from the first area.

24. The apparatus according to claim 21 or 22, characterized in that, The control device for the self-moving device also includes: The threshold marking module is used to mark the target threshold as an invalid threshold in the map information associated with the self-mobile device when the self-mobile device fails to pass the target threshold from the first area.

25. The apparatus according to claim 17, characterized in that, The control device for the self-moving device further includes a wall detection module, which comprises: The first detection unit is used to detect a first obstacle whose height is greater than a first preset height; A location determination unit is used to integrate adjacent first obstacles into a second obstacle based on the first location information of the first obstacle, thereby obtaining the second location information of the second obstacle; An area determination unit is used to determine the area occupied by the second obstacle based on the second location information; The wall determination unit is used to determine that the second obstacle is a wall-type obstacle if the area occupied is greater than a preset area.

26. The apparatus according to claim 15, characterized in that, The information acquisition module is specifically used to acquire spatial information around the target threshold in the map information associated with the self-mobile device when the target threshold is not marked as a valid threshold.

27. The apparatus according to claim 19, characterized in that, The obstacle-crossing module is specifically used to control the self-moving device to pass through the target threshold based on the obstacle-crossing mode when the threshold height of the target threshold is less than the second preset height; wherein, the second preset height is the traversable height of the self-moving device.

28. The apparatus according to claim 15, characterized in that, The information acquisition module includes: The threshold detection unit detects the target threshold in real time using sensors installed on the self-moving device; or, based on map information associated with the self-moving device, it detects a pre-marked target threshold.

29. A self-moving device, characterized in that, The device includes: Organism; A cleaning component, which is disposed on the machine body, is used to perform cleaning tasks; A walking component, which is disposed on the body, is used to drive the self-moving device to move based on the movement mode of the self-moving device; A controller, disposed on the body, is used to perform the steps of the control method for the self-moving device as described in any one of claims 1 to 14.

30. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when loaded and executed by a processor, implement the steps of the control method for the self-moving device as described in any one of claims 1 to 14.

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