Repeated obstacle avoidance detection method and device, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides a repeated obstacle avoidance detection method and device, electronic equipment and a readable storage medium. The method comprises the steps of: carrying outthe obstacle avoidance work if a sweeping robot is detected to collide with an obstacle when the sweeping robot works along a preset first working route, detecting current obstacle avoidance information of the sweeping robot, based on the current obstacle avoidance information and according to historical obstacle avoidance information, whether the sweeping robot avoids obstacles repeatedly or notis judged, the historical obstacle avoidance information being obstacle avoidance information recorded when the sweeping robot executes obstacle avoidance work, and if the sweeping robot repeatedly avoids the obstacle, controlling the sweeping robot to break away from the obstacle to work. According to the technical scheme provided by the invention, whether the sweeping robot is in a repeated obstacle avoidance state or not is judged according to the current obstacle avoidance information and the historical obstacle avoidance information, the sweeping robot repeatedly avoiding the obstacle iscontrolled to stop avoiding the obstacle in time, repeated sweeping of a swept area is avoided, the working efficiency of the sweeping robot is improved, and energy consumption is reduced.

Description

technical field [0001] The present application relates to the field of robot technology, and in particular, the present invention relates to a detection method, device, electronic equipment and readable storage medium for repeated obstacle avoidance. Background technique [0002] With the rapid development of science and technology, more and more smart living appliances have entered thousands of households, greatly improving people's living comfort and convenience. As a kind of electrical appliance that can automatically clean, the sweeping robot can replace people to clean the ground, reducing people's share of housework, and is more and more recognized by people. [0003] When the existing sweeping robot moves and performs cleaning work, after colliding with an unknown obstacle, it can move around the obstacle and clean it until it returns to the collision position after making a circle around the obstacle. [0004] In actual use, there is an application scenario where th...

AI Technical Summary

Problems solved by technology

[0004] In actual use, there is an application scenario where the sweeping robot places a second obstacle at an uncleaned position close to the first obstacle after cleaning around the first obstacle. After the obstacle collides, it will move around the second obstacle and clean it. Since the distance between the first obstacle and the second obstacle is relatively close, the sweeping robot may move again to The route of working around the first obstacle, and move along the route until the collision between the sweeping robot and the second obstacle occurs, which will cause the repetition of the cleaned area in the work around the first obstacle Cleaning affects the working efficiency of the sweeping robot and also causes a waste of energy

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