Cleaning and obstacle avoidance method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of intelligent household appliances, and provides a cleaning and obstacle avoidance method and device, electronic equipment and a storage medium. The method comprises the steps of performing path planning based on a map and first obstacle mark information of the map, and determining a first cleaning path; advancing based on the first cleaning path, and determining real-time information of the first obstacle marking information; and determining a second cleaning path based on the real-time information of the first obstacle mark information, and continuing to advance based on the second cleaning path. According to the invention, when the first obstacle marking information is not updated, the obstacle guidance advancing route can be effectively avoided, the obstacle which is encountered in the last work and is not changed in position does not need to be repeatedly detected and avoided, and the obstacle avoidance efficiency is improved. And through the real-time information of the first obstacle mark information during the current work, the detection can be carried out again when the change of the position of the obstacle is identified, so that the obstacle information can be updated in time.

Description

technical field [0001] The present invention relates to the technical field of smart home appliances, and in particular, to a cleaning and obstacle avoidance method, device, electronic device and storage medium. Background technique [0002] With the rapid development of the sweeper industry in recent years, the scenarios that sweepers deal with are becoming more and more complex, such as the carpet scene in mopping mode. In the mopping mode, the rag will be wet and stained. In order to avoid the rag contaminating the carpet during the cleaning process, it is a mainstream treatment to avoid the carpet in the mopping mode. [0003] The current mainstream carpet detection method is ultrasonic sensor. Ultrasonic sensor has high detection accuracy, but the detection range is small, and there is hysteresis, which reduces the cleaning effect and efficiency a lot, and easily contaminates the carpet. SUMMARY OF THE INVENTION [0004] The present invention aims to solve at least o...

AI Technical Summary

Problems solved by technology

[0003] The current mainstream carpet detection method is the ultrasonic sensor. The ultrasonic sensor has high detection accuracy, but the detection range is small, and there is hysteresis, which reduces the cleaning effect and efficiency a lot, and easily pollutes the carpet.

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