US 12,478,241 B2
Control method for self-moving device and self-moving device
Shunchang Yu, Suzhou (CN); Zhen Wang, Suzhou (CN); and Shenghao Tang, Suzhou (CN)
Assigned to DREAME INNOVATION TECHNOLOGY (SUZHOU) CO., LTD., Suzhou (CN)
Appl. No. 18/015,719
Filed by DREAME INNOVATION TECHNOLOGY (SUZHOU) CO., LTD., Suzhou (CN)
PCT Filed Jul. 12, 2021, PCT No. PCT/CN2021/105792
§ 371(c)(1), (2) Date Jan. 11, 2023,
PCT Pub. No. WO2022/012471, PCT Pub. Date Jan. 20, 2022.
Claims priority of application No. 202010666134.2 (CN), filed on Jul. 13, 2020; application No. 202010666135.7 (CN), filed on Jul. 13, 2020; and application No. 202010666140.8 (CN), filed on Jul. 13, 2020.
Prior Publication US 2023/0270308 A1, Aug. 31, 2023
Int. Cl. A47L 11/40 (2006.01); A47L 9/28 (2006.01); G05D 1/00 (2024.01); G06T 7/13 (2017.01); G06T 7/70 (2017.01); G06V 10/12 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/82 (2022.01); G06V 10/94 (2022.01); G06V 20/10 (2022.01); H04N 23/60 (2023.01); H04N 23/61 (2023.01)
CPC A47L 11/4011 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0246 (2013.01); G06T 7/13 (2017.01); G06T 7/70 (2017.01); G06V 10/82 (2022.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06V 2201/07 (2022.01)] 19 Claims
OG exemplary drawing
 
1. A control method for a self-moving device, comprising:
obtaining edge information of a working area where the self-moving device is located;
obtaining an environment image captured while moving;
obtaining access door information based on the environment image; and
dividing independent areas within the working area based on the access door information and the edge information,
wherein the obtaining the access door information based on the environment image comprises:
inputting the environment image into an image identification model to obtain an object identification result; the object identification result comprising attribute information of a target object; computing resources occupied by the image identification model during operation being lower than maximum computing resources provided by the self-moving device, and
when the object identification result comprises access door information, determining that the environment image comprises an image of the access door, and obtaining position information of the access door in the working area.