Automatic cleaning device control method and apparatus, and medium and electronic device

Abstract

An automatic cleaning device control method, an automatic cleaning device control apparatus, a computer-readable storage medium, and an electronic device are disclosed. The control method comprises: when an automatic cleaning device performs cleaning in a first surface medium area, in response to a surface medium sensor triggering a surface medium change signal, determining whether the automatic cleaning device is located in a second surface medium area; and in response to determining that the automatic cleaning device is located in the second surface medium area, according to a map of the second surface medium area and the current position of the automatic cleaning device, controlling the automatic cleaning device to deviate from the second surface medium area in a direction perpendicular to an edge of the second surface medium area.

1 . A method for controlling an automatic cleaning apparatus performed by the automatic cleaning apparatus comprising a surface medium sensor, comprising:
 determining, when the automatic cleaning apparatus performs cleaning in a first surface medium region, whether the automatic cleaning apparatus is located in a second surface medium region in response to that the surface medium sensor triggers a surface medium change signal; and   controlling, in response to determining that the automatic cleaning apparatus is located in the second surface medium region, the automatic cleaning apparatus to leave the second surface medium region in a direction perpendicular to an edge of the second surface medium region according to a map of the second surface medium region and a current position of the automatic cleaning apparatus.   
     
     
         2 . The method for controlling the automatic cleaning apparatus according to  claim 1 , wherein controlling the automatic cleaning apparatus to leave the second surface medium region in the direction perpendicular to the edge of the second surface medium region comprises:
 determining, according to the map of the second surface medium region and the current position of the automatic cleaning apparatus, the edge of the second surface medium region perpendicular to a traveling direction along which the automatic cleaning apparatus enters the second surface medium region, and controlling the automatic cleaning apparatus to retreat in the direction perpendicular to the edge of the second surface medium region to leave the second surface medium region.   
     
     
         3 . The method for controlling the automatic cleaning apparatus according to  claim 2 , wherein controlling the automatic cleaning apparatus to leave the second surface medium region in the direction perpendicular to the edge of the second surface medium region comprises:
 determining, according to the map of the second surface medium region and the current position of the automatic cleaning apparatus, the edge of the second surface medium region closest to the automatic cleaning apparatus; and   controlling the automatic cleaning apparatus to leave the second surface medium region in the direction perpendicular to the closest edge of the second surface medium region.   
     
     
         4 . The method for controlling the automatic cleaning apparatus according to  claim 3 , further comprising:
 controlling, before controlling the automatic cleaning apparatus to leave the second surface medium region in the direction perpendicular to the closest edge of the second surface medium region, the automatic cleaning apparatus to rotate by a first angle according to an included angle between the traveling direction of the automatic cleaning apparatus and the closest edge of the second surface medium region, the first angle being related to the included angle; and   controlling the automatic cleaning apparatus to leave the second surface medium region in manner of forward traveling or reversely retreating, the forward traveling and the reversely retreating depending on a rotation direction of the automatic cleaning apparatus.   
     
     
         5 . The method for controlling the automatic cleaning apparatus according to  claim 2 , further comprising:
 controlling, after the automatic cleaning apparatus executes a retreating operation for preset time, the automatic cleaning apparatus to rotate by a second angle and leave the second surface medium region in a manner of forward traveling in response to that the surface medium sensor is still able to detect the second surface medium region.   
     
     
         6 . The method for controlling the automatic cleaning apparatus according to  claim 5 , wherein the second angle is 180 degrees. 
     
     
         7 . The method for controlling the automatic cleaning apparatus according to  claim 1 , further comprising:
 controlling, after determining that the automatic cleaning apparatus leaves the second surface medium region, the automatic cleaning apparatus to clean along the edge of the second surface medium region, and re-acquiring the map of the second surface medium region to update the map of the second surface medium region.   
     
     
         8 . The method according to  claim 1 , wherein the map of the second surface medium region is established by controlling the automatic cleaning apparatus to run to the edge of the second surface medium region and then scanning a boundary of the second surface medium region. 
     
     
         9 . (canceled) 
     
     
         10 . A non-transitory computer-readable storage medium, storing a computer program thereon, wherein the computer program implements a method for controlling an automatic cleaning apparatus when executed by a processor, wherein the method is performed by the automatic cleaning apparatus comprising a surface medium sensor and comprises:
 determining, when the automatic cleaning apparatus performs cleaning in a first surface medium region, whether the automatic cleaning apparatus is located in a second surface medium region in response to that the surface medium sensor triggers a surface medium change signal; and   controlling, in response to determining that the automatic cleaning apparatus is located in the second surface medium region, the automatic cleaning apparatus to leave the second surface medium region in a direction perpendicular to an edge of the second surface medium region according to a map of the second surface medium region and a current position of the automatic cleaning apparatus.   
     
     
         11 . An electronic apparatus, comprising:
 at least one hardware processor; and   a memory for storing executable instructions of the at least one hardware processor, that, when executed, direct the at least one hardware processor to:
 determine, when an automatic cleaning apparatus performs cleaning in a first surface medium region, and determine whether the automatic cleaning apparatus is located in a second surface medium region in response to that a surface medium sensor triggers a surface medium change signal; and 
 control, in response to determining that the automatic cleaning apparatus is located in the second surface medium region, the automatic cleaning apparatus to leave the second surface medium region in a direction perpendicular to an edge of the second surface medium region according to a map of the second surface medium region and a current position of the automatic cleaning apparatus. 
   
     
     
         12 . The electronic apparatus according to  claim 11 , wherein the at least one hardware processor is further directed to:
 determine, according to the map of the second surface medium region and the current position of the automatic cleaning apparatus, the edge of the second surface medium region perpendicular to a traveling direction along which the automatic cleaning apparatus enters the second surface medium region, and control the automatic cleaning apparatus to retreat in the direction perpendicular to the edge of the second surface medium region to leave the second surface medium region.   
     
     
         13 . The electronic apparatus according to  claim 12 , wherein the at least one hardware processor is further directed to:
 determine, according to the map of the second surface medium region and the current position of the automatic cleaning apparatus, the edge of the second surface medium region closest to the automatic cleaning apparatus; and   control the automatic cleaning apparatus to leave the second surface medium region in the direction perpendicular to the closest edge of the second surface medium region.   
     
     
         14 . The electronic apparatus according to  claim 13 , wherein the at least one hardware processor is further directed to:
 control, before controlling the automatic cleaning apparatus to leave the second surface medium region in the direction perpendicular to the closest edge of the second surface medium region, the automatic cleaning apparatus to rotate by a first angle according to an included angle between the traveling direction of the automatic cleaning apparatus and the closest edge of the second surface medium region, the first angle being related to the included angle; and   control the automatic cleaning apparatus to leave the second surface medium region in a manner of forward traveling or reversely retreating, the forward traveling or reversely retreating depending on a rotation direction of the automatic cleaning apparatus.   
     
     
         15 . The electronic apparatus according to  claim 12 , wherein the at least one hardware processor is further directed to:
 control, after the automatic cleaning apparatus executes a retreating operation for preset time, the automatic cleaning apparatus to rotate by a second angle and leave the second surface medium region in a manner of forward travelling in response to that the surface medium sensor is still able to detect the second surface medium region.   
     
     
         16 . The electronic apparatus according to  claim 15 , wherein the second angle is 180 degrees. 
     
     
         17 . The electronic apparatus according to  claim 11 , wherein the at least one hardware processor is further directed to: control, after determining that the automatic cleaning apparatus leaves the second surface medium region, the automatic cleaning apparatus to clean along the edge of the second surface medium region, and re-acquire the map of the second surface medium region to update the map of the second surface medium region. 
     
     
         18 . The electronic apparatus according to  claim 11 , wherein the map of the second surface medium region is established by controlling the automatic cleaning apparatus to run to the edge of the second surface medium region and then scanning a boundary of the second surface medium region.